JPH10265058A - Detector for distance of continuous unloader to ship's side - Google Patents

Abstract

PROBLEM TO BE SOLVED: To detect precisely the shortest distance between a ship's side and a dig out part by a range meter provided on the dig out part, regardless of the change of the relative angle of the dig out part to a ship's side. SOLUTION: Range meters 41a∼41e for detecting the distance in a direction shifted to the right/left by 22.5 deg. each by making the range meter 41c for detecting the longitudinal direction distance of the dig out part 24 to a basis are provided on the dig out part 24 and the relative angle between the ship's side and dig out part out detected by an angle detector by making a position in which the distance detection direction of the range meter 41c is vertical to the ship's side of a sea side to a position in which the relative angle between the dig out part 24 and the ship's side is 0 deg.. The range meter in which the detection value of the distance out of the range meters 41a∼41e is effective is selected based on the relative angle detected by an angle detector and the distance between this range meter and the ship's side found out based on the detection value of the range meter in which the distance detection value out of selected range meters is shortest and by finding out the distance between the ship's side and the dig out part based on this, the shortest distance between the ship's side and the dig out part can be found out precisely.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a continuous unloader for continuously scraping and unloading a load in a hold, and more particularly to measuring a distance between a digging portion of the continuous unloader and a ship wall. It is something.

[0002]

2. Description of the Related Art Japanese Unexamined Patent Publication No. Hei 8-290833 discloses a cargo handling facility for continuously discharging unloading materials such as iron ore and coal piled up in the hold of a transport ship berthing on a quay. Such a bucket elevator type continuous unloader is known.

[0003] In this continuous unloader, a turning frame is rotatably supported on a traveling frame movable along a quay, and a bucket elevator is supported at a tip end of a boom protruding laterally from the turning frame. ing. The bucket elevator is provided with a chain that moves around the elevator shaft endlessly, and the chain is provided with a bucket. Then, as the chain orbits, in the excavation part provided at the lower part of the bucket elevator, which extends horizontally, for example, in an L shape, the bucket scraps off debris in the hold, and this is carried to the upper part of the bucket elevator. From here, they are conveyed to ground equipment via a belt conveyor. By moving the bucket elevator around in the hold, scraps in the hold are efficiently scraped off.

[0004] Here, in order to stabilize the unloading amount per unit time from the unloading by the bucket elevator to the unloading to the ground equipment, it is necessary to stabilize the unloading amount by the bucket elevator. is there. This is basically determined by the product of the excavation depth and excavation length by the excavation unit, the lateral movement speed at which the bucket elevator moves in the hold, and the specific gravity of the load. As shown in the schematic diagram of FIG. 2, in the process from scraping of the scattered material by the bucket 26 to unloading, the pile 50 composed of the spilled material from the bucket 26
4 needs to be formed. That is,
The load pile 50 prevents the load from being spilled during the period from when the bucket 26 scrapes off the scattered material to when the bucket 26 turns 90 degrees and rises.

[0005] For this reason, as shown in the schematic diagram of FIG. 8, for example, when the rear of the excavation unit 24 is located at a location where the scraping has already been performed, the scraping by the excavation unit 24 is performed. When the bucket 26 changes direction, the excavation unit 2
Since the load mountain 50 does not exist behind the load 4, the load is spilled and most of the scattered material in the bucket is discharged, and the carry-out amount decreases.

In order to avoid this, the excavation portion 24 is formed almost perpendicularly to the ship wall so that a litter pile 50 is formed in the center of the hold, for example, as shown in the schematic diagram of FIG. The bucket elevator 20 is circulated in such a manner that the bucket elevator 20 is moved in parallel with the ship wall while the excavator 24 scrapes from the ship wall side to the center of the hold with the excavation part 24 in the longitudinal direction. The distance between the trajectories at the rear of the excavation part 24 is equal to or more than a predetermined distance (for example, 1 m).
The bucket elevator 20 is moved.
Thus, the load pile 50 is formed in the area between the trails of the rear part of the excavation part 24, that is, in the area where the excavation part 24 does not scrape, so that the load spill can be prevented.

When the hold width is shorter than the sum of twice the length of the excavation section 24 in the longitudinal direction and the width of the load pile 50, as shown in FIG. When the bucket elevator 20 is moved in a state in which the longitudinal direction of the bucket 24 is vertical, the cargo pile 50 is not formed behind the excavation unit 24. To avoid this, as shown in the schematic diagram of FIG. The excavation unit 24 is positioned inclining with respect to the wall, and the excavation unit 24 is moved in parallel along the ship wall in this inclined state, so that the cargo pile 50 is obtained behind the excavation unit 24. .

When the corner of the hold is scraped, the bucket elevator 20 is turned by operating a turning frame or the like to rotate the excavating portion 24 along the ship wall. Is supported in the bucket elevator 20 so as to be movable in the horizontal direction, so that the excavation unit 24 is moved in the longitudinal direction of the excavation unit 24 as necessary, and scraps at corners are scraped off.

[0009]

Generally, a distance meter 41 such as an ultrasonic range finder is installed on the excavation part 24 in order to prevent the collision between the excavation part 24 and the ship wall when the bucket elevator 20 is moved around. The distance between the excavation part 24 and the ship wall is measured and monitored. Also,
By controlling the position of the excavation unit 24 based on this distance, the excavation unit 24 is made closer to the ship wall, and the scraping off of debris on the ship wall is minimized.

However, the normal range finder 41
Since the distance between the excavation unit 24 and the ship wall in the longitudinal direction is detected, the bucket elevator 20 is moved with the excavation unit 24 inclined with respect to the ship wall, as shown in FIG. In the case where the scraping is performed, the shortest distance La between the ship wall and the excavation portion 24 must be detected in order to prevent the collision between the excavation portion 24 and the ship wall. Nevertheless, there is a problem that the distance Lb between the excavation part 24 and the ship wall in the longitudinal direction of the excavation part 24 is detected. Further, since the position control of the excavation unit 24 is performed based on the distance including this error, there is a problem that the excavation unit 24 cannot be moved efficiently.

When an iron plate such as a ship wall is used as an object to be measured, when an ultrasonic range finder or the like is used, when a transmission wave from the range finder is transmitted with an inclination with respect to the ship wall. When the angle of inclination increases and the distance detection direction of the rangefinder is generally 15 ° or more from the state where it is perpendicular to the ship wall, the rangefinder should receive the reflected ultrasonic wave transmitted. There is also a problem that can not be.

The inclination angle of the excavation section 24 with respect to the ship wall is changed depending on the relationship with the dimensions of the hold.
Is gradually changed, and it is necessary for safe driving to detect the closest distance in the positional relationship between the ship wall and the excavation part 24.

Therefore, the present invention has been made in view of the above-mentioned conventional problems, and the distance between the excavation part and the ship wall can be accurately determined regardless of the relative positional relationship between the excavation part and the ship wall. It is an object of the present invention to provide a continuous unloader-to-hull distance measuring apparatus capable of measuring the distance between vessels.

[0014]

According to a first aspect of the present invention, there is provided a continuous unloader-to-wall distance measuring apparatus according to the first aspect of the present invention. In a continuous unloader-to-wall distance detecting device for adjusting the position of the provided horizontally extending excavation portion and scraping the load in the hold at the excavation portion, the relative position between the hold and the excavation portion is determined. Angle detection means for detecting an angle, a plurality of distance detection means provided in the excavation part and detecting distances in different predetermined directions between the excavation part and the ship wall, the angle detection value of the angle detection means, Selection means for selecting a distance detection means capable of obtaining an effective distance detection value based on the arrangement state of the distance detection means, and a distance detection value and a distance detection method of the distance detection means selected by the selection means Based on, it is characterized in that it comprises a pair ship walls distance detecting means for detecting the distance between the said distance detecting forward of the ship walls the excavation of.

According to the present invention, when the bucket elevator is moved and the excavating portion moves in the hold, the bottom surface of the excavating portion formed to extend substantially horizontally, for example, in an L-shape, under the bucket elevator. The cargo in the hold is scraped off by the part and carried out. At this time, for example, the relative angle between the excavation part and the hold, such as the relative angle between the ship wall on the sea side and the longitudinal direction of the excavation part, is detected by the angle detection means. The distances between the excavation section and the ship wall are detected by the plurality of distance detection means, and the distances from the excavation section to the ship wall in different directions set in advance are detected.

Based on the relative angles of the excavated portion and the hold detected by the angle detecting means and the arrangement of the respective distance detecting means, for example, it may be set in advance according to the arrangement of the ship wall. Accordingly, from the distance detecting means, the distance detecting means capable of obtaining an effective distance detection value is selected by the selecting means from the relationship between the distance detecting direction and the relative angle between the ship wall and the like. Then, for example, by correcting the distance detection value of the distance detection means according to the deviation of the angle of the distance detection means to a position where the distance detection direction of the selected distance detection means is perpendicular to the ship wall, etc. The shortest distance between the ship wall and the excavation part is detected by the wall-to-wall distance detecting means.

According to a second aspect of the present invention, there is provided a continuous type unloader-to-ship distance measuring apparatus which adjusts the position of a horizontally extending excavating portion provided below the bucket elevator while moving the bucket elevator. And an angle detecting means for detecting a relative angle between the hold and the excavation unit, wherein the excavation unit is configured to scrape off a load in the hold by the excavation unit. A distance detecting means which is provided rotatably and detects a distance between the excavation part and the ship wall, and the distance detecting means is provided with an effective value based on an angle detection value detected by the angle detecting means. Control means for rotating to a position where a distance detection value can be obtained.

According to the present invention, when the bucket elevator is moved and the excavating portion moves in the hold, the bottom surface of the excavating portion formed to extend substantially horizontally, for example, in an L shape, under the bucket elevator. The cargo in the hold is scraped off by the part and carried out. At this time, the relative angle between the excavation part and the hold, such as the relative angle between the ship wall on the sea side and the longitudinal direction of the excavation part, is detected by the angle detection means. Then, based on the relative angle, the control means rotates the distance detection means rotatably provided in the excavation part, and a position at which an effective distance detection value can be obtained by the distance detection means, for example, Move to a position where the relative angle to the ship wall is close to a right angle. For example, the relative angle at which the relative angle between the excavated portion and the ship wall at each position in the hold is substantially perpendicular is determined in advance from the arrangement state of the ship wall and the relative angle between the excavated portion and the ship wall. The rotation is performed based on the relative angle and the relative angle detected by the angle detecting means.

Therefore, the distance detecting means is rotated to the position where the distance between the excavation part and the ship wall is the shortest. Therefore, the distance detection value detected by the distance detecting means is between the excavation part and the ship wall. If, for example, the excavation part and the ship wall are rotated to a position substantially perpendicular to each other, the shortest distance between the excavation part and the ship wall is detected.

[0020]

Embodiments of the present invention will be described below. FIG. 1 is a schematic configuration diagram showing one embodiment of the present invention. A continuous unloader 7 is driven by a hydraulic motor (not shown) to roll on traveling rails 4a and 4b installed on a quay 1. A traveling frame 10 having driving wheels 9a and 9b is provided.

On the traveling frame 10, a swivel tower 11 having a conveyor 11a built therein for vertically transporting and effectively transporting scattered materials inside the running frame 10 has a horizontal angle of 125.degree. The hopper 12 is rotatably supported within the range, and a hopper 12 is fixedly disposed below the swirl tower 11.
A belt feeder 13 for dispensing a fixed amount toward is provided. At the falling position of the belt feeder 13, an in-machine conveyor 14 for transporting the scattered material to a position above the receiving belt conveyor 5 is provided, and the scattered material falling from the in-machine conveyor 14 receives the scattered material via a cushion frame (not shown). It is transferred onto the conveyor 5.

At the upper end of the swivel tower 11, a swivel boom 15 in which a belt conveyor 15a for transporting splinters is disposed is rotatably supported in a vertical plane. A balance weight 16 is provided on the opposite side. At both ends of the turning boom 15, inclined support links 17 and 18 are rotatably supported.
A link 19 parallel to the swiveling boom 15 is rotatably connected to a free end of 18 to form a parallel link, and a bucket elevator 20 extending in the vertical direction is fixed to the inclined support link 17 on the free end side.

The bucket elevator 20 has a cylindrical fixed frame 21 fixed to the support link 17, and a cylindrical column member 22 constituting an elevator shaft pivotally supported by the fixed frame 21.

A pair of front and rear chain drive sprockets 23 are disposed at the upper end of the column member 22, and an L-shaped excavation portion 24 is disposed at the lower end. 25 is extended so as to move around the sprocket 23 and the excavation part 24, and a number of buckets 26 are mounted between the pair of chains 25 at predetermined intervals.

The column member 22 is fixed to the fixed frame 2.
The sprocket 23 is similarly rotated in the counterclockwise direction in FIG. 1 by a rotation drive mechanism such as a hydraulic motor attached to the sprocket 23.

Further, a chute 27 is formed on the fixed frame 21 below the sprocket 23 for receiving the scattered material falling from the bucket 26 inverted by the sprocket 23. The scattered material guided by the chute 27 has a lower end. It is transferred to the conveyor 15a in the swivel boom 15 by the rotary feeder 28 arranged on the side.

The excavation section 24 includes a support frame 31 rotatably supported at the lower end of the column member 22, a horizontal support frame 32 similarly rotatably supported at the lower end thereof, and left and right ends of the support frame 32. Sprockets 33 and 34 for guiding the chain 25 are attached to the section, and the support frames 31 and 32 are rotated by a rotary drive mechanism such as a hydraulic motor, so that the horizontal support frame 32 moves in the front-rear direction while being kept horizontal. Can be done.

Therefore, as shown in FIG. 1, the bucket elevator 20 is inserted into the hold A, the bucket 26 at the lower end of the horizontal support frame 32 is brought into contact with the scattered material 35 and scraped off. Vertically upward through the inside of the bucket and the bucket 26 at the position of the upper sprocket 23.
Is turned over, and the splinters inside
7. The wafer is transferred to the conveyor 15a in the swivel boom 15 via the rotary feeder 28, and then lowered vertically by the conveyor 11a in the swivel tower 11 to be temporarily stored in the hopper 12.

From the hopper 12, a fixed amount of paper is discharged from the hopper 12 by a belt feeder 13 in accordance with the carrying capacity of the receiving belt conveyor 5, and is transferred to the receiving and selling belt conveyor 5 via an in-machine conveyor 14. This operation is performed by moving the bucket elevator 20 around the hold A, for example, so that the scattered materials in the hold A are sequentially carried out.

As shown in FIG. 2, an ultrasonic range finder or the like for detecting the distance between the excavating portion 24 and the ship wall in the hold A is provided at an appropriate position of the excavating portion 24, as shown in FIG. Rangefinders (distance detecting means) 41a to 41e are arranged. These rangefinders 41a to 41e are arranged so that the rangefinder 41c measures the distance in the longitudinal direction front of the excavation unit 24 (the side opposite to the elevator shaft 20 of the excavation unit 24 is the front). 22.5 ° on the basis of
It is arranged so as to measure the distance between the left and right directions in front of each other.

The excavating section 24 is provided at an appropriate position.
A turning angle detector (angle detecting means) 42, such as an absolute encoder or a selcin transmitter, for detecting a relative angle between the vehicle and the hold is arranged. This turning angle detector 42
In the state in which the cargo hold A of the transport ship is a rectangular parallelepiped, the distance measurement direction of the range finder 41c, that is, the front of the excavation unit 24 in the longitudinal direction is, for example, a ship on the sea side in a state where the transport ship is laid on the quay 1. When the direction becomes perpendicular to the wall Aa, the relative angle is detected as zero degree, the relative angle up to 180 degrees that increases counterclockwise is detected as positive, and the relative angle up to 180 degrees that increases clockwise is detected as negative. I have.

The detection signals from the respective distance meters 41a to 41e and the turning angle detector 42 are, as shown in FIG.
For example, the data is input to a distance calculation device 43 composed of a microcomputer or the like. These distance meters 4
1a to 41e, turning angle detector 42 and distance calculation device 43
Thus, the anti-ship wall distance detection device 100 is configured.

In the distance calculating device 43, based on the input turning angle detection value θ of the turning angle detector 42, a selection sensor corresponding to the detected turning angle detection value θ according to the correspondence table shown in FIG. Is calculated, and a distance L ′ between the ship wall and the ship wall which can be detected by the selection sensor is calculated based on the corresponding calculation formula based on the distance detection value of the rangefinder corresponding thereto. I do. Then, the shortest distance LL between the excavation part 24 and the ship wall is calculated by, for example, subtracting the distance between the distance meters 41a to 41e and the tip of the excavation part 24 from the distance L 'between the ship walls. This is output to the control device 44 which performs control processing of the whole continuous unloader. This control device 4
4, the excavation unit 2 is set based on the input shortest distance LL.
In addition to monitoring the collision or stopping the interlock between the ship 4 and the ship wall, the excavation unit 24 controls the excavation position, and controls the scraping of the debris in the hold A.

The correspondence table (FIG. 4) shows the distance measurement directions of the distance meters 41a to 41e when the relative angle between the excavation part 24 and the seaside wall Aa is divided into 16 regions (zones). A selection sensor that is selected as a distance meter capable of obtaining an effective distance detection value from a relationship between an angle formed by the ship wall and a ship wall (a rectangular parallelepiped hold A) that can be detected by the distance meter selected as the selection sensor Distance between the target ship wall and the target ship wall which of the four ship walls that form the relationship can be detected). And are set.

In the region, as shown in FIG. 5, the turning angle detection value θ of the turning angle detector 42 is −146.25 ° ≦ θ <−.
When the angle is 123.75 °, the zone is defined as zone 1;
The zones deviated in the counterclockwise direction by 2.5 ° are set as zone 2, zone 3,..., Zone 16, respectively. For example, when the turning angle detection value θ of the turning angle detector 42 is in the zone 1, each zone is shifted by 22.5 °, and each of the distance meters 41a to 41e is set to 22.
Each of the distance meters 41a to 41a-4
1e will measure the distance from the ship wall in the zones 15, 16, 1, 2, 3 respectively. At this time, as can be seen from FIG. 5, among the distance meters 41a to 41e,
Based on the relative angle between each distance measurement direction and the ship wall, the distance detection value is valid for the distance meters 41a and 41e in which the zone 15 and the zone 3 are the distance measurement directions. Therefore, the distance meters 41a and 41e are set as selection sensors.

The distance meter 41a in the zone 15
The distance L ′ between the ship and the ship wall, which is the shortest distance between the ship and the ship wall, is obtained by calculating the distance detection value L of the distance meter 41a from the distance measurement direction of the distance meter 41a, the distance measurement direction of the distance meter 41a, and the relative position of the ship wall. The difference may be corrected by the deviation angle from the direction in which the angle is perpendicular. This difference is determined by the distance measurement direction of the distance meter 41c, that is, the turning angle detection value θ of the turning angle detector 42 and the center of the zone 1 in the angle area. Since it is equal to the difference from the angle of 135 °, it can be obtained by the following equation (1).

L ′ = L · cos (−θ−135 °) (1) Similarly, the distance L ′ between the ship wall and the shortest distance between the distance meter 41 e and the ship wall in the zone 3 is: , The collision can be detected based on the distance between the excavation part 24 and the ship wall, so that the distance detection of the distance meters 41a and 41e is performed. The distance L 'between the ship walls is calculated based on the smaller value.

Accordingly, by the same manner, when the relative angle between the excavation portion 24 and the seaside wall Aa is located in each zone, the target ship wall, the selection sensor, and the formula for calculating the distance between the ship wall and the ship wall are as follows. Correspondence is made as shown in the correspondence table of FIG.

Next, the operation of the above embodiment will be described with reference to the flowchart of FIG. For example, based on the relationship between the size of the hold A formed in a rectangular parallelepiped and the length of the excavation part 24 in the longitudinal direction, the bucket elevator 20 is moved and dispersed while the longitudinal direction of the excavation part 24 is substantially perpendicular to the ship wall. It is assumed that it is difficult to scrape out the objects, and as shown in FIG. 10, the bucket elevator 20 is moved and scraped out while the excavation unit 24 is inclined with respect to the ship wall.

The distance calculating device 43 executes the distance calculating process shown in FIG. 6, for example, at predetermined intervals, and reads the turning angle detection value θ of the turning angle detector 42 (step S1). , A corresponding zone is determined from the correspondence table, and a selected sensor is determined (step S2, selecting means). For example, assuming that the distance meter 41c is inclined 40 ° to the right from a state perpendicular to the seaside wall Aa, the turning angle detection value θ of the turning angle detector 42 is 40 °. Accordingly, from the correspondence table in FIG. 4, since the distance corresponds to zone 9, the distance meters 41a and 41e are selected as the selection sensors.

Subsequently, the distance detection values of the distance meters 41a and 41e selected as the selection sensors are read (step S3). In this case, since two distance meters are designated as the selection sensors, these distance detection values are read. In comparison, based on the shorter one of the distances, the distance L ′ between the ship walls is calculated based on the designated formula for calculating the distance between the ship walls corresponding to the zone 9 (formula (2)). Calculation is performed (step S4, means for detecting distance between ship walls).

L ′ = L · cos (−θ + 45 °) (2) For example, as shown in FIG.
Is located near the center in the longitudinal direction of the hold A, since the distance detection value of the distance meter 41e is longer than the distance meter 41a, the distance detection value of the shorter distance meter 41a is used. Next, the distance L 'between the ship walls is calculated based on the above equation (2). Then, for example, a value obtained by subtracting the distance between the tip of the excavation part 24 and the distance meter 41a from the distance L ′ between the anti-ship wall and the distance meter 41a is set as the shortest distance LL between the excavation part 24 and the sea-side ship wall to the control device 44. Notify (step S5). Then, this operation is repeated.

The control unit 44 recognizes the distance between the excavation part 24 and the seaside ship wall based on the shortest distance LL,
Based on this, the collision between the excavation unit 24 and the seaside ship wall is measured, and the excavation unit 24 is moved to the seaside ship wall to efficiently scrape.

On the other hand, when scraping off the debris at the corner portion of the hold A, the respective portions such as the swivel boom 15 are operated to rotate the bucket elevator 20, and the excavation portion 24 is rotated along the corner portion. By rotating the support frames 31 and 32 as needed to move the excavated portion 24 in the longitudinal direction, the dust at the corners is scraped.

At this time, the relative angle of the excavation part 24 with respect to the ship wall Aa on the sea side changes, and in FIG.
When the number changes to 10, 9, 8,..., FIG.
The selection sensor set by the correspondence table changes, and the target ship wall to be subjected to the distance detection shifts from the left ship wall to the sea-side ship wall, and the shortest distance LL between the target ship wall and the excavation part is changed. Is detected.

Accordingly, the shortest distance between the distance meter 41 and the ship wall is obtained based on the distance detection value of the distance meter 41, and the shortest distance between the excavation section 24 and the ship wall is detected based on this. Therefore, as shown in FIG.
Even when the vehicle is moved in an inclined state with respect to the ship wall, the shortest distance La (= LL) between the excavation portion 24 and the ship wall is surely ensured.
Can be detected.

Therefore, by controlling the position of the excavation part 24 based on the shortest distance La, the positioning can be performed with higher accuracy, and the collision of the excavation part 24 with the ship wall can be more reliably prevented. By operating the interlock function based on the shortest distance LL, the accuracy of the interlock function can be further improved.

Further, a distance meter capable of obtaining an effective distance detection value at each time point in accordance with a change in the relative angle between the excavation section 24 and the ship wall is selected, and a distance meter is selected based on the distance detection value of the distance meter. Since the distance L 'between ship walls is determined,
A highly accurate distance detection value can be obtained, so that the shortest distance LL between the excavation section 24 and the ship wall can be detected with higher accuracy.

Further, since the shortest distance between the excavation section 24 and the ship wall can be detected, the excavation section 2 can be located closer to the ship wall.
4 can be positioned for scraping. Therefore,
The amount of debris left in the hold after scraping by the bucket,
Alternatively, since the amount of dust attached to the ship wall can be reduced, the amount of work to be performed later by a work vehicle such as a bulldozer can be reduced, and the scraps can be scraped out more efficiently.

Further, since the distance in the direction up to 90 ° in 22.5 ° increments is detected by five rangefinders, the distance is 5 mm regardless of the relative angle between the excavation part 24 and the ship wall.
At least one of the two rangefinders is located at a position where an effective distance detection value between the ship wall and the rangefinder can be obtained, and an ultrasonic rangefinder was used as the rangefinder. Even in the case, the reflected wave can be reliably received,
Distance measurement can be performed reliably.

In the above embodiment, the case where five distance meters are installed to measure distances in different directions has been described. However, the present invention is not limited to this.
For example, three, seven, or more rangefinders may be provided. However, when three rangefinders are used, the measurement range is widened and the rangefinder measurement error increases accordingly. In addition, when increasing the range finder, the radiation angle of the transmitted wave of the range finder can be considered, and the range can be applied as long as the range does not cause interference.

Further, in the above-described embodiment, a case has been described in which five rangefinders are shifted by 22.5 ° to perform distance detection within a range of 90 °. However, the present invention is not limited to this. Although it may be set as follows, since the distance measurement range is narrow, even when approaching two ship walls, for example, in a corner portion, only the distance between one of the ship walls may be detected. .

In the above embodiment, for example, in the case of zone 1, two rangefinders are set as selection sensors, and the distance L 'between the ship walls is calculated only for the shorter one. However, the shortest distance between the ship and the ship wall that can be detected by each of the rangefinders may be obtained based on the distance detection values of the two rangefinders. May be corrected.

In the above embodiment, when the selected sensor is specified from the correspondence table based on the turning angle detection value from the angle detector 42 in, for example, the distance calculating device 43, a distance meter other than the selected sensor is used. May be stopped and only the selection sensor may be operated. In this way, the distance can be measured more accurately without interference of the transmitted wave or the reflected wave.

In the above-described embodiment, the case has been described in which the shortest distance LL is detected by subtracting the distance between the distance meter and the tip of the excavation section 24 from the distance L 'between the anti-hull walls. However, the present invention is not limited to this. The distance between the range finder and the front corner of the excavation part 24 is determined by the position where the relative angle between the distance detection direction of the range finder and the ship wall is 90 ° and the current position of the range finder. By subtracting the value corrected based on the deviation angle between the excavation part 24 and the ship wall, the shortest distance LL between the excavation part 24 and the ship wall can be detected with higher accuracy.

In the above-described embodiment, a case has been described in which a plurality of distance meters are provided in the excavation unit 24 and the distance is measured based on any one of the distance measurement values. However, the present invention is not limited to this. For example, a rangefinder (distance detecting means) for measuring the distance to the ship wall is rotatably provided in the excavating section 24, and a turning angle detection value from the angle detector (angle detecting means) 42 is provided. Based on the relative angle between the ship wall and the excavation part 24 based on the above, and the relative position of the excavation part 24 with respect to each ship wall, for example, in the case of a rectangular parallelepiped hold, the distance detection direction of the distance meter with respect to the ship wall is substantially vertical. By rotating the distance meter to a position (control means), detecting the distance between the ship wall and the distance meter and correcting the distance, the shortest distance between the ship wall and the excavation part is detected. And the relative angle between the ship wall and the distance meter is effective. It is moved to a position that is a relative angle at which a separation detection value can be obtained, and the distance detection value of the range finder at this position is determined based on the turning angle detection value of the angle detector 42. The distance may be corrected. In this case, the shortest distance between the four ship walls and the range finder can be obtained by providing the range finder so as to be rotatable by 360 °. By correcting the distance between the hull and the distance meter to the distance between the hull and the digging part, the shortest distance between the four hulls and the digging part can be obtained, and the hull and the digging part can be obtained. The shortest distance between the four ship walls and the excavation part can be detected regardless of the relative angle with the excavation part.

[0057]

As described above, according to the first aspect of the present invention,
According to the distance measuring apparatus for a continuous unloader according to the present invention, a plurality of distance detecting means for detecting distances in different directions are arranged in the excavation section, and the effective distance is determined based on the relative angle between the excavation section and the hold. A distance detecting means capable of obtaining a detection value is selected, and the distance between the excavation part and the ship wall is determined based on the distance detection value of the distance detection means and the relative angles of the excavation part and the hold detected by the angle detection means. The distance between the excavation part and the ship wall is detected based on the distance detection value detected with high accuracy, and can be detected by the selected distance detection means. The shortest distance between the ship wall and the excavation part can be detected with high accuracy.

Further, according to the continuous unloader-to-wall distance measuring apparatus of the second aspect of the present invention, the distance detecting means provided in the excavating section based on the relative angle between the excavating section and the ship wall. Is turned, and the distance detecting means is turned to a position where an effective distance detection value between the ship wall and the ship can be obtained, so that the distance is detected. The distance can be detected with high accuracy.For example, by rotating the ship to a position where the relative angle between the ship wall and the excavation part is substantially vertical, the shortest distance between the ship wall and the excavation part can be detected with high accuracy. Can be detected.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram showing an example of a continuous unloader to which a distance detection apparatus for a continuous unloader according to the present invention is applied.

FIG. 2 is an explanatory diagram illustrating an arrangement state of a distance meter.

FIG. 3 is a block diagram illustrating a configuration of an apparatus for detecting a distance between ship walls.

FIG. 4 shows the relative angle between the ship wall and the excavation part, the selection sensor,
It is a correspondence table showing the correspondence between the formula for calculating the distance between ship walls and the ship.

FIG. 5 is an explanatory diagram for explaining zoning of a correspondence table in FIG. 4;

FIG. 6 is a flowchart illustrating an example of a processing procedure of the distance calculation device.

FIG. 7 is an explanatory diagram showing an ideal scraping state by the excavation unit.

FIG. 8 is an explanatory diagram for explaining a conventional problem.

FIG. 9 is an explanatory diagram illustrating a moving state of the excavation unit.

FIG. 10 is an explanatory diagram illustrating a moving state of a digging unit.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Wharf 7 Continuous unloader 20 Bucket elevator 24 Excavation part 35 Scattered materials 41a to 41e Distance meter (distance detecting means) 42 Turning angle detector (angle detecting means) 43 Distance calculating device 100 Distance detecting device between ship walls

Claims (2)

[Claims] A pair of a continuous unloader configured to adjust a position of a horizontally extending excavation portion provided at a lower portion of the bucket elevator while moving the bucket elevator, and to scrape a load in a hold at the excavation portion. In the inter-wall distance detecting device, angle detecting means for detecting a relative angle between the hold and the excavation portion, and detecting distances in different predetermined directions between the excavation portion and the wall provided in the excavation portion. A plurality of distance detection means, a selection means for selecting a distance detection means capable of obtaining an effective distance detection value based on an angle detection value of the angle detection means and an arrangement state of the distance detection means, and the selection means Based on the distance detection value and the distance detection direction of the distance detection means selected in the above, the distance detection means for detecting the distance between the ship wall in front of the distance detection direction and the excavation part This A distance detecting device for a continuous unloader with respect to a ship wall. 2. A pair of a continuous unloader, which adjusts the position of a horizontally extending excavation portion provided at a lower portion of the bucket elevator while moving the bucket elevator, and scrapes off the load in the hold at the excavation portion. In the inter-wall distance detecting device, an angle detecting means for detecting a relative angle between the hold and the excavation portion, and a distance between the excavation portion and the ship wall which is rotatably provided in the excavation portion and detects the distance between the excavation portion and the ship wall. Control means for rotating the distance detecting means to a position where an effective distance detected value can be obtained based on the angle detected value detected by the angle detecting means. Characteristic device for detecting the distance between ship walls of a continuous unloader.