JPS58193843A - Position indicating method for elevator part of continuous type unloader and hatch - Google Patents

Abstract

PURPOSE:To ease operation by having shapes of an unloader and a hatch memorized beforehand and measuring definite points of the unloader side and the hull side and then operating positional relation between the unloader and the hull and further indicating an elevator and the hull simultaneously. CONSTITUTION:At the time of unloading operation for cargoes 5 in a hatch 2, operation is performed by an operator in an operation chamber while controlling a stopping position of a truck 8, turn angle of a swivel stand 9, angles of depression and elevation of a boom 13, rocking angle of an elevator 15 and the like, and cargoes 5 are raked to the elevator side by means of a raking blade 19, continuous loading being performed by means of its buckets 18. At this time, since each angle gauge 10, 14, 17 and a television camera 20 are in operation and making such predetermined operations as measuring definite points of an unloader side and on a hatch 4, a cross sectional and longitudinal sectional shapes elevator 15 and the hatch 2 of the hull are simultaneously indicated in a picture of a display device 30. Accordingly, a position, movement and the like of the elevator 15 in the hatdh 2 can be accurately recognized.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method for indicating the position of an elevator section and a cargo hold of a continuous unloader.

There is a continuous unloader that uses a packet elevator as a device for unloading bulk cargo in a ship's hold. This type of continuous unloader is installed on a quay and is equipped with a swivel platform on a trolley that runs along a rail.

An elevator is attached to this swivel platform via a boom, and an operator's cab is installed on the swivel platform. During unloading work, the operator visually operates the vehicle from the cab located far from the cargo hold. ing. Therefore, there are many factors involved in this operation that rely on the operator's intuition, and if there is a slight residual sound from the cargo at the bottom of the hold, the positional relationship between the scraping blades at the bottom of the elevator and the bottom plate of the hold is unknown. 1. The problem was that the unloading efficiency in the >Vt song area was significantly lowered because the two had to be operated carefully so that they did not come into contact.

In view of these conventional problems, the present invention aims to display the relative positional relationship between the elevator and the ship's hold on a display section so that the operator can operate the elevator while looking at the display. The feature is that in a continuous unloader that uses an elevator section to unload bulk cargo in a cargo hold, the shape of the unloader and the shape of the cargo hold are stored in a storage device, and the position of the elevator section is measured. The point is to measure a fixed point on the unloader side and a fixed point on the hull side, calculate the positional relationship between the unloader and the ship's hold, and simultaneously display the elevator section and the ship's hold on a display device.

Hereinafter, the present invention will be described in detail regarding the illustrated dormitory example.
In the figure and Figure 2, (1) is the hull, (2) is the hold,
(3) is the bottom of the hold, (4) is the hatch, and (5) is the cargo to be evacuated. (6) is a quay, (7) is a nine rail laid on this, and a bogie (8) runs on the rail v (7). (9
) is a nine-swivel base which is rotatably provided on the truck (8), and a swing angle meter OG for detecting the rotation angle of the swivel base (9) is attached to the center of the swing. On the swivel base (9), a poom a3 that can be raised and raised freely via a wire (2) by a winch αυ and a driver's cab (not shown) are installed.
A poom elevation angle needle shaft for detecting the elevation angle is attached to the pivot point of 6υ is a packet elevator, which is pivotally supported at the tip of the poom and has a push/pull cylinder l.
According to '66, the elevator can be pushed or pulled freely, and an elevator push/pull angle meter is attached to the pivot portion of the elevator a9. In addition, elepe! A scraping blade 09 for scraping the load (5) onto the bucket Q1m@ is rotatably provided at the lower end of the bucket. (E) is a television camera attached to the tip of Poom 0,
411.

In FIG. 5, Q]) is an elevator part coordinate calculation device, which is connected to a turning angle meter acJ via conversion 64.

This is for calculating the center coordinates of the scraping blade (to) at the tip of the elevator (to) based on the signal of the angle (0□XemXθS) input from the poom elevation angle meter α4 and the elevator push/pull angle needle Q7). (2) is the unloader shape memory device, which has one KFi swivel (9) and a poom 0. Information indicating the shape of the unloader including the elevator, scraping blades, etc. is stored. (2) is an angle calculation device that calculates the angle (a+) to (a4) on the screen between the fixed point of the unloader and the fixed point on the hatch (4) based on the signal from the television camera (e).
, (βI) to (β4). @
is a hold shape memory device in which information on the shape of each hold is stored in advance. @ is a hatch level calculation device, which is configured to calculate the hatch level based on stored information indicating the shape of the cargo hold using a signal inputted from the angle calculation device (to) via a converter. c!
0 is a display device having a CRT or the like, which calculates and determines the positional relationship between the elevator section and the hold using signals from the elevator section coordinate calculation device (2) and the hatch level calculation device (2), and displays the shapes of both. It is configured to simultaneously display the information on one screen, and this display device is installed in a position where it can be easily seen from the operator's seat in the driver's cab. Note that two IKs are provided for this display device (to) so that the cross-sectional shape and vertical cross-sectional shape of the hull (1) can be displayed respectively.

Next, the effect will be explained. When unloading the cargo (5) in the hold (2), the operator in the cab should check the stopping position of the trolley (8), the turning angle of the swivel platform (9), the elevation angle of the poom (toward), and the elevator (towards). ) while controlling the swing angle, etc.

The cargo (6) is raked toward the elevator (to) by the raking blade Q9, and the cargo is continuously unloaded using the packet (to).

At this time, since each angle meter αQ Q41 a7) and the television camera (e) are working and performing the prescribed operations, a cross-section of the hull is displayed on one side of the display device ■ as shown in Figure 4 6) and (B). The shapes of the elevator (to) and the hold (2) in the plane and longitudinal section are displayed at the same time, and if you use this display device (to), you can see the position of the elevator (to) in the hold (2). The operation depth can be accurately grasped, and therefore, for example, the plunge depth of the elevator Of9 can be easily adjusted, and the unloading efficiency in the trimming region is improved.

Next, each calculation operation of each part will be explained.

[■] Displaying the overall position of the Chianda. Now, assuming that the bogie (8) is stopped at a position corresponding to a specific hold (2), set the level of the base of the poom to the origin (0) on the center of rotation. , 0, 0), set the KX axis in the rail direction, the Y axis in the vertical sea hook direction, and the two axes in the downward height direction on the same plane.The center coordinates of the scraping blade a- are as follows. It is given as follows.

That is, if Fig. 1 is simplified and expressed as shown in Fig. 5, and the x and y%2 coordinates are newly set, the center coordinates of the scraper blade α9 are: y-Lt+LmCO8#m+Lm 5in (1m 'j
z 90') = L+Ls coSem Lm co
w(ax-am)z m Lsain#m+Lsco
s(#s am-90)-Ls sln#*+Ls 5
in(#5-1m), therefore, convert this to x, y,
When converted to z coordinate, XI −y81na* wealth(L +L cos6m−Lm s 1n(ljs
-am) )8 (n#tY, familiarCO8#tm (Lm 5ines+Ls 5in(L-1m)
) cos#sZ+ -Ia sin#s+Ls 5in
(#s-#*), that is, by measuring the turning angle θ1, the boom elevation angle 0, and the elevator push/pull angle 01, the overall shape and position of the unloader can be grasped, and such arithmetic processing is performed by the arithmetic unit (2).

(II) Positional relationship between a fixed point on boom 〇 or elevator (2) and a fixed point on hatch (4) Install a television camera at any one or more points on boom (to) or elevator (2), and 4 points A% B, C of Hatch (4) in the hold (2) where the TV camera crew is working
, Dt-plane. The drawing shows a TV camera (H).
The figure shows the case where one Boo5alK is installed.

Figure 6 shows the positional relationship of the four points measured by the TV camera (E), whose coordinates XI and Yl match those of No. 8a5, and the point E1 is on one side of the installation point E of the TV camera (E). It is a projection of al is the angle between the line segment E'A and the X1 axis, phantom is the angle between the line segment E'B and the X1 axis, a is the angle between the line segment E'C and the II axis, α4 is the line segment This is the angle between E'D and axis II. In Figure 6, the actual four points A and B
, C, and D are rectangles, and the actual dimensions AB%BC are known. Therefore, the 4 points A and B% observed by the TV camera
To find the positional relationship of C1D, from and K, 4 points A%B, C
The positional relationship of %D and camera mounting with position E can be calculated. But, it's full! Sometimes @? Figure and joy 1
As shown in Figure 0, the four points A, B, and C1D observed by the television camera (e) are not necessarily rectangular due to the inclination of the hull (1) due to the cargo and the trim #1 in the direction of the ship's captain. , However, since the actual positional relationship of these four points A, B, C, and D is twilled, for example, the 94 points A, B, and C% DK observed by TV camera 4 are shown in Figures 6 and 7. As shown in the figure, the angles a1 to α4 and β1 to β4 between each side and the observation point
In particular, the positional relationship between the four points A, B, C, and D and the point E is determined uniformly (see the leap line), and the seat extension axis X'Y'Z' in Fig. 7 is Consistent with that in Fig. 8, 9 β1 is the angle between the line segment O and the II axis, β is the angle between the line segment EB and the Zl axis, β1 is the angle between the line partial pressure and the Zl axis,
β4 is the angle between the line segment ED and the II axis.

(2) According to the above item [11], the positions of the four points A, B, and C%D on the hatch (4) correspond to the fixed point on the unloader. Therefore, since the cargo hold shape has been input into the storage device @ in advance, if we give four points A, B, C, and D.

The position of the entire ship corresponds uniformly to a fixed point on the unloader.

On the other hand, as described in Section 13, the coordinate values of the unloader are calculated based on the signals from the turning angle needle 0 (1), the poom elevation angle meter α fathom, and the elevator push/pull angle meter aη.

Since the positional relationship between the entire Japanese hull (1) and the entire unloader can be recognized at the same time, the elevator (to) and hold (2) obtained by the above calculation are displayed on one side of the display device as shown in Figure 4. ) can be displayed, allowing the operator to accurately understand the relationship between the two when driving. Distance eas when the elevator (to) shown in (IS) approaches the bottom of the hold (3) and the hold W
It is also possible to compare es, C[present], etc. with the set value e, and issue an alarm and stop the movement of the unrotor when both are approaching each other. Furthermore, this can also be used to control the direction switching of the automatic operation of the unloader. Calculation unloader turning angle 01, boom depression/elevation angle 01. By measuring the elevator push/pull angle 0s, the coordinates of the camera mounting position E with respect to the unloader system (XYZ coordinates) can be calculated.

Therefore, the positional relationship between the unloader and the hull is as shown in Figure ＠a, with this point E as the new origin. Set the vertical direction KX' axis respectively, XI Y'
Let's discuss using the Z' coordinate system.

In [...] section, point E and four points A, B on hatch (4)
, By measuring and calculating the positional relationship with C and D,
Although we have indicated a policy of determining the positional relationship between the hull (1) and the unloader, *in some cases, point E and three points A, B, on the hatch (4),
By measuring and calculating the positional relationship with C, the hull (1
) and the unloader. Therefore, point E and five points A, B, and CK will be discussed below.

Here, the measurement terms and unknowns can be summarized as follows.

1) Measurement term "1 s gl, am (see Figure 6) al, β1, βS (see Figure 7) I) Known ring a = AB b - BC (a: b are constants) -
) unknown number XI 113'I 11! l Xh71, Km
Xs, 7msZm Now, see Figure 6) The following relational expression holds true.

tan al-”・・・・・・■ I tan town - shi　...　■ 1 jan am=f,...Qi” Also, from FIG. 7, the following relational expression holds true.

-1 WaYir tanβ'=-fx-...'s 41m"+ys" tanβ1 selection ]-〇-・■ Prompt, 9 unknowns X1% )'1% Xs XMS )'1% 21
For Xs%Y1% 2m, the above nine simultaneous equations from ■ to ■ hold true, that is, cl, aj, al, and β
If hβ1 and β1 are measured, the ninth s where a and b are known
(Xh)'1% Zl)% (XMS)'1%z
g) and (Xs%ys,za) can be determined.

Also, if it is not possible to grasp the 5 points ABC at once with one TV camera due to the geometric relationship between the camera mounting position, the elevator (to), and the pool 〇, it is necessary to use multiple cameras. , In this case, the same calculation is possible by adding the coordinate difference between the camera positions to the above calculation result.

(To) Check mechanism [As stated in section N, the positional relationship between the camera position and the hull (1) can be determined by measuring a and β at each of the five points on the hatch (4) to obtain a one-to-one correspondence. I found out that it does.

However, in this calculation, there is no check mechanism for the input signal, rounding, and when the input signal is input as -, that is, when the shape of the cargo hold (2) being unloaded is input as 111 and is not memorized, etc. , K if the true positional relationship is not displayed.

In such a case, measuring the positional relationship between the $40 point D (xa, y4, Za) and the camera mounting position E will be useful. t D , (mV) Since the positional relationship between point E and the hull (1) is determined by the above method, conversely, point D (
xa, y4, zs) The values of β4 and β4 for K can be calculated. Therefore, actually the point D(xa, y4, za')
By measuring a, , β4 for K and comparing the measured value □ with the above-mentioned calculated value, it is possible to check whether there are any errors t, 6 in the input information.

As is clear from the description of the above embodiment, the present invention memorizes the shapes of the unloader and the ship's hold, measures the position of the elevator section, and measures a fixed point on the unloader side and a fixed point on the hull side. The positional relationship between the unloader and the ship's hold is calculated and the elevator section and the ship's hold are displayed simultaneously on the display device, so the operator can use this display to determine the position of the elevator section relative to the ship's hold when unloading with the unloader.

Operations can be accurately grasped and handling during operation is easy, significantly improving papermaking and unloading efficiency. Special K) Efficiency at 9 min. is high, and the amount of cargo unloaded until bulldozer input is increased. Furthermore, the burden on the operator can be reduced, and the degree of fatigue during operation is reduced.

[Brief explanation of the drawing]

The drawings show one embodiment of the present invention; FIG. 1 is an overall view. FIGS. 5 to 7 are explanatory views, FIG. 8 is a schematic plan view, No. 91m is a schematic front view, and FIG. be. (1)--hull, (2)... hold, (4)... hatch, Q3... boom, (Foundation)... poum elevation angle meter, (2)... packet elevator, Q7)...Elevator push/pull angle needle, wire...TV camera. (2)...Elevator part coordinate calculation device, (2)...
Unloader shape storage device, (to)...angle calculation device,
■... Hold shape memory device, (c)... Hutch level calculation device, (7)... Unfinished packaging.

Claims (1)

[Claims] 1. In a continuous unloader that uses an elevator section to unload bulk cargo in a cargo hold, the shape of the unloader and the shape of the cargo hold are stored in a memory device, and the position of the elevator section is measured, as well as a fixed point on the unloader side. A method for displaying the positions of the elevator section and the cargo hold of a continuous unloader, characterized by measuring a fixed point on the ship's hull side, calculating the positional relationship between the unloader and the cargo hold, and simultaneously displaying the elevator section and the cargo hold on a display device. .