JPS62255321A - Positioning method for bucket wheel attached to raw material loader - Google Patents

Abstract

PURPOSE:To perform remote control of plural raw material loaders, by a method wherein a television camera, photographing the triangular scraped surface of a raw material heap scraped off by means of a bucket wheel, is mounted integrally with a range finder. CONSTITUTION:Through control of a control panel 3, a frame 2 is revolved as a monitor 5A, on which the whole surface of a raw material heap 9 is displayed, is watched by means of a wide angle camera 4A so that an upper topmost vertex (a) of a scraped- off surface S of the raw material heap 9 is coincided with the central point of the cross hair of a monitor 5A. Thereafter, the control panel 3 is controlled as a monitor 5B for a telephotographic camera 4B is watched so that the upper topmost vertex (a) of the scraped-off surface S is coincided with the central point of the cross hair of the monitor 5B. As a result, the range gauge is turned in the direction of the topmost vertex (a). Each raw material loader 7 is automatically moved in the direction of the raw material heap 9, a bucket wheel 8 is reciprocatively horizontally slewed around an uppermost reference point S1 of plural reference points to scrape off the raw material heap 9, and the raw material heap 9 is scraped off, in order, around reference points S2...S5.

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to a method for positioning a bucket wheel attached to a material loader.

[Prior art and its problems]

Normally, a pile of raw materials such as iron ore piled up on a yard is scraped off by a bucket wheel of a raw material loader, and then
It is transported to a predetermined location by a belt conveyor. The raw material loaders are operated by an operator on board each loader. Therefore, in order to reduce labor costs, it is required that multiple raw material loaders be operated by a single operator, but in order to realize this request, it is necessary to It was necessary to obtain data such as the positional relationship with the raw material pile and the shape of the raw material pile at the required level.

Conventionally, this has been done by, for example, using an ultrasonic distance meter, or installing an industrial television camera in a location where the entire raw material pile can be viewed.

There are methods that three-dimensionally grasp the shape of the raw material pile from multiple images, but all of these methods have poor accuracy and
Measurement takes time, and the latter method in particular requires strict conditions for the surrounding optical environment, so it is limited to grasping the contour shape of the raw material pile.

[Purpose of the invention]

An object of the present invention is to provide a method for positioning a bucket wheel in a raw material loader that allows a plurality of raw material loaders to be remotely controlled by a single operator.

[Summary of the invention]

In this invention, a distance meter capable of turning in a horizontal and vertical plane is attached to a raw material loader to which a bucket wheel is attached, and an angle detector for detecting a horizontal turning angle and a vertical turning angle of the distance meter is connected to the distance measuring device. A television camera for photographing the triangular scraped surface of the raw material pile scraped by the bucket wheel is integrally attached to the distance meter, and a television camera for photographing the triangular scraped surface of the raw material pile scraped by the bucket wheel is integrally attached to the range meter, While monitoring the image, point the rangefinder in the direction of each vertex of the raw material pile.

Thereby, the distance between the distance meter and each vertex of the raw material pile was measured, and thus measured.

a distance between the distance meter and each vertex of the raw material pile;

Based on the horizontal rotation angle and vertical rotation angle of the distance meter from the angle detector at this time, determine the position data of each vertex of the raw material mountain, and based on the position data of each vertex of the raw material mountain, An equation representing a plane including each vertex of the raw material pile is obtained, and based on the equation, position data (x&t y&t) of each of a plurality of set reference points (S base) in the plane
z&), and obtain the position data (X↓* YA
+ Z & ), find the horizontal angle (θ) and vertical angle (No. 9) of each of the plurality of reference points (No. 8), and calculate based on the horizontal angle (θi) and vertical angle (ψi). There,
Point the rangefinder in the direction of each of the plurality of reference points (SA), measure the distance (rl) between the rangefinder and each of the plurality of reference points (Si), and measure the distance (ri)
Based on the horizontal angle (θfu) and the vertical angle (ψka), the position data (rl, θfu) of each of the plurality of reference points (Si) is determined.

ψ↓), and the position data (rA +θi
.

The present invention is characterized in that the position data of the bucket wheel is converted into the coordinates of ψfu), and thus the positional relationship between the bucket wheel and a plurality of reference points (8!) of the raw material pile is determined. .

[Structure of the invention]

Next, one embodiment of the positioning method of the present invention will be described with reference to the drawings.

FIG. 1 is a block diagram showing one embodiment of the positioning method of the present invention, and FIG. 2 is a side view showing the relationship between the material loader and the scraping surface of the material pile.

In FIGS. 1 and 2, a distance meter 1 such as a non-prism distance meter for measuring the distance to the raw material pile 9 is installed at a specific position O of the raw material loader 7. The distance meter 1 is mounted on a pedestal 2 that freely rotates in a horizontal plane and a vertical plane by a drive motor (not shown). The drive motor is driven by an operating device 3. An angle detector (not shown) is attached to the pedestal 2 to detect the horizontal and vertical rotation angles of the rangefinder 1.

A television camera 4 for photographing the scraped surface of the raw material pile 9 is fixed on the range finder 1 facing in the same direction.

The TV camera 4 is a wide-angle camera 4A equipped with a wide-angle lens.
and a telephoto camera 4B equipped with a telephoto lens. Monitors 5A and 5B are connected to the wide-angle and telephoto cameras 4A and 4B, respectively.

The computer 6 calculates the raw material row as described later.

In one embodiment of the positioning method of the present invention described above, the positional relationship between the bucket wheel of the material loader and the set reference position of the scraping surface of the material pile is determined as follows.

Assume that the raw material loader 7 is stopped at a predetermined distance from the scraping surface S of the raw material pile 9, as shown in FIG. First, as shown in FIG. 4(A), the monitor 5 shows the entire scraped surface S of the raw material pile 9 using the wide-angle camera 4A.
While looking at A (at this time, monitor 5 of telephoto camera 4A)
In B, as shown in FIG. 5(A), a scraped surface S appears on the entire screen. ), as shown in Figure 4(B),
The upper vertex a of the scraped surface S of the raw material pile 9 is at the monitor -5A.
Operate the operating device 3 to rotate the -C pedestal 2 so that it coincides with the center point of the crosshair.

Next, while looking at the monitor 5B for the telephoto camera 4B, the operator 3 is operated so that the upper vertex a of the scraping surface S coincides with the center point of the crosshair on the monitor 5B. As a result, the range finder 1 faces toward the upper vertex a. Then, the coordinates (three-dimensional polar coordinates) of the upper apex a are determined from the horizontal turning angle and the vertical turning angle from the angle detector and the distance from the rangefinder 1 to the upper apex a, and the upper apex The position a is stored in the Cheetara computer 6.

The above-mentioned operations 17 are performed on the lower vertices of the scraped surface S, and the position data of these positions are stored in the computer 6.

Next, based on the positional data of the vertices a, b, and c of the raw material pile 9, an equation representing a plane S' (see FIG. 6) including the vertices a, b, and c is determined by the computer 6.

Next, based on the above equation, the computer 6 calculates the position data (Xfu, Yk+Zh) ('': 1 to 5) of each of the plurality of set reference points Sj, (L: 1 to 5) in the plane. The plurality of reference points S are, for example, points on a straight line drawn from the top apex a toward the bottom, as shown in FIGS. 2 and 3.

The plurality of reference points S; serve as reference points when the bucket wheel 8 of the material loader 7 turns in the horizontal direction to scrape off the material pile 9, as will be described later.

Next, the horizontal angle θi and vertical angle ψL of each of the plurality of reference points Sλ are determined by the computer 9, and based on the horizontal angle and vertical angle ψi, the rangefinder 1 is set to each of the plurality of reference points S, A distance r; between the distance meter 1 and each of the plurality of reference points S is measured in each direction.

The reason why the distance rL is actually measured by the distance meter 1 in this way is that the scraped surface S of the raw material pile 9 is not actually flat but has irregularities.

Next, the distance r, the horizontal angle θi and the vertical angle ψi
Based on this, position data (rl, θ6.ψi) expressed in polar coordinates of each of the plurality of reference points S is determined.

Then, the position data of the bucket wheel 8 is converted into the coordinates of the position data (ri, θi, ψi). The position data (ri.

θ1. Since the position data for the origin of the coordinates (p↓), that is, the point at which the distance meter 1 is attached to the raw material loader 7, can be easily detected by the detector attached to the raw material loader 7, the position data (rl, It is easy to convert the position data of the bucket wheel 8 into the coordinates of θf, ψi).

In this way, if the positional relationship between the bucket wheel 8 and each of the plurality of reference points S is determined for each of the plurality of raw material loaders 7, one operator can load the plurality of raw material loaders. You can remotely control the road duff.

That is, each raw material loader 7 automatically moves in the direction of the raw material pile 9, and the bucket wheel 8 moves toward the plurality of reference points S,
The raw material pile 9 is scraped off by horizontally reciprocating around the reference point SL at the top, and then the reference point S2 is
...Scrape the raw material pile 9 centering on S.

〔Effect of the invention〕

As explained above, according to the present invention, an extremely useful effect is brought about in that a plurality of raw material loaders can be remotely controlled by one operator.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing an embodiment of the positioning method of the present invention, FIG. 2 is a side view showing the relationship between the raw material loader and the scraping surface of the raw material pile, and FIG. 3 is a front view of the raw material pile. Figures 4 (A) and (B) are views showing images on the wide-angle camera monitor; Figures 5 (A) and (B) are views showing images on the telephoto camera monitor; FIG. 6 is a diagram showing the scraped surface of the raw material pile on the coordinates. In the drawing. 1... Distance meter, 2... Frame, 3... Controller, 4... TV camera, 4A...
Wide-angle camera, 4B...Telephoto camera, 5A, 5B
...Monitor, 6.Computer, F..Material loader, 8.Bucket wheel. 9...Mountain of raw materials.

Claims (1)

[Claims] A distance meter capable of moving horizontally and vertically is attached to the raw material loader to which a bucket wheel is attached, and an angle detector for detecting the horizontal turning angle and vertical turning angle of the distance meter is attached to the distance meter. , a television camera for photographing the triangular scraped surface of the raw material pile scraped by the bucket wheel is integrally attached to the rangefinder, and the raw material photographed by the television camera is attached integrally therewith. While monitoring an image of the mountain, point the rangefinder in the direction of each apex of the material mountain, thereby measuring the distance between the rangefinder and each apex of the material mountain, and thus Based on the measured distance between the distance meter and each apex of the raw material pile, and the horizontal rotation angle and vertical rotation angle of the distance meter from the angle detector at this time, Find positional data of each vertex, find an equation representing a plane including each vertex of the raw material mountain based on the positional data of each vertex of the raw material mountain, and calculate a plurality of settings in the plane based on the equation. Find the position data (X_i, Y_i, Z_i) of each of the reference points (S_i), and calculate the horizontal angle (of each of the plurality of reference points (S_i) based on the position data (X_i, Y_i, Z_i). θ_i) and vertical angle (ψ_i), and based on the horizontal angle (θ_i) and vertical angle (ψ_i), orient the distance meter in the direction of each of the plurality of reference points (S_i), and calculate the distance. distance (r_i) between the meter and each of the plurality of reference points (S_i);
Measure the distance (r_i) and the horizontal angle (θ_i)
and the vertical angle (ψ_i), the position data (r_i, θ_i, ψ
_i), and the position data (r_i, θ_
i, ψ_i), thereby determining the positional relationship between the bucket wheel and a plurality of reference points (S_i) of the material pile. How to position the bucket wheel installed on.