JPS6336002B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method for automatically discharging a load from an unmanned transport vehicle to a predetermined range in a predetermined order.

Figure 1 shows the working configuration. 1 is the storage yard for the loaded material, and the transport vehicle 2 moves from R to P along the arrow.
→ Scan → Q → R. P is the turning point, P→Q is the reverse, and Q is the dump.

The order of dumping to stockyard 1 is Q ₁₁ →
Q ₁₂ ...Q ₁₀ +n, Q ₂₁ →Q ₂₂ ...Q ₂₀ +n...Qmn
becomes.

Therefore, the dump position also moves sequentially, and when the row of dump positions changes (Q ₁₀ +n→Q _21, etc.), the turning point P naturally moves to the left (P ₁ →P _2, etc.).

The loaded material is generally gravel, earth, and crushed stones.

When performing the above work using unmanned vehicles, the following issues arise.

(1) There is a large variation in the amount of loaded material per load.
The shape of the discharged pile is not constant due to variations in the moisture content of the loaded material. Due to variations in the performance of each unmanned vehicle, it is difficult to form a pile of items to be transported in a compact and organized manner as shown in FIG. 2.

(2) Usually, multiple unmanned vehicles are used in the system for loading, transporting, and unloading, but in this case, it is difficult to automatically command each unmanned vehicle to the dump position in each case. .

Taking the above into consideration, the method for carrying out the above work using an unmanned vehicle was as shown in Figure 3.

The unmanned car uses an induction cable 4 that passes a low-frequency constant current.
is induced by the excitation power source 31 as shown in FIG.
A guide cable 4 is installed in a running track 3 and a stockyard 1 that are connected to the railway.

When dumping to the first row of the stockyard, switching contact 11 is first turned ON and other switching contacts 12, 13,
14, 15, 21, 22, 23, 24, 25
Since the mode is OFF (the current is R→P→U→R), the unmanned vehicle 2 is guided to P along the arrow.

Further, a command cable 10 is laid along the runway 3 parallel to the guide cable 4, and a vehicle sensor 5 and a ground command device 6 are installed near the turning point P. The unmanned vehicle 2 is equipped with a transmitter that emits a signal wave of a certain frequency, and when the receiver 5 catches it, the transmitter 6 transmits a command electromagnetic wave to stop the vehicle and move backward, and the receiver 2 receives it. then stop and start moving backwards. On the other hand, since the transmitter 6 is connected to the switching contact of the induction cable 4, the switching contacts 11 and 1 are connected at the same time.
2 and 13 are ON, and the switching contact 14 is OFF. Therefore, the unmanned vehicle 2 moves backward along P, the switching contact 12, and Q.

There is a supervisor at the operation panel 30 installed outside the course, and when the dumping position is reached, the dumping command transmitter 7 is switched on. A dumping command signal electromagnetic wave is transmitted, and the unmanned vehicle 2 catches it. The sequence of operations from stopping, raising the vehicle, lowering the vehicle, and starting is automatically performed by sequence control on the vehicle side. On the other hand, the switch 8 connected to the transmitter 7 is activated, and the switching contacts 13 and 14 are turned ON.
12 is OFF mode (current is R→T→S→V
→R'), and the unmanned vehicle 2 moves along Q→switching contact 14→V→R'. When the unmanned vehicle 2 comes to point W, the vehicle sensor 5' senses it as at point P.
The ground command device 6' sends a command signal to the unmanned vehicle 2 and returns the guidance cable switching mode to the mode to prepare for intrusion into the stockyard.

Further, when the dump position reaches the full capacity of the first row of the stockyard, the supervisor presses the switch button of the changeover device 9. When the switching contact 15 is turned on, the relay is switched to the second row relay at the same time. Mode switching contact 21...
...25 respectively correspond to the switching contacts 11 to 15, the switching contacts 12 and 15 are always closed, and the switching contacts 11, 13, and 14 are always closed.

Such conventional methods require manned operations during dumping and when switching rows of dumping positions.

The present invention has been made in view of the above circumstances, and its purpose is to enable unmanned dumping operations in stockyards, which conventionally required manned personnel, to reduce labor costs and relieve monotonous work. An object of the present invention is to provide a method for transporting a loaded object that can prevent operational errors caused by manned operation.

Hereinafter, the present invention will be explained with reference to FIG. 4 and subsequent figures.

The circuit of the induction cable 4 shown in FIG. 4 is the same as the circuit of the induction cable in the conventional method shown in FIG.
0, a constant low frequency constant current is applied.

Further, the unmanned vehicle 2 is additionally provided with a sensor 50 at the rear, a sensor 51 at the center, and a limit switch 55 attached to the hinge pin 52 of the vessel 54.

Now, when the unmanned vehicle 2 moves backward along the direction P→Q, the sensor 50 of the in-vehicle system A senses the magnetic field generated around the cable 40, passes through the filter 56 and the amplifier 57, and enters the S terminal of the flip-flop 60, where it is reset. Ru. Reference numeral 62 is a flip-flop of the vehicle speed control device, which becomes high level when traveling in reverse.

Therefore, the output of the NAND circuit 63 becomes high level at this time, and the transmitter 65 transmits a preset electromagnetic wave signal.

The sensor 42 of the receiver of the ground equipment B installed on the ground nearby catches this, and the filter 43,
The mode changer 45 of the induction cable 4 is activated via the amplifier 44.

Further, when the sensor 51 senses the magnetic field of the next cable 40, it resets the flip-flop 60 via the filter 58 and amplifier 59.

In the case of the first dump in the stockyard row (corresponding to _Q11 , _Q21 ... _Qm1 in Fig. 1), the unmanned vehicle 2 continues to move backward, and the sensor 50 detects the magnetic field at the B-B' section of the cable 40. The flip-flop 60 is set again by following the above-mentioned route. 6
1 is a binary two-stage counter, and when the flip-flop 60 is at a high level, the second-stage counter output becomes a high level, and since the flip-flop 62 is also at a high level, an output from a NAND circuit 64 is generated, which drives a dump sequence control relay 66. Therefore, a series of operations from stopping to dumping to starting is automatically performed.

On the other hand, if it is not the first dump in the stockyard row (Q ₁₁ , Q ₂₁ ... other than Qm ₁ in Figure 1)
There is a pile Y of the cargo of the preceding vehicle behind the unmanned vehicle (in the direction of travel).

An ultrasonic sensor 70 as measuring means C is attached to the rear of the unmanned vehicle 2.

The pulses of the reference pulse generator 71 are modulated by the amplifier 7
2, the ultrasonic waves generated from the speaker 73 and reflected by the pile Y of the loaded object are caught by the sensor 74, amplified detection is carried out by 75, and the distance adjustment gate 76 integrates the input at a given gate time. The processing is performed by the processing circuit 77 and the dump sequence control relay 66 is activated.

By using the distance adjustment gate 76, if the optimal distance L is determined in advance according to the condition of the loaded object, dumping can be automatically performed in that condition.

Next, when the dumping position reaches the end of the stockyard, if the A-A' section of the cable 40 is placed between the front and rear axles during dumping, the sensor 51 will catch the magnetic field from the cable 40 and the filter 5
8. The input terminal of the NAND circuit 67 becomes high level through the amplifier 59.

In addition, since the output from the limit switch 55 is at a high level during dumping (the hinge pin 52 rotates together with the vehicle body 54, the relative position with respect to the vehicle body is shifted and the limit switch 55 is turned on), the output from the NAND circuit 67 becomes H level. , a preset electromagnetic wave signal is transmitted from the transmitter 68, and the sensor 4
2 receives the signal, the tuning/detection/amplification mode switch 46 is turned on, and the guiding cable 4 is switched so that the following vehicle can dump from the next row. Of course, even if the stockyard 1 has an irregular shape, the cable 40 can be laid along the irregular shape.

As described above, the present invention divides the stockyard 1 into columns and rows, and by switching the switching contacts of the induction cable 4 provided in the stockyard 1, the unmanned vehicle 2 is moved from the 1st row of the 1st column to the nth row. 1 in the second column
In a method for transporting a loaded object in which the loaded object is transported by sequentially traveling from the nth row to the third column, the fourth column, etc., an excitation power source 41 is provided around the stockyard 1.
A loop-shaped cable 40 having the following characteristics is buried, a low frequency current is passed through the cable 40, and the generated magnetic field is detected by an on-vehicle system A equipped with a detection section, a logic circuit, and a transmission section, which is mounted on the unmanned vehicle 2, By receiving this signal from the in-vehicle system A at the ground device B, the unmanned vehicle 2 moves backward from the turning point P to the dumping point Q, performs the first dump operation in the stockyard 1 row, and stops the unmanned vehicle 2 → dumps. →A series of operations for starting, dumping operations when the dumping point Q reaches the end of the stockyard 1, switching of the guidance cable 4 so that the following vehicle can dump from the next row, and the second dumping row This transportation method is characterized in that the dumping position is determined by automatically measuring the distance between the dumped load pile of the preceding vehicle and the unmanned vehicle 2 using on-vehicle measuring means C.

Therefore, when dumping for the first time in stockyard 1 row, unmanned vehicle 2 continues to move backwards,
The magnetic field of the cable 40 is transferred to the in-vehicle system A of the unmanned vehicle 2.
When the dump position reaches the end of the stockyard, the on-vehicle system A of the unmanned vehicle 2 senses the magnetic field from the cable 40 and sends a switching signal to the ground equipment B. The guiding cable 4 is switched so that the following cars can dump from the next row.

By having the cable 40 of a different series from the induction cable 4 in this way, it becomes possible to send a switching signal to the ground equipment B via the on-vehicle system A of the unmanned vehicle 2, and this ground equipment B can be moved to a location away from the stockyard 1. This is advantageous in terms of installation and system reliability.

Furthermore, since the cable 40 is used for position setting, it can be applied even if the shape of the stockyard 1 is irregular.

In addition, by adopting distance measurement using on-vehicle measurement means C for position control in the row direction, if the distance to the pile of dumped soil is directly measured and dumped, the influence of the amount of dumped soil dumped up to the previous time can be added. Therefore, the variation in the amount of soil removed per row is reduced compared to the case where the dumping point is fixed (for example, if the loading capacity of an unmanned vehicle is less than the standard,
Since the slope protrusion of the earth removed per dumping becomes smaller, the next car will dump later than the standard, and the number of dumps per row will increase from the standard. ) In addition, the stockyard 1 is filled with piles of excavated soil.
There is no room for ground equipment, but by using on-vehicle sensors, dumping operations can be performed sequentially without ground equipment in addition to the buried column-direction guidance cables 4.

In this way, dumping operations at stockyards that previously had to rely on manned work can now be done unmanned.
It is possible to reduce labor costs, relieve monotonous work, and prevent operational errors due to manned operation.

[Brief explanation of drawings]

Fig. 1 is an explanatory diagram of the working form of a conventional method for transporting a loaded object, Fig. 2 is a front view of a pile of loaded objects, Fig. 3 is an explanatory diagram of the configuration of the induction cable in the conventional method for transporting a loaded object, and Fig. 4 is an explanatory diagram of the structure of the induction cable in the method of the present invention, FIG. 5 is a side view of the unmanned vehicle, and FIG.
The figure is a control circuit diagram, FIG. 7 is an explanatory diagram of an unmanned vehicle and a dumped load, and FIG. 8 is a distance measuring circuit diagram.

Claims (1)

[Claims] 1 The stockyard 1 is divided into columns and rows, and by switching the switching contacts of the induction cable 4 provided in the stockyard 1, the unmanned vehicle 2 is moved to the 1st to nth rows of the 1st column and the 1st row of the 2nd column. In the method for transporting a loaded object, the loaded object is transported by sequentially traveling from the nth row to the third column, the fourth column, etc., in which a loop-shaped cable 40 having an excitation power source 41 is buried around the stockyard 1, In-vehicle system A that includes a detection unit, a logic circuit, and a transmission unit, in which an unmanned vehicle 2 is equipped with a magnetic field generated by passing a low-frequency current through a cable 40.
By receiving the signal from the onboard system A at the ground device B, the unmanned vehicle 2 reverses from the turning point P to the dumping point Q, performs the dump operation for the first time in the stockyard 1 row, and unmanned vehicle 2 The series of operations of stopping → dumping → starting is performed, the dumping operation is performed when the dumping point Q reaches the end of the stockyard 1, and the guiding cable 4 is switched so that the following vehicle can dump from the next row, and the dumping From the second time in the queue, the distance between the pile of dumped loads of the preceding vehicle and the unmanned vehicle 2 is automatically measured by an on-vehicle measuring means C to determine the dumping position.