JPS5819573B2 - How to position the unloader - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a positioning method for a load-throwing machine such as an unloader, and particularly to a positioning method performed during automatic operation of the load-throwing machine.

Among loading machines, unloaders are generally used to unload cargo such as ore from the hatch of a ship moored at a quay.

Usually, this type of unloader rotates or raises and lowers a grab bucket suspended by a wire rope.
The unloading of cargo is actually excavation, but hereafter referred to as unloading), but the grab bucket type unloader is used to speed up the work because the unloading work must be intermittent. It is difficult to plan.

In addition, there are factors that are difficult to control, such as swinging of the grab bucket, so it cannot be said that it is suitable for automated driving, which has been in high demand in recent years, from a safety perspective.

On the other hand, the present inventors have proposed an unloader that quickly and automatically performs cargo handling operations, in which a packet elevator mounted on a boom is rotated up and down while traveling on a track installed along a quay. did.

In this packet elevator type unloader, the boom is extended in a direction perpendicular to the traveling direction, and the packet elevator attached to the boom travels together with the unloader, while also traveling in a direction perpendicular to the traveling direction, allowing automatic operation. can be done.

When performing automatic operation of such an unloader, the traveling range and traversing range of the packet elevator differ depending on the batch size of the ship, etc., so the unloader has a detection system that detects the traveling position and traversing position of the packet elevator. This detector constantly detects whether the packet elevator is within the set movement range.

In this case, a specific position on the travel path is set as the origin, and the distance from this origin to the work start position of the ship's batch and the distance from this origin to the work target position are detected and input using a position detector, and the packet elevator type It is necessary to determine the movement range of the unloader.

Therefore, it is necessary to use a position detector with a wide detection range that can cover the entire travel range of the unloader, and widening the detection range deteriorates detection accuracy and complicates the device. There is a drawback.

SUMMARY OF THE INVENTION An object of the present invention is to provide a method for positioning an unloader that allows the traveling range and traversing range of a packet elevator to be set easily and with high precision.

Another object of the present invention is to provide a method for positioning an unloader using a floating origin method in which the payout start position of the packet elevator is used as the origin and the distance from this origin to the target position can be arbitrarily set.

The present invention focuses on the fact that the unloading range set within a batch of ships moored at a quay is extremely narrow compared to the travel range of the unloader, and that the mooring position and unloading range of ships can change arbitrarily. Instead of setting a specific position on the travel path of the unloader as the origin, the payout start position of the packet elevator is set as the origin, and the distance from this origin is set as the movement range.

Therefore, the position detector only needs to be capable of detecting the maximum batch width of the ship, which is advantageous in terms of accuracy and cost, and can easily cope with the expansion of the travel trajectory.

The present invention will be described below with reference to the drawings.

FIG. 1 is a diagram for explaining the operation of an unloader to which the present invention can be applied.

Referring to FIG. 1, a running track 1 is installed along the quay, and the unloader 2 runs along this running track 1 and can also traverse along a traversing track 3 in a direction perpendicular to the running track 1. can.

Further, the unloader 2 is provided with a boom 4, and a packet elevator (not shown) is attached to the tip of the boom 4.

Batch 6 of ships 5 moored at arbitrary positions on traveling track 1
From there, cargo can be delivered using a packet elevator.

When the unloader 2 is operated automatically, the unloader 2 is run and traversed with the boom 4 extended in a direction perpendicular to the running track 1, and the batch 6 is moved by the packet elevator.
By drawing a dispensing trajectory T within the batch 6, the cargo in the batch 6 can be continuously and automatically dispensed.

When drawing payout trajectory 7 on the packet elevator,
It is necessary to detect and monitor the traveling position of the packet elevator.

For this reason, the unloader 2 is provided with a position detector (not shown) that detects the traveling position of the packet elevator.

When a specific position on the travel track 1 is taken as the origin of this position detector, the distances from this specific position to the payout work start position A and the target position B must be detected and set respectively.

However, since the mooring position of the ship 5 changes arbitrarily, the position detector must detect the position over the entire range of the traveling trajectory, and a decrease in detection accuracy cannot be avoided.

In the present invention, the unloader 2 is moved to the unloading work start position A of the batch 6 of the ship 5, the coordinates of this position are set as the origin, the unloader 2 is then run from this origin to the target position B, and during this time Enter the distance.

Therefore, it is sufficient to use a position detector that can detect the maximum width of the batch 6 of the ship 5 or a range somewhat wider than the maximum width.

FIG. 2 is a book diagram showing one embodiment of the present invention.

Referring to FIG. 2, this embodiment shows a remote radio control device (
(hereinafter referred to as the ground station) 10, a control device that controls each part based on commands from this ground station 10 (hereinafter referred to as the onboard station)
11, it has a running position detector 12 and a traversing position detector 13 that respectively detect the running position and the traversing position of the unloader.

Furthermore, an arithmetic control device 16 is provided which stores the detected values of the traveling position detector 12 and the traversing position detector 13 according to commands, and controls the traveling control device 14 and the traversing control device 15 according to each detected value.

Note that each command and detected value described above are all digital quantities.

Here, to explain the case of positioning the unloader, the unloader is manually moved at the ground station 10 onto the batch of the ship that is about to perform cargo handling,
The unloader's packet elevator is positioned at the starting point of the delivery route associated with cargo handling work.

Next, at this starting point position, when the starting point setting button of the ground station 10 is pressed, the running and traversing position detector 12.13
The detected value is given to the arithmetic and control unit 16 as starting point position data and is stored.

In this case, the travel position detector 12 is reset to a predetermined reference value (for example, 0) when the start point setting button is pressed.

Furthermore, when setting the target position, move the unloader to the target position and set the ° position at the ground station 10 in the same way as for the starting point position. Then, the target position data from the starting point position is transmitted to each detector 12. .13 is stored in the arithmetic and control unit 16.

By setting the payout start position as the origin in the traveling position data and traversing position data at the target position, this origin is not fixed with respect to the unloader's traveling range, but is floating, and this floating It can be seen that the origin can be set arbitrarily within the travel range.

Furthermore, once the origin is determined, the target position is given as an absolute address relative to the origin.

Next, after positioning the unloader, if automatic operation is started from the starting position, the detection values detected from each detector 12 and 13 as the unloader moves are sent to the arithmetic and control unit 16 to determine the target position. While comparing with the position data, the travel and traverse control devices 14 and 15 are activated along a preset payout route.

When it is detected by the data from the position detector 12.13 that the unloader, that is, the packet elevator has reached the target position, the arithmetic and control unit 16 activates the travel and traverse control unit 1.
At 4°15, a stop command is sent to stop the unloader and packet elevator.

When the target position B is reached, the packet elevator attached to the tip of the boom 4 is caused to traverse along the traverse trajectory 3.

This causes the packet elevator to reach a position diagonal to the starting point.

This lateral movement may be performed by setting the running direction and traverse direction position data of the diagonal positions in advance, and monitoring this position data.

Thereafter, the packet elevator travels to the left, and when the travel position becomes equal to the reference value, it stops traveling and shifts to traverse operation.

As a result of the traversing operation, when the packet elevator reaches the traversing position set at the starting point position, the payout along the trajectory 7 in FIG. 1 is completed.

When the packet elevator is moved sideways at the target position B, if it is moved slightly wider than the width W of the packet elevator (the width perpendicular to the direction of travel), the trajectory will be I
The cargo inside is discharged almost uniformly.

As described above, in the present invention, the origin is arbitrarily set within the long travel range of the unloader, and the absolute address from this origin to the target position is given, so it is easy to deal with expansion of quay walls, etc. Moreover, since the detection range of the position detector can be shortened, it is very advantageous in terms of accuracy and cost.

Furthermore, since the target position becomes an absolute address after the origin is set, the only errors are mechanical ones such as gear backlash slip, and accurate control is possible.

[Brief explanation of drawings]

FIG. 1 is a diagram for explaining the operation of an unloader to which the present invention is applied, and FIG. 2 is a block diagram showing one embodiment of the present invention. Explanation of symbols: 10: ground station, 11: onboard station, 12: traveling position detector, 13 two traverse position detectors, 14: traveling control device, 15: traversing control device, 16: arithmetic control device.

Claims (1)

[Claims] 1 While moving on a track installed along the quay,
It is configured to be able to unload cargo from the hatch of a ship moored within this movement range, and can run along the track as well as traverse the track in a direction that crosses the track. In a method for positioning a packet elevator type unloader that can draw a two-dimensional payout route, a means for detecting the running and traversing position of the unloader, and a position of the unloader detected by the position detecting means are arbitrarily set as a set position. and a control means for controlling running and traversing of the unloader by calculating the set position and the detected value of the position detecting means, and the unloader reaches a hatch discharging start position of the ship. By operating the setting means, the detection value of the position detecting means at the time when the origin is inputted to the control means as the hail setting position, and the target position of the unloader is set as the hail setting position with reference to the origin. An input is made from the position detecting means to the control means by operating the setting means, and thereafter automatic operation is performed by causing the unloader to run and traverse along a payout route determined by the values of the origin and the target position. A method for positioning an unloader, characterized in that it is possible to position an unloader.