JPS6055414B2 - Control method for loading equipment in raw material yard - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method of controlling a stacking device in a raw material yard.

The removal work by the 1kkeya reclaimer was operated at the discretion of the workers at the yard site.

In addition, while monitoring the yard site using industrial television,
One option is to operate a stacker or reclaimer, but yards are generally several hundred meters long and several tens of meters wide, so it is difficult to accurately grasp the stacking status of a yard. The disadvantage is that it requires a television set, making it impractical in terms of economy and operability. SUMMARY OF THE INVENTION An object of the present invention is to provide a method for controlling a stacking device that allows the loading situation of raw materials in a yard to be accurately grasped and the stacking device to be properly controlled.

In order to achieve the above object, the present invention uses a computer to create a three-dimensional yard map from control data for stacker control and data from wind speed and wind vane installed in the yard. be.

The creation of this yard map is characterized by the use of the following results from detailed observations of the shapes of piles actually piled up in yards.

In other words, when the wind is not blowing, the shape of the mountain is a cone.

? (B) When the wind is blowing, the shape of the mountain transforms into an elliptical cone.

Furthermore, there is a relationship between these two cases according to the following constraint conditions.

(1) The heights of the elliptical cone and the cone are equal.

(2) The volumes of an elliptic cone and a cone are equal.

(3) The distance between the center position of the cone when there is no wind and the center position of the ellipsoidal cone when there is wind shifts in proportion to the wind strength.

(4) The larger the deviation of the center position is, the flatter the bottom surface of the elliptical cone becomes.

Note that even if the wind strength is the same, the degree of deviation in the center position differs depending on the type of raw material, but this can be dealt with by setting parameters from the control console.

The present invention will be explained below using detailed examples.

Figure 1 is a sketch of the raw material yard. The stacker 3 runs on the running rail 2 laid parallel to the raw material yard 1.
Raw materials from a belt conveyor 4 are carried into a raw material yard 1 by a stacker boom 5. The raw materials brought in are piled up like pile 6. In the raw material yard 1, there are many piles 6 piled up in this manner. The anemometer 7 measures the strength v of the wind blowing in the yard 1 and the direction θ of the wind.

In the following, the direction of the stacker running rail 2 will be chosen as the x-axis, and the direction perpendicular to this will be chosen as the y-axis. Figure 2 shows
1 is a system diagram showing an example of a stacker operation management system using the present invention.

In FIG. 2, the computer 10 calculates and stores the accumulated state of the raw materials stacked in the stacker as a yard map using a method that will be described in detail later, and displays the yard map three-dimensionally on the display device 11. Referring to the displayed yard map, Operator 8 determines the optimal amount of raw materials to be loaded in which location, and uses Calculator 1.
0 from the stacker control 3 data control console 9. The control data input here includes the stacker running position Xd, the boom rotation angle α, and the boom depression angle β.

In addition, a boom length 1 (fixed value) that varies depending on the type of stacker, and an angle of repose 00 (fixed value) that varies depending on the brand of raw material such as coal, coke, or iron ore are input as edition data. In addition, the parameter K to be explained later
l and k2 are also input. The stacker must be controlled so as not to collide with the piles that have already been stacked, and for this reason, the operation management of the stacker by the man-machine system described above is repeated in the following order.

(1) The operator 8 confirms the stacking status in the yard and the current position of the stacker by looking at the display device 11, and then data necessary for stacking the pile (Xd, α, β, etc.)
is input from the control console 9 to the computer 10.

(2) This input data is converted into a code in a format suitable for stacker automatic operation in the computer 10 and sent to the stacker control device 30.

(3) When the specified stacking is completed by the stacker 3,
A completion signal is passed from the stacker control device 30 to the computer 10. (4) When the computer 10 receives the above signal, based on the data previously input from the control console 9 and the data from the anemometer 7, the computer 10 calculates updates the yard map stored in its internal memory.

(5) The yard map updated on the internal memory of the computer 10 is transferred to the display device 11 and displayed together with the stacker positions.

In the operations described above, a method of creating a yard map using a computer will be described in detail below.

Figure 3 shows the stacker boom tip coordinate P.

(XO, yO), and the height of the mountain H. FIG. In FIG. 3, the projected length 1 of the boom 5 onto the yard surface. is 1υ 1″−r
"--"~1', and the pile is piled up to the height of the tip of the boom, so the height of the mountain and the height of the tip of the boom are almost equal, so Jυ
●●●●●● (Tk′ is control console 9
It is calculated from the data Xd, α, β inputted from (FIG. 2) and the edition data 1.

Figure 4 shows the base radius R of the mountain (cone) when there is no wind.

FIG. Mountain M at this time. angle of repose θ. is input from the control console 9 as edition data according to the brand of raw material, &0−1υ′? '112
VV to R.

is required. Figure 5 shows Mt. M when there is no wind.

This is a diagram showing the relationship between the peaks M1 and M1 when there is wind, and the heights of these peaks are equal to H. It is. The mountain M1 is an elliptical cone, and its center coordinates P1 (Xl, yl) are the center P of the turtledove.
. It deviates by δ from the wind, and this changes depending on the wind strength v. Here, the major axis and minor axis of the base ellipse of mountain M1 are respectively AO
and people, Mt. , Ml must be equal, that is, &VV-V holds true.

FIG. 6 shows the relationship between the wind strength v and the deviation δ between the center coordinates P of the elliptical fiber body, which is used in the present invention.

The St coefficient k1 is input as edition data from the control console 9 depending on the raw material brand. This coefficient k1 is generally larger as the raw material has a lower specific gravity. FIG. 7 shows the flatness B of the base ellipse of the mountain M1 with respect to the deviation δ.

/AO, which can be approximated by the following equation based on actual observation results. Here, the parameter K2 is also inputted from the control console 9 as an optimum value determined from the actually measured values.

FIG. 8 is an explanatory diagram of coordinate axis conversion between (X, y) coordinates and (X, Y) coordinates.

However, the direction of the wind is the X axis, and the direction perpendicular to this is the Y axis. From FIG. 8, center coordinates P1 (Xl, yl
) is e'A--'I, but the analysis becomes easier by considering a new coordinate axis in which the direction of the wind and the x-axis coincide with Equation 17V for coordinate transformation.

SeZll'to J,llA? To F Hibiki-? of , the center coordinates of mountain M1 are (X, When expressed as (Xl, Yl), Y) coordinate P1 becomes.

The base ellipse of the mountain M1 is then curved.

FIG. 9 is an explanatory diagram for determining the basic formula of the peak M1 of the elliptic cone.

From Fig. 9, the major axis a and the minor axis b of the horizontal cross section at the height h from the bottom surface are, and the formula of the ellipse in this cross section is, so formulas (14) and (15) can be substituted into this formula. and organize it.

The range of variation of the Stl variables X and Y is ~ of It is.

If h=0 in equation (17), it becomes the same as equation (13).

The position and shape of a new mountain can be determined by the above calculations, and the height of the mountain on the yard map is updated as shown in FIG. 10 in the following manner.

In other words, let h1(X,y) be the height of a point (X,y) where the pile was previously piled up, and let it be n(X,y) this time.
Then, h1 (X, y) at that point (X, y)
and h(X, y), h1(X, y)〈h(X, y
), then let the height of that point be h(X, y), and h1(X, y
)≧h(X,y), the height of that point remains h1(X,y). This is done at each point where the height has changed due to new stacking. In accordance with the calculation method explained above, the internal processing procedure of the computer 10 will be explained as follows with reference to FIG.

As explained in FIG. 2, when the stacking completion signal from the stacker control device 30 is input to the computer 10, the creation of the yard map is started.

Then, first, from the boom depression angle β of the stacker inputted from the control console 9 and the boom length 1, calculation step 101 is performed.
, the projected length of the boom is 1 according to equation (1). is calculated. In step 102, this output is 1. The height of the mountain is calculated using equation (2) from the angle of depression β, and step 103
Now, the projected length of the boom 1. , stacker traveling position Xdl boom rotation angle α to center P of the mountain in no wind. X coordinate of
is calculated by equation (3), and in step 104, parameters α and 1 are calculated. From the center of the mountain P when there is no wind. The y-coordinate 9 of is calculated using equation (4). Then step 105
Now, the mountain height calculated in step 102 and the edition data θ input from the control console 9. Tokara expression (5
), the base radius R of the mountain when there is no wind. Calculate. On the other hand, in step 107, the deviation δ of the center coordinates is calculated from the wind speed v from the anemometer 7 and the parameter k1 input from the control console 9 using equation (7). Next, in step 106, the output δ of step 107, the parameter K2 input from the control console, and the output R of step 105 are obtained. From,
Solve the simultaneous equations (6) and (8) to calculate the long axis and short axis of the bottom of the mountain when there is wind. Further, in step 109, the output δ of step 107 and the outputs X of steps 103 and 104 are calculated. , yO and the wind direction 0 of the anemometer 7. Calculate the center coordinates P1 (Xl, yl) of the mountain from equation (9), and use the output Xl, yl and the wind direction 0 to calculate step 1.
12, the coordinates of P1 expressed in (X, Y) coordinates (
Xl, Yl) is calculated. The coordinates of this P1 and A calculated in step 106. , bO, the variable (X,;Y
) is calculated in step 118 according to equation (18). In step 117, step 112
, 106 and 102, the height h(X, Y) of the mountain at each point is calculated from equation (17) within the range of X, Y defined in step 118.

Next, in step 111, the height h(X, y) of the peak of each point determined by the (X, y) coordinates is calculated using equation (11). The height h of the mountain at each point calculated in this way
For (X, y), the yard map is updated in step 120 as explained in FIG. is displayed on the display device 11 as follows.

As a display method, it is also possible to display contour lines of the raw material pile and color-coded display for each unit height. Alternatively, it may simply be displayed in a table format. Any format is sufficient as long as the operator can read the yard information from the screen. In order to make it easier for the operator to use, it would be good if the yard map could be automatically corrected based on the wind direction and wind speed or new stacking, and the results would be displayed. that's all,
The method of creating a yard map in the calculator 10 has been specifically explained. When there is no wind, v=0, so from equation (7), δ=0, and from equations 6 and 8, =BO=RO.

Furthermore, since δ=0, (Xl, yl)=(XO, yO), and from these, the final output h(X, y) is determined in step 111. This formula gives the height h(X, y) of the mountain at each point (X, y) of the turtledove when there is no wind. Basic formulas are always required. In the embodiment shown in FIG. 2, the wind strength v and wind direction θ are input directly from the anemometer 7 to the computer 10, and the center coordinate deviation δ and center coordinate P1 (Xl, yl) are calculated in the computer. However, there is also a method that does not directly exchange data between the anemometer and the computer.

In this case, the operator looks at the indicated value of the anemometer and determines the center coordinate P when there is no wind. Due to the influence of the wind, the center coordinate P1 (
It is determined where the coordinates (Xl, yl) are located, and the determined coordinates (Xl, yl) are input from the control console. In this case, step 107 ′～-AVv
The deviation δ may be calculated using l'e, and may be calculated in another step.

That is, based on the yard map, it is determined where the new stacking pile should be placed (where is an empty spot), and the running of the stacker, boom rotation angle, boom depression angle, etc. are controlled.

Based on the yard map created as above,
Controls the loading equipment.

According to the present invention, since the loading device can be controlled while creating a yard map, accurate raw material loading management can be achieved.

[Brief explanation of drawings]

Figure 1 is a schematic diagram of a raw material yard, Figure 2 is a system diagram of a stacker automatic operation system as an embodiment of the present invention, and Figures 3 to 10 are explanatory diagrams for creating a raw material yard according to the present invention. , FIG. 11 is a block diagram showing a specific example of the procedure for creating a yard map within a computer. Explanation of symbols, 1... Yard, 3... Stacker, 6... Mountain, 9... Control console, 1
0... Computer, 30... Stacker control device, v... Wind strength, θ... Wind direction.

Claims (1)

[Claims] 1. In a method of controlling a stacking device of a raw material yard in which the stacking of a raw material yard is controlled using a map of the raw material yard, the pile of raw materials stacked in the raw material yard is regarded as a cone, and the center position of the pile is determined. The cone serving as the raw material pile is corrected and stored as an elliptic cone using the values of wind direction and wind speed measured in the raw material yard, and the cone serving as the raw material pile is corrected and stored between the already piled raw material piles. When newly stacking raw materials, calculate the height of each part of the raw material pile from the assumed cone, and calculate the height of each part of the raw material pile at the position corresponding to the position of each part of the pile that has already been stacked. The material yard map is corrected and stored by selecting the higher value, and the corrected yard map is displayed on the display device, and the operator operates the material loading device based on the display result. A method for controlling a stacking device in a raw material yard, characterized by inputting stacker control data from a control console and issuing control commands.