Self-propelled vacuum device and method for controlling the nozzle position of the same device

Abstract

To automatically control a nozzle position of a self-propelled vacuum device to more reliably suck up deposits.SOLUTION: A self-propelled vacuum device 10 is capable of rotating a vacuum nozzle 16 around a rotation shaft 24 (point A) provided on a vehicle body 12 using a power cylinder 20. A tilt angle sensor is provided to detect a tilt angle θ of the vehicle body 12. A target nozzle angle φref around the rotation shaft 24 (point A) is calculated based on the tilt angle θ and a target height yref of a tip of the nozzle 16. Rotation of the nozzle 16 around the rotation shaft 24 is feedback-controlled using the target nozzle angle φref as a target value.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a self-propelled vacuum device that uses a nozzle to suck up sediment. [Background technology]

[0002] For example, slag generated at steel mills is crushed and then transported to a yard by a conveyor belt, where it is temporarily stored. The powdered slag accumulated in the yard is periodically loaded onto trucks and transported out of the yard. Loading the slag onto trucks is done using excavators or similar equipment while the conveyor belt is stopped. [Overview of the project] [Problems that the invention aims to solve]

[0003] On the other hand, it is also conceivable to use a remotely operated self-propelled vacuum device instead of an excavator to recover powdery deposits such as slag. However, when recovering powdery deposits, if the self-propelled vacuum device rides onto the deposit, it may be difficult to vacuum the deposit if the position of the suction nozzle is fixed.

[0004] The present invention aims to more reliably suction up sediment by automatically controlling the nozzle position of a self-propelled vacuum device. [Means for solving the problem]

[0005] The self-propelled vacuum device of the present invention comprises a vacuum nozzle, a nozzle rotation means for rotating the nozzle around a rotation axis provided on the vehicle body, and a tilt angle sensor for detecting the tilt angle θ of the vehicle body, wherein the nozzle rotation means detects the tilt angle θ and a preset target height y of the tip of the nozzle. ref Based on this, the target nozzle angle φ around the rotation axis ref The target nozzle angle φ is calculated and ref The system is characterized by feedback control of the rotation of the nozzle around the rotation axis, with a target value set to a specific value.

[0006] The present invention relates to a nozzle position control method for a self-propelled vacuum device equipped with a vacuum nozzle rotatable around a rotation axis provided on the vehicle body, comprising the steps of detecting the inclination angle θ of the vehicle body and determining the target height y of the nozzle tip based on forward kinematics. ref Based on this, the target nozzle angle φ around the rotation axis ref The steps of calculating the target nozzle angle φ ref The invention is characterized by comprising the step of feedback-controlling the rotation of the nozzle around the rotation axis with a target value of . [Effects of the Invention]

[0007] According to the present invention, the nozzle position of the self-propelled vacuum device can be automatically controlled to more reliably suction up sediment. [Brief explanation of the drawing]

[0008] [Figure 1] This is one embodiment of reality. [Figure 2] This is a schematic diagram showing the configuration of the linkage mechanism of the nozzle drive unit. [Figure 3] This is a schematic diagram illustrating the method for calculating the constraint, the operating angle θref. [Figure 4] This is a schematic diagram illustrating the method for calculating the torque τref required for the vertical movement of the nozzle, which is a constraint condition. [Figure 5] This is a block diagram showing the configuration of the nozzle position control system mounted on the self-propelled vacuum device of this embodiment. [Figure 6] This is a schematic diagram illustrating the method for calculating the nozzle target height ya. [Figure 7] This is a schematic diagram illustrating the method for calculating the target nozzle angle φref. [Modes for carrying out the invention]

[0009] Hereinafter, embodiments of the present invention will be described with reference to the drawings. Figure 1 is a side view showing the external appearance of a self-propelled vacuum device, which is one embodiment of the present invention. Note that in Figure 1, the image is shown at an angle to illustrate the definitions of the variables used in the automatic control of the nozzle position, which will be described later.

[0010] The self-propelled vacuum device 10 of this embodiment includes a vehicle body 12, self-propelled crawlers 14 attached to the left and right sides of the vehicle body, a nozzle 16 for sucking up powdery deposits such as slag, a holding member 18 that holds the nozzle 16 and is pivotally supported on the vehicle body 12, a pair of left and right power cylinders (linear actuators) 20 that rotate the holding member 18, and a counterweight 22 to prevent the vehicle from tilting forward and the nozzle 16 from sticking to the ground (improving the center of gravity balance of the self-propelled vacuum device 10). A hose attachment portion 16A is provided at the base end of the nozzle 16 held by the holding member 18 for connecting one end of a flexible vacuum hose, and the other end of the vacuum hose is connected to a remote vacuum device.

[0011] The vehicle body 12 is equipped with a drive unit that drives the crawler 14, a control unit that controls the drive of the drive unit and the power cylinder 20, an inclination angle sensor that detects the tilt of the vehicle body 12 in the front-rear direction, an angle sensor that detects the nozzle angle φ with respect to a reference line H, and a communication module that communicates with a remote control console. The drive unit that drives the crawler 14 is controlled by the remote control console via the communication module, and the movement of the self-propelled vacuum device 10 is operated by the control console. The vacuum device is also operated remotely.

[0012] The nozzle 16 is bent in a V-shape, with its tip extending forward of the vehicle body 12 and directed downward. The base end of the nozzle 16 is held roughly along the crawler 14 by a holding member 18. The holding member 18 is pivotally supported on the vehicle body 12 by a rotating shaft 24 located on the front side of the vehicle body 12 (point A). The tip of the nozzle 16 moves up and down in front of the vehicle body 12 as the holding member 18 rotates around the rotating shaft 24. The rotating shaft 24 is positioned along the width direction of the vehicle body 12.

[0013] One end of the power cylinder 20 is pivotally supported (at point C) by the holding member 18 above the rotary shaft 24, and the other end is pivotally supported (at point B) by the rear portion of the vehicle body 12. That is, as the power cylinder 20 expands and contracts, the holding member 18 is rotated around the rotary shaft 24. The counterweight 22 is disposed at a position slightly higher than the running surface of the crawler 14 behind the vehicle body 12.

[0014] Next, referring to FIGS. 2, 3, and 4, the configuration of the nozzle drive unit using the power cylinder 20 will be described. FIG. 2 is a schematic diagram showing the configuration of the link mechanism of the nozzle drive unit. The link mechanism includes a fixed joint L that forms a part of the vehicle body 12 connecting point A and point B ab and a rotary joint L that forms a part of the holding member 18 connecting point A and point C ca and a power cylinder 20 (L ab ) that connects one end of the fixed joint L ca and one end of the rotary joint L bc . In the present embodiment, with the operating angle θ ref required for the holding member 18 (nozzle 16) and the torque τ ref required for the rotation of the holding member 18 (nozzle 16) as constraint conditions, the link ratio L ca :L ab at which the operating speed (rotation speed ω around the rotary shaft 24) of the nozzle 16 becomes maximum is obtained by iterative calculation.

[0015] FIG. 3 is a schematic diagram showing a method for calculating the operating angle θ ref that is a constraint condition. For the operating angle θ ref , the maximum inclination angle θ at which the vehicle body 12 does not slide down from the inclined surface is multiplied by a safety factor α. That is, when the vehicle weight of the self-propelled vacuum cleaner 10 is m, the gravitational acceleration is g, the static friction coefficient is μ, and the vehicle inclination angle is θ, θ (= tan -1 μ) that satisfies μ·m·g·cosθ - m·g·sinθ = 0 becomes the maximum inclination angle, and thus α·tan -1 μ multiplied by the safety factor α is taken as the operating angle θ ref . <00002 Figure 4 shows the torque τ required for the vertical movement of the nozzle 16, which is a constraint condition. ref This is a schematic diagram showing the calculation method for the torque τ required for vertical motion. ref The torque used is calculated by multiplying the torque applied to the holding member 18 by the weight of the vacuum hose attached to the hose connection part 16A by a safety factor. Here, if the linear density of the hose is ρ, the length of the hose is L, the load due to the hose at the hose connection part 16A is F, and the lever distance from the rotation axis 24 (point A) to the hose connection position is Lv, then the torque M applied to the holding member 18 by the hose is M = F·Lv (F = ρ·L·g / 2), and the torque τ required for the up-and-down movement of the nozzle 16 is τ. ref =α·M is considered to be the same.

[0017] In the iterative calculation, the minimum / maximum length of the power cylinder 20 is used as the condition L ca , L ab The length is changed sequentially, and the thrust f and operating speed v of the power cylinder 20 are changed. L Assuming that is constant, the above constraints (torque > τ) ref , operating angle>θ ref Below this, the link ratio L is such that the holding member 18 (nozzle 16) operates at the maximum operating speed (rotational speed ω around the rotation axis 24). ca :L ab This is required.

[0018] Note that each L when the power cylinder 20 is operating ca , L ab The operating speed ω at each time point [i] for the given situation [i] , torque τ [i] , and L ca , L ab The angle of motion θ A The following formula is used to calculate it. L bc[i] =L bc[i-1] +v L ·dt A [i] =(L bc[i] 2 -L ca 2 -L ab 2 ) / (2·L ca ·Lab ) B [i] =(L ca 2 -L ab 2 -L bc[i] 2 ) / (2·L bc[i] ·L ab ) ω [i] =dA [i] / dt τ [i] = f·cosB [i] ·L ca ·sinA [i] +f·sinB [i] ·L ca cosA [i] θ A =A| Lbc max -A| Lbc min

[0019] As shown in Figure 2, A [i] The fixed link L on the rotating shaft 24. ab and rotation node L ca The angle formed by B [i] is fixed node L ab and L corresponding to power cylinder 20 bc It is the angle formed by L. bc max The maximum length of the power cylinder 20 is L bc min This represents the minimum length of the power cylinder 20, and A| Lbc max L bc max A in [i] The value is A| Lbc min L bc min A in [i] This is the value.

[0020] In the example, α=2, μ=0.5, ρ=2.46 [kg / m], L=10 [m], Lv=0.06 [m], v L =15 [mm / s], f = 400 × 2 [N], L bc min =270[mm], L bc max Assuming =370[mm], the fixed node L ca =63 [mm], rotational contact L abwas set to 322 [mm]. That is, the link ratio L ca :L ab was 63:322.

[0021] FIG. 5 is a block diagram showing the configuration of a nozzle position control system mounted on the self-propelled vacuum cleaner 10 of the present embodiment.

[0022] In the nozzle position control system of the present embodiment, first, based on the forward kinematics from the tilt angle θ of the vehicle detected by the tilt angle sensor, the height y of the rotation axis 24 (point A) with respect to the ground contact surface of the crawler 14 a is calculated by the following equation (1) (forward kinematics block 26). y a =r+L c ·sin(θ+ε) (1) Here, as shown in FIG. 6, r is the wheel radius of the crawler 14, L c is the distance between the center of the rear wheel of the crawler 14 and the rotation axis 24 (point A), and ε is the angle formed by the straight line connecting the axles of the crawler 14 and L c ​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​n ·sin(θ+φ ref )+y a (2) Therefore, equation (2) is used to define the target nozzle angle φ ref By solving for this, the target nozzle angle φ ref It is calculated using the following equation (3). φ ref =sin -1 [(y ref -y a ) / L n ]-θ (3) Note L n This is the distance from the rotation axis 24 (point A) to the lower position of the tip of the nozzle 16.

[0025] Target nozzle angle φ ref The difference (φ) between the current nozzle angle φ detected by the angle sensor 36 and the comparison unit 30 is calculated in the comparison unit 30. ref After the -φ) is calculated, the deviation (φ) ref -φ) is input to the controller 32. The controller 32 then drives the power cylinder 20 with a voltage V, for example, through P control. in The deviation (φ ref It is calculated from -φ). In this embodiment, K p ·(φ ref V when -φ)>5 in =5, K p ·(φ ref When -φ) < -5, V in = -5, and V otherwise. in =K p ·(φ ref It is said to be -φ). p This is a proportional gain.

[0026] V in The voltage is input to the nozzle vertical mechanism 34. The power cylinder 20 of the nozzle vertical mechanism 34 expands and contracts according to the applied voltage Vin, thereby changing the nozzle angle φ. The actual nozzle angle φ is detected by the angle sensor 36 and fed back to the comparison unit 30. Note that the nozzle angle φ is detected by the power cylinder 20 (L instead of the angle sensor 36). bc It can also be calculated by detecting the length of the ) etc.

[0027] As described above, according to the self-propelled vacuum device of this embodiment, the inclination angle θ of the vehicle body and the preset target height y ref Based on the target nozzle angle φ ref The system calculates the angle and automatically rotates the nozzle to an angle suitable for suctioning sediment, matching the inclination angle θ. This allows for more reliable suction of sediment even when the vehicle drives over it. [Explanation of symbols]

[0028] 10 Self-propelled vacuum system 12 Vehicle Body 14 Crawler 16 nozzles 18 Retaining member 20 Power Cylinder (Linear Actuator) 24. Axis of rotation (point A) H reference line y ref Nozzle target height θ Tilt angle φ Nozzle angle φ ref Target nozzle angle

Claims

1. A nozzle for vacuuming, A nozzle rotation means that rotates the nozzle around a rotating shaft provided on the vehicle body, The vehicle body is equipped with a tilt angle sensor that detects the tilt angle θ, The nozzle rotation means has an inclination angle θ, a height y a of the rotation axis calculated from the inclination angle θ based on forward kinematics, and a preset target height y of the nozzle tip. ref Based on inverse kinematics, the target nozzle angle φ around the rotation axis is determined. ref The target nozzle angle φ is calculated and ref Using the target value, the rotation of the nozzle around the rotation axis is feedback-controlled using the difference between the target nozzle angle φ ref and the nozzle angle φ of the nozzle. A self-propelled vacuum device characterized by the following features.

2. A method for controlling the nozzle position of a self-propelled vacuum device equipped with a vacuum nozzle that is rotatable around a rotating shaft provided on the vehicle body, The steps include detecting the inclination angle θ of the vehicle body, The inclination angle θ, the height of the rotation axis y a calculated from the inclination angle θ based on forward kinematics, and the preset target height y of the nozzle tip. ref Based on inverse kinematics, the target nozzle angle φ around the rotation axis is determined. ref The steps to calculate, The target nozzle angle φ ref The system includes a step of feedback-controlling the rotation of the nozzle around the rotation axis using the deviation between the target nozzle angle φ ref and the nozzle angle φ, with the target value being φ. A method for controlling the nozzle position of a self-propelled vacuum device, characterized by the following:

3. Further comprising a linear actuator, The nozzle is pivotally supported on the vehicle body via the rotating shaft (A), One end (B) of the linear actuator is pivotally supported on the vehicle body and the other end (C) is pivotally supported on the nozzle. The rotation axis (A), one end (B), and the other end (C) form a triangle, and the nozzle swings up and down around the rotation axis (A) by the extension and retraction of the linear actuator. The self-propelled vacuum device according to feature 1.

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