JP2011063346A - Position detecting device in crane device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a position detecting device in a crane device, which highly accurately detects the two-dimensional position of a boom tip or a hook, by eliminating influence of deflective deformation of a boom, using a distance measuring technology by an ultrasonic wave. <P>SOLUTION: The ultrasonic wave transmitted from an ultrasonic transmitter 11 installed at the tip 3b of the boom 3, is respectively received in a first ultrasonic receiver 12 and a second ultrasonic receiver 13 installed on the vehicle 1 side in a separate state, and a propagation time of the ultrasonic wave up to reception in the respective ultrasonic receivers 12 and 13 from transmission of the ultrasonic wave is respectively determined, and a position of the tip 3b of the boom 3 to a vehicle 1 is calculated by respectively determining the distance between the respective ultrasonic receivers 12 and 13 and the ultrasonic transmitter 11 based on these respective propagation times. With such a constitution, even if the deflective deformation is caused in the boom 3, regardless of a degree of its deformation quantity, the influence of the deflective deformation is completely eliminated, and the position to the vehicle 1 of the tip 3b of the boom 3 can be extremely accurately detected. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  In the crane device of the present application, for example, the two-dimensional position of the tip or hook of the boom, which serves as a reference for the movement control of a suspended load, is based on the amount of mechanical displacement such as the amount of expansion and contraction of the boom or the amount of undulation. The present invention relates to a position detection device in a crane device that detects without any loss.

  In a crane apparatus, there has been a demand for detecting a two-dimensional position of a boom tip or a hook supported by hanging from the tip, which is a reference in the conventional movement control of a suspended load. It has been proposed (see, for example, Patent Documents 1 and 2).

  Patent Document 1 discloses a technique for obtaining the maximum descending position of a hook supported by hanging from the tip of the boom, and obtains the position of the boom tip based on the expansion / contraction amount and the undulation angle of the boom, and a wire rope. Is stored, and the lowering position of the hook when the wire rope is fully extended under the current boom expansion / contraction amount and undulation angle is obtained.

  However, in such a calculation method, the amount of boom expansion and contraction and the angle of undulation are used as elements, so that when the boom is bent, the hook is shifted to the lowered position by a distance corresponding to the lowering amount of the boom tip due to the bending. This will cause an error in the ground level of the hook.

  In addition, in the horizontal movement of the hook in which the ground height of the hook is kept constant and the hook is moved horizontally, the hook moves up and down by the amount of the error, so that proper horizontal movement of the hook becomes difficult.

  As a technique for coping with such a problem, Japanese Patent Application Laid-Open No. H10-228667 determines the position of the boom tip based on the boom expansion / contraction amount and the undulation angle, and the boom generated when a load is applied to the boom tip in advance. The relationship between the deflection angle and the load is stored for each boom undulation angle. During actual work, the boom deflection angle is read based on the boom undulation angle and the magnitude of the load, and the deflection angle is subtracted from the boom undulation angle. This is used as a corrected undulation angle, and the position of the tip of the boom, and further the position of the hook supported by hanging from this, is obtained based on the corrected undulation angle.

  Normally, the boom length is calculated by detecting the amount of expansion / contraction of the boom by a length sensor, and adding the detected amount of expansion / contraction to the reference length when the boom is fully reduced. Unlike such a length detection method, a method for obtaining a length (distance) using ultrasonic waves is also known (see Patent Document 3).

  That is, the technique disclosed in Patent Document 3 is an ultrasonic measurement method that obtains the propagation time of an ultrasonic wave between two points and obtains the distance between the two points by multiplying the propagation time by the speed of sound. In this ultrasonic measurement method, since the speed of sound is used as an arithmetic element, if the speed of sound changes depending on the air temperature, that is, the propagation environment temperature of the ultrasonic wave, an error occurs in the distance acquired using the speed of sound. As a technique for solving such a problem, as shown in Patent Document 3, an ultrasonic receiver is disposed at each of two measurement points having different distances from a detection point, and the ultrasonic wave transmitted from the detection point, or the The reflected waves reflected at the detection points are received by the ultrasonic receivers at the two measurement points, respectively, and the propagation times of the ultrasonic waves at the respective measurement points are obtained. Based on the propagation times without considering the speed of sound. Thus, the distance between the detection point and the measurement point is calculated.

JP-A-6-263384 Japanese Patent Laid-Open No. 55-80691 Japanese Unexamined Patent Publication No. 63-122983

  However, the position detection method disclosed in the above-mentioned Patent Document 2 eliminates the problems in the position detection method of Patent Document 1, that is, the position detection error due to the bending deformation of the boom, and performs highly accurate position detection. Although it is possible, the relationship between the boom deflection angle and the load is held in advance for each boom undulation angle, and the boom deflection angle is read based on the boom undulation angle and the magnitude of the load, and the corrected undulation angle can be obtained by calculation. There is a problem that the control system becomes complicated and the cost will increase in the future.

  Even if the boom length is detected by the length detection method shown in the above-mentioned Patent Document 3, for example, when the position of the boom tip is detected using the boom length, the deformation of the boom is still deformed. A position detection error caused by.

  Therefore, the present invention uses a distance measuring technique using ultrasonic waves to eliminate the influence of the bending deformation of the boom, and with a simple configuration, the hook is suspended from the boom tip or suspended from the boom tip. The present invention has been made for the purpose of providing a position detecting device in a crane device that can detect the two-dimensional position of the above with high accuracy.

  In the present invention, the following configuration is adopted as a specific means for solving such a problem.

  In the first invention of the present application, in the crane apparatus in which the hook 5 is suspended and supported via the wire rope 6 from the tip 3b of the boom 3 attached on the vehicle 1, the ultrasonic wave attached to the tip 3b of the boom 3 is used. A transmitter 11, a first ultrasonic receiver 12 and a second ultrasonic receiver 13 which are attached to the vehicle 1 in a separated state and receive ultrasonic waves transmitted from the ultrasonic transmitter 11, and the ultrasonic waves The propagation time of the ultrasonic wave from the time of transmission of the ultrasonic wave at the transmitter 11 to the time of reception at each of the first ultrasonic receiver 12 and the second ultrasonic receiver 13 is obtained. Position calculating means 1 for calculating the position of the tip 3b of the boom 3 with respect to the vehicle 1 by obtaining the distances of the first ultrasonic receiver 12, the second ultrasonic receiver 13, and the ultrasonic transmitter 11, respectively. It is characterized by comprising and.

  In the second invention of the present application, in the position detection device in the crane device according to the first invention, the third ultrasonic receiver 14 is disposed on the hook 5 suspended from the tip 3b of the boom 3, The position calculation means 10 obtains the position in the height direction of the hook 5 with respect to the distal end portion 3b of the boom 3 based on the propagation time of the ultrasonic wave in the third ultrasonic receiver 14, and the position in the height direction. And the position of the hook 5 with respect to the vehicle 1 based on the position of the tip 3b of the boom 3 with respect to the vehicle 1.

  In the third invention of the present application, in the position detection device in the crane device according to the first or second invention, a change amount for detecting a change amount of the feeding length of the wire rope 6 that supports the hook 5 in a suspended state. The position calculating means 10 is provided with a detecting means 17 and is received by the third ultrasonic receiver 14 and the change amount of the feeding length of the wire rope 6 detected by the change amount detecting means 17. The speed of sound is estimated based on the difference between the propagation time at the detection start point and the propagation time at the end point of detection of the change amount of the wire rope 6 by the change amount detection means 17 as the ultrasonic propagation time. The distance is calculated based on the propagation time of the sound wave.

  In the present invention, the following effects can be obtained.

  (A) According to the position detection device in the crane device according to the first invention of the present application, the ultrasonic wave transmitted from the ultrasonic transmitter 11 attached to the tip 3b of the boom 3 is transmitted to the vehicle 1 side. Each of the first ultrasonic receiver 12 and the second ultrasonic receiver 13 received in the separated state is received by the first ultrasonic receiver 12 and the second ultrasonic receiver 13, respectively. And obtaining the distances of the first ultrasonic receiver 12, the second ultrasonic receiver 13, and the ultrasonic transmitter 11 based on the respective propagation times. In other words, the position of the tip 3b of the boom 3 relative to the vehicle 1 is calculated. In other words, the boom 3 can be used in the air without using the boom 3 as an element for detecting the position of the tip 3b of the boom 3. On the basis of the linear distance between the ultrasonic transmitter 11 and the first ultrasonic receiver 12 facing each other and the linear distance between the ultrasonic transmitter 11 and the second ultrasonic receiver 13. Since the position of the tip 3b of the boom 3 with respect to the vehicle 1 is calculated, even if the boom 3 is bent and deformed, this bending deformation is performed regardless of the amount of deformation. The position of the tip 3b of the boom 3 with respect to the vehicle 1 can be detected with extremely high accuracy. For example, a crane apparatus that is performed based on the position of the tip 3b of the boom 3 The reliability of the head monitoring or work radius monitoring will be improved.

  (B) According to the position detection device in the crane device according to the second invention of the present application, in addition to the effect described in the above (a), the following specific effect can be obtained. In other words, in the present invention, the third ultrasonic receiver 14 disposed on the hook 5 receives the ultrasonic wave from the ultrasonic transmitter 11 and based on the propagation time, the hook with respect to the distal end portion 3b of the boom 3 is used. The position in the height direction of 5 is obtained, and the position in the height direction and the position of the tip 3b of the boom 3 relative to the vehicle 1 (that is, the influence of the bending deformation of the boom 3 is completely eliminated) The position of the hook 5 relative to the vehicle 1 is calculated on the basis of the position of the hook 5 so that the influence of the bending deformation of the boom 3 is completely eliminated. In particular, the height of the hook 5 can be monitored, and the function and effect of lifting the suspended load can be monitored with high reliability.

(C) According to the position detection device in the crane device according to the third invention of the present application, in addition to the effect described in the above (a) or (b), the following specific effect can be obtained. That is, according to the present invention, the wire rope 6 is provided with a change amount detecting means 17 for detecting a change amount of the feeding length of the wire rope 6 that suspends and supports the hook 5, and is detected by the change amount detecting means 17. 6 and the propagation time of the ultrasonic wave received by the third ultrasonic receiver 14 at the start point of detection of the change amount of the wire rope 6 by the change amount detection means 17. Since the sound speed is estimated based on the time and the difference between the propagation times at the detection end points, and the distance is calculated based on the estimated sound speed and the propagation time of the ultrasonic wave,
(C-1) By calculating the distance based on the estimated sound speed and the propagation time of the ultrasonic wave, the accuracy of the calculated distance is further enhanced. As a result, the tip 3b of the boom 3 with respect to the vehicle 1 is increased. Position detection or position detection of the hook 5 with respect to the vehicle 1 becomes more accurate.
(C-2) The estimated sound speed can be acquired using the equipment that is originally provided in the crane device, and there is no need to provide a dedicated member for acquiring the estimated sound speed, and the position is detected accordingly. The cost of the device can be reduced,
Etc. are obtained.

It is a system block diagram of the position detection apparatus in the crane apparatus which concerns on embodiment of this invention. It is a functional block diagram in the position detection apparatus shown in FIG. It is explanatory drawing of the 1st position detection method in a position detection apparatus. It is explanatory drawing of the 2nd position detection method in a position detection apparatus.

  Hereinafter, the present invention will be specifically described based on preferred embodiments.

A: System Configuration FIGS. 1 and 2 show a system configuration of a position detection device in a crane device Z according to an embodiment of the present invention. In FIG. 1, reference numeral 1 denotes a vehicle, and reference numeral 2 turns on the vehicle 1. A swivel base that can be mounted, reference numeral 3 is a telescopic boom whose base end 3 a is connected to the swivel base 2 so as to be able to move up and down, and reference numeral 4 is a boom head provided at the front end part 3 b of the boom 3. Reference numeral 5 denotes a hook that is suspended from the boom head 4 by the wire rope 6.

  The hook 5 is raised or lowered by winding and unwinding the wire rope 6 by a winch 7 disposed on the swivel base 2 side. The boom 3 is driven to extend and retract by a built-in telescopic hydraulic cylinder (not shown), and is disposed between the swivel base 2 and driven to move up and down by a hydraulic cylinder 8 for raising and lowering.

  The position detection device according to the gist of the present invention provided in the crane device Z is a specific position of the boom head 4, for example, a shaft center of a sheave block (not shown) around which the wire rope 6 is wound in multiple stages. A position and a specific position of the hook 5, for example, a sheave block position where the hook 5 is held, a specific position of the vehicle 1, for example, a two-dimensional position with respect to a mounting position of a first ultrasonic receiver 12 described later. Detection is performed using a distance measuring technique using ultrasonic waves.

  In this embodiment, the two-dimensional position of the boom head 4 and the hook 5 is obtained with the mounting position of the first ultrasonic receiver 12 described below as the coordinate origin. In this case, the mounting position of the first ultrasonic receiver 12 with respect to the swivel 2 and the mounting position of the second ultrasonic receiver 13 with respect to the first ultrasonic receiver 12 (that is, the coordinate origin) are both Known. Therefore, the height of the coordinate origin from the ground is also known.

  In order to realize such position detection, the ultrasonic transmitter 11 is located at the specific position of the boom head 4, and the first ultrasonic receiver 12 and the second ultrasonic wave transmitter 12 are appropriately separated from the swivel base 2 of the vehicle 1. The ultrasonic receivers 13 are respectively disposed, and the third ultrasonic receiver 14 is disposed on the hook 5 side.

  In order to transmit and receive a synchronization signal, a radio transceiver 15 is disposed on the boom head 4 side, and a radio transceiver 16 is disposed on the hook 5 side.

  Further, a rotation amount detector 17 for detecting a feed amount of the wire rope 6 from the winch 7 as a rotation amount of the guide sheave 9 is provided at the base end portion 3a of the boom 3 (“change amount in claims”). Corresponding to “detection means”). This rotation amount detector 17 is used as a constituent member of this position detection device, which is normally used for well-known overwinding control.

  In this embodiment, the rotation amount detector 17 is provided at the base end portion 3 a of the boom 3 to detect the rotation amount of the guide sheave 9, whereby the feeding amount of the wire rope 6 from the winch 7 is determined. However, the present invention is not limited to such a configuration. For example, the rotation amount detector 17 detects the rotation amount of the winch 7, and the wire from the winch 7 is detected based on the rotation amount. The feeding amount of the rope 6 can also be obtained.

  Here, the ultrasonic transmitter 11 can simultaneously transmit ultrasonic waves to the ultrasonic receivers 12 and 13 on the boom 3 side and the third ultrasonic receiver 14 on the hook 5 side. An ultrasonic transmitter with relatively low directivity is employed.

  In another embodiment, the directivity direction of the ultrasonic transmitter 11 is variable, and the directivity direction of the ultrasonic transmitter 11 is always the direction from the boom head 4 toward the vehicle 1 and the boom head 4. It is also possible to perform control so that the direction from the direction toward the hook 5 (that is, the vertical direction) is substantially bisected.

  Further, two ultrasonic transmitters 11 are provided, and one ultrasonic transmitter 11 is directed to the vehicle 1 side, and the other ultrasonic transmitter 11 is directed to the hook 5 side. it can.

B: Functional Description FIG. 2 shows a functional block diagram of a position detection device according to an embodiment of the present invention. This position detection apparatus includes the components described with reference to FIG. 1, that is, an ultrasonic transmitter 11, a first ultrasonic receiver 12, a second ultrasonic receiver 13, a third ultrasonic receiver 14, and a rotation. In addition to the quantity detector 17, the position calculating means 10 and the display means 27 are provided.

  The ultrasonic waves transmitted from the ultrasonic transmitter 11 are received by the first ultrasonic receiver 12, the first ultrasonic receiver 12, and the second ultrasonic receiver 13 together with the synchronization signal “S0”. The synchronization signal “S0” is a signal for synchronizing the time of transmission of the ultrasonic wave from the ultrasonic transmitter 11 and the time of starting the time measurement in each of the ultrasonic receivers 12 to 14, and is not illustrated. Generated by a synchronization signal generator, the ultrasonic transmitter 11 receives the synchronization signal “S0” and transmits an ultrasonic wave, and the ultrasonic receivers 12 to 14 receive the synchronization signal “S0”. Time measurement is started and the elapsed time from the time measurement start time to reception of ultrasonic waves is measured.

  The synchronization signal “S0” is also input to the first ultrasonic receiver 12 and the second ultrasonic receiver 13 in the same manner as the third ultrasonic receiver 14. In the embodiment, the synchronous signal generator is connected to the first ultrasonic receiver 12 and the second ultrasonic receiver 13 by an electric wire (not shown). However, instead of the signal transmission method via the electric wire. Thus, the first ultrasonic receiver 12 and the second ultrasonic receiver 13 can also adopt a wireless signal transmission method.

  In the first ultrasonic receiver 12, the second ultrasonic receiver 13, and the third ultrasonic receiver 14, the ultrasonic wave transmitted from the ultrasonic transmitter 11 is received and the ultrasonic wave is received. The propagation time of the ultrasonic wave from transmission to reception is obtained, and signals “S1”, “S2”, “S3” relating to the propagation time are sent to the first distance calculation means 21, the second distance calculation means 22 and the second distance calculation means 22 Each is output to the 3-distance calculation means 23.

  The position calculating means 10 includes a first distance calculating means 21, a second distance calculating means 22, a third distance calculating means 23, a boom tip position calculating means 24, a hook position calculating means 25, and a sound speed estimating means 26. Is done.

  The first distance calculating means 21, the second distance calculating means 22 and the third distance calculating means 23 are all signals “S1”, “S2” and “S3” related to the above propagation times, and a sound speed estimating means 26 which will be described later. The first distance calculation means 21 calculates a distance between the ultrasonic transmitter 11 and the first ultrasonic receiver 12 by receiving the sound speed signal “S9” output from As the distance signal “S4”, the second distance calculation means 22 calculates the distance between the ultrasonic transmitter 11 and the second ultrasonic receiver 13 and sets the distance signal “S5” as the boom described below. Output to the tip position calculation means 24. The third distance calculating means 23 calculates a distance between the ultrasonic transmitter 11 and the third ultrasonic receiver 14 and uses this as a distance signal “S6” to be described later as a hook position calculating means 25. And output to the sound speed estimation means 26 and the display means 27, respectively.

  The boom tip position calculating means 24 receives the distance signal “S5” from the first distance calculating means 21 and the distance signal “S6” from the second distance calculating means 22 and receives the ultrasonic wave for the vehicle 1. The position of the transmitter 11, that is, the position of the boom head 4 (a two-dimensional coordinate position) is calculated.

  Here, several position calculation methods in the boom tip position calculation means 24 will be exemplified. As shown in FIG. 3, the first position calculation method uses a distance signal “S4” from the first distance calculation means 21 as the distance “R1” between the ultrasonic transmitter 11 and the first ultrasonic receiver 12. The distance “R2” between the ultrasonic transmitter 11 and the second ultrasonic receiver 13 is known from the distance signal “S5” from the second distance calculating means 22, and further, Since the distance “R0” between the first ultrasonic receiver 12 and the second ultrasonic receiver 13 is also known from the initial setting, the ultrasonic transmitter 11, the first ultrasonic receiver 12, and the second ultrasonic receiver are received. By applying the cosine theorem to the triangle connecting the devices 13, the two-dimensional position (X1, Y1) of the ultrasonic transmitter 11 in the coordinate system with the position of the first ultrasonic receiver 12 as the coordinate origin is obtained. is there.

  As shown in FIG. 4, the second position calculation method is such that the distance “R1” between the ultrasonic transmitter 11 and the first ultrasonic receiver 12 is a distance signal “S4” from the first distance calculating means 21. The distance “R2” between the ultrasonic transmitter 11 and the second ultrasonic receiver 13 is known from the distance signal “S5” from the second distance calculating means 22, and further, Since the distance “R0” between the first ultrasonic receiver 12 and the second ultrasonic receiver 13 is also known from the initial setting, an arc having a radius “R1” centered on the first ultrasonic receiver 12; The ultrasonic transmitter in a coordinate system in which the intersection of arcs of radius “R2” centered on the second ultrasonic receiver 13 is calculated and the position of the first ultrasonic receiver 12 is the coordinate origin. 11 two-dimensional positions (X1, Y1) are obtained.

  Note that it is arbitrary which of the first position calculation method and the second position calculation method is adopted, and it goes without saying that the same result can be obtained when any of them is adopted.

  The two-dimensional position of the ultrasonic transmitter 11 obtained as described above with respect to the vehicle 1, that is, the two-dimensional position of the specific position of the boom head 4 is set as a position signal “S 7” as the hook position described below. While being input to the calculation means 25 as a calculation element of a hook position, it is input to the display means 27 and displayed here.

  The hook position calculation means 25 receives the distance signal “S6” from the third distance calculation means 23 and the position signal “S7” from the boom tip position calculation means 24 and receives the boom head 4 of the hook 5. Is calculated as a position signal “S8”, which is output to the display means 27 and displayed there.

  The sound speed estimation means 26 estimates the current sound speed and reflects it in the distance calculation in each of the distance calculation means 21 to 23. In this embodiment, the ultrasonic transmitter 11 and the second sound speed estimation means 26 are used. The ultrasonic receiver 13 and the rotation amount detector 17 are included. The rotation amount detector 17 detects the amount of change in the feeding length of the wire rope 6 that supports the hook 5 in a suspended manner based on the number of rotations of the guide sheave 9, and the amount of change is detected as the amount of change. The signal “S10” is output to the sound speed estimation means 26.

  In the sound speed estimation means 26, the change amount signal “S 11” from the rotation amount detector 17 and the propagation time of the ultrasonic wave received by the third ultrasonic receiver 14, the rotation amount detector 17 is used to estimate the speed of sound in the current ambient environment based on the difference between the propagation time at the detection start point and the detection time at the detection end point of the change amount of the wire rope 6 according to 17, and the sound speed signal “S9” is calculated for each distance. It outputs to the means 21-23, and uses for the distance calculation in each of these distance calculation means 21-23.

  It is not always necessary to perform such estimation of the sound speed. For example, in the control under a working condition that does not require a very high level position detection, the reference sound speed (about 340 m / s) is used as it is. You can also. For example, as shown by a broken line in FIG. 2, the sound speed selecting means 28 and the switching means 29 are provided, and the sound speed selecting means 28 selects the estimated sound speed and the reference sound speed by the switching operation of the switching means 29, and the selected sound speed is selected. The signal “S9” may be input to each of the distance calculation units 21 to 23.

C: Operation and Effect in the Position Detection Device The position detection device configured as described above provides the following operation and effect.

  (C-1) In this position detection device, the first ultrasonic wave transmitted from the ultrasonic wave transmitter 11 attached to the tip 3b of the boom 3 to the vehicle 1 side in a separated state. The ultrasonic receiver 12 and the second ultrasonic receiver 13 respectively receive the ultrasonic wave propagation times to obtain the ultrasonic wave propagation times. Based on the propagation times, the first ultrasonic receiver 12 and the second ultrasonic wave receivers. The position of the tip 3b of the boom 3 with respect to the vehicle 1 is calculated by obtaining the distance between the device 13 and the ultrasonic transmitter 11 respectively.

  Therefore, in this position detecting device, the boom 3 is not used as an element for detecting the position of the tip 3b of the boom 3, and the ultrasonic transmitter 11 and the first ultrasonic receiver that are opposed to each other through the air. 12, and the position of the tip 3 b of the boom 3 with respect to the vehicle 1 based on the linear distance between 12 and the linear distance between the ultrasonic transmitter 11 and the second ultrasonic receiver 13. Therefore, even if the boom 3 is bent and deformed, the influence of the bent deformation is completely eliminated regardless of the amount of deformation, and the tip 3b of the boom 3 is The position with respect to the vehicle 1 can be detected with extremely high accuracy. For example, the reliability of the lift monitoring or the working radius monitoring of the crane apparatus performed with reference to the position of the tip 3b of the boom 3 is improved. To become.

  (C-2) In the position detection device of this embodiment, the third ultrasonic receiver 14 disposed on the hook 5 receives the ultrasonic wave from the ultrasonic transmitter 11 and based on the propagation time thereof, the above-mentioned The position in the height direction of the hook 5 with respect to the distal end portion 3b of the boom 3 is obtained, and the position in the height direction and the position of the distal end portion 3b of the boom 3 with respect to the vehicle 1 (that is, the deformation deformation of the boom 3). The position of the hook 5 with respect to the vehicle 1 is calculated on the basis of the position of the hook 5 with respect to the vehicle 1. It is highly accurate with the effects of. Therefore, in particular, it is possible to monitor the lift of the hook 5 and, in turn, the operation and effect of lifting the suspended load with high reliability.

  (C-3) This position detection device includes a rotation amount detector 17 that detects the amount of change in the feeding length of the wire rope 6 that supports the hook 5 in a suspended manner, and is detected by the rotation amount detector 17. The amount of change in the delivery length of the wire rope 6 and the propagation time of the ultrasonic wave received by the third ultrasonic receiver 14 and the amount of change in the wire rope 6 by the rotation amount detector 17 The sound speed is estimated based on the difference between the propagation time at the detection start point and the propagation time at the detection end point, and the distance is calculated based on the estimated sound speed and the propagation time of the ultrasonic wave. As a result, the position detection of the tip 3b of the boom 3 with respect to the vehicle 1 or the position detection of the hook 5 with respect to the vehicle 1 becomes more accurate.

  In addition, the estimated sound speed can be acquired using the equipment that is originally provided in the crane device, and there is no need to provide a dedicated member for acquiring the estimated sound speed, and the cost of the position detection device is increased accordingly. You can go down.

DESCRIPTION OF SYMBOLS 1 ·· Vehicle 2 ·· Swivel 3 ·· Boom 4 ·· Boom head 5 ·· Hook 6 ·· Wire rope 7 ·· Winch 8 ·· Hydraulic hydraulic cylinder 9 ·· Guide sheave 10 ·· Position calculating means 11 · · Ultrasonic transmitter 12 · · First ultrasonic receiver 13 · · Second ultrasonic receiver 14 · · Third ultrasonic receiver 15 · · Radio transceiver 16 · · Radio transceiver 17 · · Amount of rotation Detector (change amount detection means)
21 .. First distance calculation means 22 .. Second distance calculation means 23 .. Third distance calculation means 24 .. Boom tip position calculation means 25 .. Hook position calculation means 26 .. Sound speed estimation means 27. Means 28 ・ ・ Sonic speed selection means 29 ・ ・ Switching means Z ・ ・ Crane apparatus

Claims (3)

In the crane apparatus in which the hook (5) is supported by hanging from the tip (3b) of the boom (3) mounted on the vehicle (1) via the wire rope (6),
An ultrasonic transmitter (11) attached to the tip (3b) of the boom (3);
A first ultrasonic receiver (12) and a second ultrasonic receiver (13) which are attached to the vehicle (1) in a separated state and receive ultrasonic waves transmitted from the ultrasonic transmitter (11);
The ultrasonic wave propagation times from the time when the ultrasonic wave is transmitted by the ultrasonic wave transmitter (11) to the time when the ultrasonic wave is received by each of the first ultrasonic wave receiver (12) and the second ultrasonic wave receiver (13) are obtained. Based on these propagation times, the distances between the first ultrasonic receiver (12), the second ultrasonic receiver (13), and the ultrasonic transmitter (11) are obtained, respectively, to the vehicle (1). Position calculating means (10) for calculating the position of the tip (3b) of the boom (3);
A position detection device in a crane device, comprising: In claim 1,
A third ultrasonic receiver (14) is disposed on the hook (5) suspended from the tip (3b) of the boom (3);
The position calculation means (10) is arranged in the height direction of the hook (5) relative to the tip (3b) of the boom (3) based on the propagation time of the ultrasonic wave in the third ultrasonic receiver (14). While calculating | requiring a position, the position with respect to the said vehicle (1) of the said hook (5) is calculated based on the position of this height direction and the position with respect to the said vehicle (1) of the front-end | tip part (3b) of the said boom (3). The position detection apparatus in the crane apparatus characterized by the above-mentioned. In claim 1 or 2,
A change amount detecting means (17) for detecting a change amount of a feeding length of the wire rope (6) for supporting the hook (5) in a suspended manner;
The position calculation means (10) receives the change amount of the feed length of the wire rope (6) detected by the change amount detection means (17) and the third ultrasonic receiver (14). The speed of sound is estimated based on the difference between the propagation time at the detection start point and the propagation time at the detection end point of the detected amount of change of the wire rope (6) by the change amount detection means (17). A position detection device in a crane device, characterized in that the distance is calculated based on the estimated sound speed and the propagation time of the ultrasonic wave.

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