JP2000086159A - Suspended load swing restraining device for working craft - Google Patents

Abstract

PROBLEM TO BE SOLVED: To restrain swing of a suspended load hung by a single wire rope. SOLUTION: A CCD camera 15 is provided on a tip part of a jib 3 of a jib crane 2 mounted on a working craft 1 through a coupling 16 to be constantly directed in a gravitational direction. On the working craft 1, an anti-rolling device 17 to make simple harmonic vibration of a weight 19 disposed through a support roller 20 to freely oscillate by a servo motor 27 at a desired vibration number is disposed. A control device 30 comprising an image operation device 31 to determine a gravity center position of an image of a suspended load photographed by the CCD camera 15, and a gravity center deviation operation device 32 to detect swing of a suspended load 9 based on the determined gravity center position, and control the servo motor 27 of the anti-rolling device 17 in accordance with the swing is provided. The anti-rolling device 17 is driven in accordance with the swing of the suspended load 9, and rolling of the working craft 1 is restrained, thereby the swing of the suspended load 9 is indirectly restrained.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for suppressing a suspended load on a working boat used for performing a crane operation on the sea (water).

[0002]

2. Description of the Related Art A crane ship is one of the working ships for carrying out crane work on the sea (water). The crane ship has a floating structure as shown in FIG. A jib crane 2 having an up-and-down jib 3 is mounted on a barge 1 as a swingable through a swivel 4, and a wire rope 7 extended from a winch 6 is provided at the tip of the jib 3. A crane operation is performed by suspending the suspended load 9 on a hook 8 attached to the lower end of the wire rope 7 by hanging down via a roller 5.
Reference numeral 10 denotes a living section provided on the barge 1.

[0003] In the above-described crane ship, the barge 1 sways (eg,
When (rolling) occurs, the jib crane 2 also shakes integrally with the shaking of the barge 1, so that the hanging load 9 also shakes in the ship width direction. If the size becomes large, there is a risk that the crane operation may be hindered. Therefore, it is necessary to suppress the swing of the suspended load 9.

[0004] From this point of view, when the jib crane 2 in which the four wire ropes 7 are suspended from the tip of the jib 3 is mounted, the jib crane 2 becomes the tip of each wire rope 7. At the lower end, a rectangular suspension frame 11 is horizontally supported, and the center of curvature is located on the suspension frame 11 as shown in FIG. 4B, for example. A weight 13 having a bottom surface curved in an arc shape is provided with a passive type rocking device 12 capable of vibrating in a single string via a support roller 14. The swing energy acting on the frame 11 is attenuated by the passive type rocking device 12 to suppress the swing of the suspension frame 11, thereby suppressing the swing of the suspended load 9 suspended below the suspension frame 11. Like that.

[0005]

However, in the case of the type in which the swinging device 12 is provided on the suspension frame 11 at the tip of the wire rope 7, at least 3 to 4 wires are required to support the suspension frame 11 horizontally. In the case of a type in which the hanging load 9 is hung by a single wire rope 7 and a crane operation is performed, the hanging frame 11 cannot be provided, and the vibration reducing device 12 can be installed. Since it is not possible, there is a problem that the swing generated in the suspended load 9 cannot be suppressed.

[0006] Therefore, the present invention is intended to be able to suppress the swing generated in the suspended load even in the case of a type in which a suspended load is suspended by one wire rope and a crane operation is performed.

[0007]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention provides an image pickup device at a jib tip of a jib crane mounted on a barge via a joint so as to always face the direction of gravity. Attachment, also mounted on the barge is a rocking device for suppressing the rocking of the barge by rocking the weight with an actuator, and the position of the center of gravity of the suspended load image taken by the imaging device An image calculator for determining the swing of the suspended load from the change of the center of gravity of the suspended load image determined by the image calculator, and corresponding to the detected swing of the suspended load, A control device including a gravity center deviation calculator configured to send a control command to the actuator is provided.

When the suspended load swings due to the shaking of the barge, the center of gravity of the suspended load image captured by the imaging device is obtained by the image calculator, and the center of gravity deviation is calculated from the change in the obtained center of gravity of the suspended load image. The swing of the suspended load is detected by the device, and the control command is sent to the actuator of the vibration reducing device in accordance with the detected swing of the suspended load by the gravity center deviation calculator, and the vibration reducing device is driven by the actuator. As a result, the swing of the barge is suppressed and the swing of the suspended load is indirectly suppressed.

[0009] In addition, the structure in which the two rocking devices are installed on the barge so that the swinging directions of the weights are orthogonal to each other in the horizontal direction allows the barge to swing back and forth and left and right. Therefore, the swing in all directions in the horizontal plane generated on the suspended load is indirectly suppressed.

[0010]

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

FIGS. 1 (a), (b) (c) and FIG. 2 (a)
(B) shows an embodiment of the work load swing suppression device of the present invention, which is a crane ship as a work boat having a configuration similar to that shown in FIG. A CCD camera 15 as an image pickup device for taking an image of the suspended load 9 from above is attached via a joint 16 to the tip of the housing 3 so as to always face the direction of gravity. An anti-oscillation device 17 is provided which causes the actuator to oscillate in a single string in the boat width direction at an arbitrary frequency by an actuator.

As shown in FIG.
A weight 19 having an upper and lower surface curved in an arc shape so that the center of curvature is located upward is mounted on a base 18 mounted on the roof of the living section 10 via a support roller 20 provided on the base 18. The weight 19 is swingably disposed so as to be able to vibrate in a single string in the width direction, and the protrusions 21 are provided on both side surfaces of the weight 19 along the vibration direction.
The gantry 22 is installed at a position sandwiching the front and rear, and the left and right buffers 23 are attached to the front and rear surfaces thereof, so that the vibration area of the weight 19 is restricted within a range where the protrusion 21 contacts the buffer 23, The rack 2 is placed on the upper surface of the weight 19.
4 is provided along the direction of vibration, and a shaft 25 arranged above the rack 24 so as to be orthogonal to the rack 24 is connected to a servomotor 2 as an actuator via a speed reducer 26.
7 and a pinion 28 is attached to an intermediate portion of the shaft 25 so as to mesh with the rack 24.
By driving the pinion 7 via the shaft 25 by the driving of the weight 7, the weight 19 can be swung at a required cycle integrally with the rack 24. 29 is the shaft 25
Bearings.

Further, as shown in FIG. 1C, a control block diagram of the rocking device 17 is used to calculate the position of the center of gravity of the suspended load image based on the image of the suspended load 9 input from the CCD camera 15. A difference between the center of gravity of the suspended load image in the initial state (the state in which no shaking has occurred) and the center of gravity of the suspended load image at the time of swing, which is provided with the image calculator 31; In other words, the center of gravity of the suspended load image in the initial state (the center of gravity of the initial image) is centered, and the center of gravity of the suspended load image is shifted from the center due to swinging (real-time image computation center of gravity)
To detect the occurrence of shaking, and to control the single-string vibration of the weight 19 of the rocking device 17 in accordance with the calculated displacement, thereby causing the shaking of the suspended load 9 to occur. Ship 1
A control command for attenuating the rolling energy of the servo motor 2 via the servo amplifier 33
Control device 3 including a center-of-gravity deviation calculator 32 for sending to
0 is provided. Reference numeral 34 denotes a pulse generator assembled to the servomotor 27. Note that the relative position between the CCD camera 15 and the suspended load 9 changes depending on the length of the wire rope 7 hanging down from the tip of the jib 3.
The size of the image of the suspended load 9 photographed by the above will change, but by inputting the value of the length of the hanging wire rope 7 to the center-of-gravity deviation calculator 32, the initial value is corrected. The calculation result of the deviation from the center of gravity of the image is equivalent regardless of the length of the hanging wire rope. In addition, the same components as those shown in FIG. 4 are denoted by the same reference numerals.

In the above configuration, for example, FIG.
As shown in (b), when the jib 3 of the jib crane 2 is crane-operated with the jib 3 directed in the ship length direction or the ship width direction, when the barge 1 of the crane ship is rolled under the influence of waves or the like,
The load 9 suspended by the jib crane 2 swings in the ship width direction X. At this time, the suspended load 9 is photographed by the CCD camera 15, the center of gravity of the suspended load image is obtained by the image calculator 31 of the control device 30, and the center of gravity of the suspended load image in a state in which no swing occurs. The deviation is calculated by the center-of-gravity deviation calculator 32, and the control command is sent to the servo motor 27 of the vibration reducing device 17 by the center-of-gravity deviation calculator 32 so that the servo amplifier 33 can respond to the calculated deviation. The servo motor 27 is driven forward and reverse, and the weight 19 is moved in the boat width direction X via the shaft 25, the pinion 28, and the rack 24, and the rolling energy of the barge 1 itself is reduced. Consumed and suspended load 9
The rolling of the barge 1, which causes the sway in the ship width direction X, is suppressed, so that the sway of the suspended load 9 is indirectly suppressed.

In the above case, the swing of the suspended load 9 is directly detected in real time by the image processing of the suspended load image, and the image processing output controls the rocking device 17 installed on the living section 10 of the barge 1. As a result, the swing of the suspended load 9 suspended on one wire rope 7 can be suppressed, and the configuration can be simplified,
Further, since the CCD camera 15 is always supported by the joint 16 so as to face in the direction of gravity, the swing of the suspended load 9 can be suppressed irrespective of the ups and downs of the jib 3 of the jib crane 2. Since the sway is directly detected, the driving of the weight 19 of the rocking device 17 can be optimally controlled so as to suppress the sway of the suspended load 9.

Next, FIGS. 3A and 3B show another embodiment of the present invention. In a crane ship having the same configuration as that shown in FIG. , FIG.
The rocking device 17 'having the same configuration as that shown in FIG.
Is installed so that the vibration direction of the weight 19 becomes the ship length direction Y, and the center of gravity deviation calculator 32 of the control device 30 sets the load 9 in the center of the center of gravity of the load image in the initial state.
The displacement of the center of gravity of the suspended load image due to the
And in the master direction Y, respectively, and the anti-oscillation devices 17 and 1 correspond to the components in the respective directions.
7 'are individually controlled.

According to the present embodiment, by suppressing the swaying of the barge 1 in which rolling and pitching or a combination of both are performed, the horizontal plane generated in the suspended load 9 in addition to the boat width direction X and the boat length direction Y can be obtained. In all directions can be indirectly suppressed.

Note that the present invention is not limited to the above-described embodiment, and the vibration reducing devices 17 and 17 '
Although the weight 19 provided so as to be able to vibrate a single string is oscillated at an arbitrary frequency by a servomotor 27 as an actuator, the weight is oscillated at an arbitrary frequency by an actuator. As long as it is possible to use a rocking device, a so-called active type, hybrid type, semi-active type, or any other type may be used,
Also, the installation location may be any location on the barge 1, and the vibration direction of the weight of the rocking device may be any direction according to the swing direction of the barge. 16
As a matter of course, a so-called universal joint, a spherical bearing, a ball bearing, or the like can be adopted, and, of course, various changes can be made without departing from the gist of the present invention.

[0019]

As described above, according to the apparatus for suppressing a suspended load on a work boat of the present invention, the following excellent effects are exhibited. (1) Attach an imaging device to the jib tip of a jib crane mounted on a barge via a joint so that it always faces in the direction of gravity, and swing the weight on the barge with an actuator. An image calculator for mounting the anti-oscillation device for suppressing the shaking of the barge, and obtaining the position of the center of gravity of the load image captured by the imaging device; and a load calculated by the image calculator. A center-of-gravity deviation calculator for detecting swing of the suspended load from a change in the position of the center of gravity of the image and transmitting a control command to the actuator of the rocking device in response to the detected swing of the suspended load. Since the control device is provided, the swing of the suspended load can be directly detected by image processing of the suspended load image, and the image processing output controls the rocking device installed on the barge. By one The swing of the suspended load hung on the wire rope can be suppressed, and the imaging device is supported by the joint so that it always faces in the direction of gravity. Since the swing of the load can be suppressed, and the swing of the suspended load is directly detected, the rocking device can be optimally controlled to suppress the swing of the suspended load. (2) On the barge, the two rocking devices are installed so that the rocking directions of the weights are orthogonal to each other in the horizontal direction. It can be suppressed indirectly.

[Brief description of the drawings]

FIG. 1 shows one embodiment of a device for suppressing a suspended load on a work boat according to the present invention, wherein (a) is a schematic side view of a crane ship,
(B) is an enlarged perspective view of the rocking device, and (C) is a block diagram showing a control device.

2A and 2B show a case in which the barge swings during crane work on the crane ship of FIG. 1, wherein FIG. It is a schematic diagram which shows the state which turned the jib to the ship width direction, respectively.

FIG. 3 shows another embodiment of the present invention.
Is a schematic side view, and (b) is a schematic plan view.

FIG. 4 shows an example of a conventional crane ship.
Is a schematic side view, and (b) is an enlarged front view of the rocking device.

[Explanation of symbols]

 Reference Signs List 1 barge 2 jib crane 3 jib 7 wire rope 9 suspended load 15 CCD camera (imaging device) 16 joint 17, 17 'anti-oscillation device 19 weight 27 servo motor (actuator) 30 control device 31 image calculator 32 gravity center deviation calculator

Continuing on the front page (72) Inventor Isao Sato 2-1, 3-chome, Tsukikanto, Joyo-ku, Toyohira-ku, Sapporo-city, Hokkaido Inside the Construction Machinery Works, Hokkaido Development Bureau (72) Katsue Mutaguchi 3-1-1, Toyosu Toyosu, Koto-ku, Tokyo No. 15 Ishikawajima Harima Heavy Industries Co., Ltd. Toji Technical Center (72) Inventor Yuji Koike 1 Shinkaharacho, Isogo-ku, Yokohama-shi, Kanagawa Prefecture Ishikawajima Harima Heavy Industries Co., Ltd. Technical Research Institute F-term (reference) 3F204 BA02 CA03 DB02 EA03 EB05 EB08 3F205 AA10 BA06 GA05 GA09 GA10

Claims (2)

[Claims] An image pickup device is mounted on a jib tip of a jib crane mounted on a barge so as to always face the direction of gravity, and a weight is swung by an actuator on the barge. An image calculator for mounting a rocking device for suppressing the sway of the barge, and for determining the position of the center of gravity of the suspended load image captured by the imaging device, A control device comprising: a center-of-gravity deviation calculator configured to detect swing of a suspended load from a change in the position of the center of gravity and to send a control command to an actuator of the rocking device in response to the detected swing of the suspended load. A swing load suppressing device for a work boat, comprising: 2. The apparatus according to claim 1, wherein the swinging directions of the weights are orthogonal to each other in the horizontal direction.