JP2000136088A - Hung cargo position detecting method of crane - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a hanging position detecting method of crane which uses a GPS positioning system and is simpler in crane operation and inexpensive. SOLUTION: When a mobile station side GPS reception antenna 3-1 is installed at a hanging position 10 at a tip of a crane arm 2 and a plurality of cargoes 8 loaded at a preliminarily determined position within a transportation means 7 is reloaded and moved, measuring hunging position coordinates, an initial positioning is performed for the hanging position 10 of a crane 1 to a preliminarily determined reference point 9 within the transportation means 7. Subsequently, a relative position of each cargo 8 is calculated from the reference point 9, the coordinates of the transportation means 7 are converted into a hanging position coordinates at the tip of the crane arm 2 and the hanging position 10 of each cargo 8 is determined.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for detecting a suspended load position of a crane when loading or unloading a plurality of loaded articles by positioning the articles in a transportation means such as a ship, a truck or a trailer. Especially GPS (Global Positioning)
System) for position detection.

[0002]

2. Description of the Related Art Conventionally, in the case of loading or unloading a plurality of loads in a transport means such as a ship, a truck, a trailer or the like by a crane, for example, a crane driver and a slinger communicate with each other. While signaling, a slinging hand near the conveyed object carried out the hanging of the conveyed object. However, in recent years, demands for rationalization of these transport operations have increased, and labor savings of the slingers and crane operators have been progressing. Although there are various methods for these labor saving measures, it is basically essential to automatically match the position of the load with the hanging position of the crane, and there are various types of transfer equipment, cranes, and other reloading equipment. In this case, the method of detecting the position of a suspended load of a crane generally includes placing a load at a predetermined position, aligning the position with the crane, or measuring the position of a conveyed object by image means, and measuring the position of the load. For example, a method of aligning the crane with the vehicle is used.

However, it is difficult for a driver to manually position a vehicle, such as a trailer or a truck loaded with a plurality of vehicles, due to manual operation. Positioning may be difficult. Therefore, as a conventional method of detecting the position of a suspended load of a crane, for example, an automatic method having a reflecting prism and an optical distance meter as disclosed in Japanese Patent Application Laid-Open No. 7-251949, which is a patent application of the same applicant as the present invention, is used. It is considered that the position of the crane and the suspended load is determined using the tracking device, or a method using GPS is considered.

The method using GPS basically includes a fixed reference station and a mobile station, and measures the position of the mobile station with respect to the fixed reference station in three dimensions (x, y, z). The mobile station-side GPS receiving antenna (3-1) needs to be installed at two places on the crane side and the transport means side. That is, the method of detecting the position of the suspended load of the crane using the GPS is based on the following: the mobile station is installed at the suspended position at the tip of the crane arm and at two places in the transportation means, and the difference between the mobile stations is calculated. This is a method for determining the position.

[0005] A position measuring device using GPS utilizes radio waves emitted from a plurality of satellites (12) and uses satellites (1).
By calculating the radio wave propagation time from 2) to the positioning point, the position is measured by triangulation. This measurement method is roughly classified into an independent positioning method and an interference positioning method. The former is used for car navigation systems with an accuracy of about 10 m, and the latter is capable of position measurement with an accuracy of the order of several cm. An application example of the latter interference positioning method is disclosed in JP-A-63-15188.
0, JP-A-9-119772, JP-A-10-483
No. 21 discloses this. Specifically, for example, a product name “Real-time kinematic GPS” manufactured by Furuno Electric Co., Ltd.
Surveying system GS-10 "can be used. The configuration is composed of a plurality of satellites (12), a fixed reference station and a mobile station (installed at a measurement point), and measures the position of the mobile station three-dimensionally with respect to a known fixed reference station. For a good position measurement, the fixed reference station and the mobile station need to supplement five or more of the same satellites (12). In addition, since the error is offset by the double phase difference, the mobile station must determine the position from the reference station. It has a structure that can receive correction data.

[0006]

However, the method for detecting the position of a suspended load of a crane by the automatic tracking method described above is as follows.
Each time the ship or trailer that is the means of transport changes, it is necessary to perform initial origin adjustment.This method requires that the tracking device be positioned on each reflective prism by looking through a telescope from the tracking device, so that tracking must be started. The time required for the preparation is required, and when the ship is suddenly shaken during the transfer operation of the ship or the like and the tracking is broken once, the initial origin adjustment is required again.

In the above-described method using GPS, since a plurality of satellites (12) are used, the sky above the GPS antenna needs to be wide open and the sky is generally open. Antenna installation position 15 with respect to the horizon
It is necessary that there are no obstacles above °, but when the mobile station side GPS antenna is attached to the tip of a crane arm such as a horizontal retractable crane (Level Luffing Crane; LLC), the sky is interrupted by the arm Etc.,
The suspension position on the crane side may be interrupted.

Therefore, according to the first aspect of the present invention, the crane is once positioned at a predetermined reference point (9) of the transport means so as to shorten the initial origin positioning time, and to minimize the mobile station side. It is an object of the present invention to provide an inexpensive crane suspension position detection method capable of reliably determining a suspension position with a small number of GPS receiving antennas (3-1). The second aspect of the present invention provides a method of determining a hanging position by installing an antenna for specifying a hanging position of a crane tip when the sky above the hanging position of the crane cannot be sufficiently widened.

[0009]

In order to achieve the above object, according to the first aspect of the present invention, a mobile station-side GPS receiving antenna is installed at a suspension position at the tip of a crane arm, and coordinates of the suspension position are measured. While transferring and moving a plurality of goods loaded at a predetermined position in the vehicle, the hanging position of the crane is initially aligned with a predetermined reference point in the vehicle, and thereafter, Calculating the relative position of each transported object from the reference point, converting the coordinates of the transport means into the coordinates of the suspension position of the tip of the crane arm, and determining the suspension position of the individual transported object. According to the present invention, there is no need to install a mobile station-side GPS receiving antenna in a vehicle to detect the position of the vehicle,
Since the positions of the individual goods can be determined by the simple initial alignment of the crane, there is an effect that it is not necessary to install a GPS receiver in the vehicle.

[0010] According to a second aspect of the present invention, at least two mobile station-side GPS receiving antennas are provided at intervals on a crane arm that is open to the sky other than the hanging position, and a crane arm tip is provided. The suspension position is measured. According to the present invention, even when the crane according to the first aspect of the invention is a horizontal retractable crane or the like and the mobile station-side GPS receiving antenna cannot be installed at the hanging position of the crane arm tip, the mobile station-side GPS receiving antenna is used. Is installed at two places other than the hanging position on the arm with open sky, there is an effect that the hanging position coordinates of the tip of the crane arm can be measured.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will be described below. FIG. 1 shows a device layout according to an embodiment of the present invention, and FIG. 2 shows a control device configuration of the embodiment. FIG. 5 is a view for explaining a loading state of a load (8) on the ship, which is a transport means (7).

As the position measuring device, the above-mentioned product name "Real-time kinematic GPS surveying system GS-10" manufactured by Furuno Electric Co., Ltd. can be used, and as shown in FIG.
S receiving antenna (3-1), mobile station side data receiving antenna (4-1) and mobile station (5), fixed station side GPS receiving antenna (3-2), fixed station side data transmitting antenna (4)
-2) and a fixed station (6).

The fixed station (6) is a fixed station GPS receiver (6
-1), fixed station radio (6-2), fixed station computer (6-
3) and a fixed station printer (6-4). Observation data of a plurality of satellites (12) is sent to a fixed station GPS receiver (6-1) via a fixed station GPS receiving antenna (3-2).
The digital signal is input to the fixed station computer (6-3). Transmission data to be sent to the mobile station (5) by the fixed station computer (6-3) (distance between each satellite and the fixed station, position of the fixed station,
Other position correction data) is generated, and the fixed station radio (6-
2) Via fixed station side data transmission antenna via (4-2)
Is transmitted to the mobile station (5).

In the mobile station (5), the satellite (1) is received by the mobile station-side GPS receiving antenna (3-1) almost in the same manner as the fixed station (6).
The observation data from 2) is received and the mobile station GPS receiver (5
After -1), the observation data is transferred to the mobile station computer (5-3).
Take in. On the other hand, the mobile station side data receiving antenna (4-
From 1), the fixed station (6) observation data is taken into the mobile station computer (5-3) via the wireless device. In the mobile station computer (5-3), the fixed-station-side GPS receiving antenna (3--3) is used.
The three-dimensional position (x) of the mobile station-side GPS receiving antenna (3-1) is obtained from the distance between the mobile station-side GPS receiving antenna (3-1) and the distance between the mobile station-side GPS receiving antenna (3-1) and the satellite (12). ,
y, z) are calculated and measured.

That is, the hanging position (1) used in the present invention
0) The measuring method is as follows. The mobile station-side GPS receiving antenna (3-1) installed at the hanging position (10) at the tip of the crane arm (2) using the aforementioned "real-time kinematic GPS surveying system GS-10". The suspension position coordinates are measured in real time by constantly tracking the three-dimensional position of the suspension. In addition, about the equipment arrangement in this case,
The mobile station-side GPS receiving antenna (3-1) is installed at the hanging position (10) at the tip of the crane arm (2), the mobile station-side data receiving antenna (4-1) and the fixed station-side data transmitting antenna (4). It is a condition that wireless communication can be performed between -2), and the installation location of other devices is not particularly limited.

Next, the method of the present invention will be described below.
The present embodiment is an example in which coils are transshipped from a truck, which is a transportation means (7), to a ship by a crane (1). Mobile station side GPS receiving antenna (3-1) is crane arm (2)
It is installed at the hanging position (10) at the tip, and the fixed-station-side data transmission antenna (4-2) is installed on the roof of a building capable of wireless communication with the mobile-station-side data reception antenna (4-1),
The three-dimensional position coordinates of the mobile station-side GPS receiving antenna (3-1) (hanging position) are measured in real time.

In the truck, a coil table is installed so that the coil is loaded at a predetermined position (coordinates in the truck) as shown in FIG. 3, and the coil loading position is similarly set in the ship as shown in FIG. It is decided. The order and location of the coils to be loaded on the ship are determined by a dispatch plan called a hatch plan of the host computer (11), and based on the plan, the coils are sequentially loaded into a truck from a land-based warehouse (not shown) and transported to the shore. It is. For the coils on the truck, the position in the truck and the identification number of each coil are recognized by the host computer (11), and are tracked as coil information from the warehouse on land to the coast.

The loading position on the ship and the coil position of the truck are stored in the mobile station computer (5-3) by connecting the mobile station computer (5-3) and the host computer (11) by wiring (wireless connection is also possible). Have been. When the truck arrives at the shore, it starts reloading the coil from the truck to the ship, but before lifting the coil, the crane operator first moves the crane arm (2) to the suspension reference point (9-1) in the truck. ) Position the hanging position (10) at the tip with an empty load. By this positioning, the mobile station computer (5-3) converts the coordinates in the truck into the coordinates of the suspension position (10) of the tip of the crane arm (2) based on the relative distance from the reference point (9) to the coil. Then, the suspension position (10) of the transported object (8) in the truck is determined.

The method for calculating the coil position will be described below with reference to FIG. The capital letters (X, Y) in the figure indicate the coordinates on the truck, and the small letters (x, y) indicate the hanging position (10) of the crane (1) measured by the “real-time kinematic GPS surveying system GS-10”. Represents the coordinates of This example shows a case where the two coordinates are different. In this case, reference points (9) are provided at two places on the track as the transport means, and alignment is performed. A method of converting the coordinates in the truck into the coordinates of the hanging position (10) of the crane (1) will be described below. Suspension side first reference point (9-1a)
, The coordinates (Xou, You) of the truck and the coordinates (xou, you) of the suspension position of the crane, and the suspension-side second reference point (9)
-1b), assuming that the truck coordinates (Xeu, Yeu) and the crane hanging position coordinates (xeu, yuu) are, the crane hanging position coordinates (x1) of the truck coordinates (X1u, Y1u).
u, y1u) can be calculated as follows.

[0020]

(Equation 1)

As described above, the coil positions loaded on the predetermined track coordinates can be converted into the hanging position coordinates for all the coordinates. Also, the loading position on the ship, which is the transporting means (7) on the loading side, is adjusted by adjusting the suspension position (10) of the crane (1) to the reference point (9-2) on the wholesaler side similarly to the truck. The suspension position coordinates corresponding to the coil storage location coordinates can be calculated.

Next, an embodiment for measuring the suspension position (10) when the GPS receiving antenna (3) cannot be installed at the suspension position (10) at the tip of the crane arm (2) will be described with reference to FIGS. I do. Figure 6 shows the LLC crane (1)
When the GPS receiving antenna (3) is installed at the suspension position (10), the sky may be obstructed by the crane arm (2) and communication with the satellite (12) may be difficult. . In this case, as shown in the figure, two GPS receiving antennas (3) are installed on the crane arm (2) with the sky open, and the coordinates of the two cranes are used using the "real-time kinematic GPS surveying system GS-10". Then, the hanging position (10) of the tip of the crane arm (2) is measured from the coordinates of the two places.
FIG. 7 shows a configuration diagram of the measurement control device.

FIGS. 8 to 10 illustrate a calculation method for measuring the hanging position (10). FIG. 8 is a conceptual diagram of the operation of the LLC crane (1), and FIG. It is a plane conceptual diagram of the crane (1) arm (2) which was set.
FIG. 10 shows the relationship between the distances α and β shown in the figure. The LLC crane (1) moves horizontally between a and b by the expansion and contraction of the arm (2) at the fixed fulcrum as a moving point.
Since the distance a-c (β) can be calculated by a function of the distance b-c (α) (referred to as a correction curve), the crane arm (2) tip suspension position (10) is calculated based on the correction curve and the first GP.
It can be calculated from the S antenna position and the second GPS antenna position.

For the correction curve, the point a is measured by, for example, an optical distance meter, and the points b and c are measured by the above-described GPS positioning system. FIG. 10 shows the results of the measurement arranged in α-β distance coordinates. When the measurement points are approximated by a regression curve, the correction curve can be obtained. Therefore, the hanging position coordinates (x, y) of the tip of the crane arm (2) can be calculated as follows. The relationship between α and β is as follows. α: β = (x1−x2) :( x−x2) α: β = (y1−y2) :( y−y2) When this is arranged, x = β (x1−x2) / α + x2 y = β (y1 −y2) / α + y2, so that if the first GPS antenna coordinates (x1, y1) and the second GPS antenna coordinates (x2, y2) can be measured,
Since α is determined from the relationship α2 = (x1−x2) 2+ (y1−y2) 2, and β can be determined from the correction curve in FIG. 10, the coordinates (x, y) of the suspension position (10) can be determined.

[0025]

Since the method for detecting the position of a suspended load of a crane according to the present invention is as described above, it is necessary to temporarily align the crane with a predetermined reference point of the transfer means and to perform initial origin adjustment. And as little GPS as possible
There is an effect that the hanging position of the crane can be measured by the receiving antenna. As described above, according to the invention of claim 1 of the present invention, it has conventionally been necessary to install a GPS antenna on each of the vehicles and measure the position of the goods in the vehicles. By simply installing the side GPS antenna at the hanging position at the tip of the crane arm, the positions of the suspended and wholesale goods can be accurately detected, so only the crane operator can reload the goods and rationalize the slingers. In addition, even if the transportation means moves to the primary place during the transfer, the crane driver can perform the initial initial alignment again, so that the transfer of the goods can be restarted in a short time. Further, the invention according to claim 2 has an effect that even when the type of the crane or the like is different and the mobile station-side GPS antenna cannot be installed at the suspension position, the suspension position can be accurately measured.

[Brief description of the drawings]

FIG. 1 is a device layout diagram according to an embodiment of the present invention.

FIG. 2 is a configuration diagram of a control device according to the embodiment of FIG. 1;

FIG. 3 is an explanatory view of a loading situation of a load in a truck as a transport means.

FIG. 4 is an explanatory diagram of a conversion method between crane coordinates and transportation means coordinates.

FIG. 5 is a diagram illustrating a state of loading of a conveyed article in a ship, which is a conveying means.

FIG. 6 is an equipment layout diagram when the present invention is applied to an LLC crane.

FIG. 7 is a configuration diagram of the control device of FIG. 6;

FIG. 8 is an operation conceptual diagram of an LLC crane.

FIG. 9 is a conceptual plan view of the crane arm as viewed from above in FIG. 8;

FIG. 10 is a diagram showing a correction curve of the distance between the first and second GPS antennas and the hanging position of the crane and the distance between the second GPS antennas.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Crane 2 arm 3 GPS receiving antenna 3-1 Mobile station side GPS receiving antenna 3-2 Fixed station side GPS receiving antenna 4 Data receiving antenna 4-1 Mobile station side data receiving antenna 4-2 Fixed station side data transmitting antenna 5 Move Station 5-1 Mobile station GPS receiver 5-2 Mobile station radio 5-3 Mobile station computer 6 Fixed station 6-1 Fixed station GPS receiver 6-2 Fixed station radio 6-3 Fixed station computer 6-4 Fixed Bureau printer 7 Transportation means (trailers, trucks, etc.) 8 Cargo (coils, etc.) 9 Reference points 9-1 Suspension-side reference points 9-2 Wholesale-side reference points 10 Suspension position 11 Upper-level computer 12 Satellite

Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat II (reference) // B66C 13/48 B66C 13/48 HF term (reference) 3F076 AA10 BA02 CA03 DA16 FA04 3F077 AA10 BA03 BA08 BB05 EA04 EA11 EA13 EA19 EA21 3F204 AA04 BA02 CA01 DA03 DA10 DB03 DB04 DB09 DC06 DE06 5J062 BB01 CC07

Claims (2)

[Claims] A crane arm (2) has a tip end suspended position (1).
0), a mobile station-side GPS receiving antenna (3-1) is installed, and a plurality of cargoes (8) loaded at predetermined positions in the transportation means (7) while measuring the coordinates of the hanging position.
When the transfer is performed, the hanging position (10) of the crane (1) is initially aligned with a predetermined reference point (9) in the transporting means (7), and then the reference point (9) Calculates the relative position of the individual goods (8) from the coordinates of the crane arm (2)
A method for detecting a suspended load position of a crane, wherein the suspended load position is converted into coordinates of a suspended position at a tip and a suspended position (10) of an individual transported object (8) is determined. 2. The mobile station-side GPS receiving antenna (3-
1) At least two places are provided at intervals on the crane arm (2) where the sky is open other than the hanging position (10), and the hanging position (10) at the tip of the crane arm (2).
2. The method for detecting a suspended load position of a crane according to claim 1, wherein