JP2005145632A - Working apparatus operating device, working apparatus operating system, and working apparatus operating method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To solve a problem of requiring experience from an operator in order to operate a working apparatus with a movable part and a fixed part such as a crane safely and effectively. <P>SOLUTION: This invention relates to a crane semi-automatic operation device generating a crane control signal 6 and transmitting it to a crane main body 30 to operate the movable part provided in the crane main body. The positional information 3 on the fixed part, the positional information 2 on the movable part, and a crane (movable part) situation signal 7 are entered. Furthermore, the positional information on a remote controller itself is entered from the remote controller 40 as positional information after the operation of the movable part. The present situation of the movable part based on the positional information 3 on the fixed part, the positional information 2 on the movable part, and the crane (movable part) situation signal 7 is compared to the positional information on the remote controller itself, and then the crane is operated by the crane semi-automatic operation device generating the control signal 6 for operating the crane without requiring the operation by the operator. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention operates a working device having a movable part and a fixed part and performing a predetermined work by measuring the positions of the movable part and the fixed part and using the measured position information semi-automatically or automatically. The present invention relates to a working equipment operating device, a working equipment operating system, and a working equipment operating method.

For example, there is a crane as a working device that has a movable part and a fixed part and performs a predetermined work. Large cranes work by a pair of an operator who manually operates the crane and a slinging operator who loads the crane or unloads the crane. In particular, the crane operator needs to pay attention to the following points, and a high degree of skill is required.
-Safety-Crane movement, ground cutting ("ground cutting" means that the load leaves the ground when the crane lifts the load), fluctuation of the load due to wind, contact with obstacles, collapse of the load, etc.・ Economical efficiency-Lifting and lowering ("lifting" means lifting the load with a crane winch, "lowering" means unloading with a winch), crane travel time and accuracy- The crane is accurately moved to the position determined by the slinging worker. Also, in Japanese Patent Laid-Open No. 8-143274, the detection of detecting the member installation position by transmitting a signal from the slinging worker located at the member mounting position is described. Means, a means for searching for a member required at a corresponding position by detection by the detection means, a means for searching for a stock location of the required member, and a credit based on a search result of each search means. Automatic operation means for automatically moving the tip of the robot from the current crane position to the designated stock location and installation position, and the necessary members are slung by the wireless steering operation of the sling worker located at the stock location. There is disclosed an automatic operation method of a crane that, after completing a work, automatically moves a crane to a member installation position, and then loads and installs the member by radio control operation of a slinging worker.

  Further, “Japanese Patent Laid-Open No. 10-36074” discloses position information holding means for holding position information of a transported object every predetermined time from an operation start time to an operation end time of the cable crane, and a cable crane. A first position detecting means for detecting the position of the trolley during the operation, a calculating means for calculating the position of the carrying object from the position of the trolley detected by the first position detecting means, and a position of the carrying object by the calculating means The position information of the transport object at the time corresponding to the time when the position of the trolley is detected by the first position detection means is read from the position information holding means and compared with the position of the transport object. The amount of movement of the trolley and / or the amount of vertical movement of the hook block according to the comparison result is calculated, and the trolley / Or automatic operation system cable crane and a control means for moving the hook block is disclosed.

In addition, in “Japanese Laid-Open Patent Publication No. 11-11868”, when transporting a transported object holding means holding a transported object to a transport destination by a crane means, the transport holding means is provided with a first GPS receiver and transported. First, a second GPS receiver is provided, and the crane means is controlled so that the first three-dimensional coordinates obtained by the first GPS receiver are close to the second three-dimensional coordinates obtained by the second GPS receiver. A crane means control system is disclosed.
JP-A-8-143274 JP 10-36074 A Japanese Patent Laid-Open No. 11-11868

  Conventionally, since the work equipment has been manually operated, it is necessary to pay attention to the above points, and the crane operation has been limited to skilled operators. Further, when an unskilled operator operates the work equipment, an accident occurs or there is a danger to the slinging operator.

  Further, when detecting the state of the crane, since the position information of the fixed part of the crane and the position information of the movable part of the crane are not detected, the state of the movable part of the crane cannot be detected in detail. For this reason, it was difficult to finely adjust the operation of the movable part.

  The present invention has been made to solve the above-described problems, and it is an object of the present invention to operate a work device such as a crane safely and accurately regardless of the skill level of the operator.

  In addition, the work performed by the person is only the work performed by the slinging worker, and the operation of the work equipment is performed automatically or semi-automatically.

  It is another object of the present invention to detect in detail the state of the movable part of the crane and to finely adjust the operation of the movable part.

  In order to achieve the above object, a work equipment operating device according to the present invention receives position information of a movable part and position information of a fixed part from a work equipment having a movable part and a fixed part and performing a predetermined work. A position receiving unit, a state receiving unit that receives state information indicating the state of the movable unit from the work device, a position information of the movable unit and a position information of the fixed unit received by the position receiving unit, and the state receiving unit Using the state information of the movable part received by the state detection unit for detecting the state information indicating the state of the work device, and a command for wirelessly receiving the operation command information from a remote control device for remotely operating the work device Based on the operation command information received by the receiving unit, the command receiving unit, and the status information of the work device detected by the status detection unit, a control signal for controlling the operation of the work device is generated and generated Control signal And a control signal generator for transmitting to the device, characterized by operating the work equipment.

  In the work equipment operating device according to the present invention, the work equipment operating device further includes an area information receiving unit that receives area information designating an operation prohibited area of the work equipment, and an area information received by the area information receiving unit. And the control signal generation unit detects the area information stored in the area information storage unit, the operation command information received by the command reception unit, and the state detection unit. Based on the status information of the work equipment, the control signal is generated so that the work equipment does not operate in the operation prohibited area.

  In the work equipment operating device according to the present invention, the movable part performs at least one of turning, extending and contracting, up and down, traversing, and traveling, and the operation command information is operated by operating the movable part. Including position information for changing the position, the control signal generation unit, based on the position information included in the operation command information and the work equipment state information, turning the movable unit as the control signal, Generating a signal indicating an operation amount of the operation to be performed and causing the movable portion to perform at least one of the operations of extending and contracting, moving up and down, traversing, and running And

  In the work equipment operating device according to the present invention, the operation command information includes turning the movable part, expanding and contracting, raising and lowering, traversing, and running in addition to the position information. Including information instructing to perform at least one of the operations.

  A work equipment operating system according to the present invention has a fixed part and a movable part, and wirelessly transmits work equipment for performing a predetermined work by operating the movable part and remotely operating the work equipment. The remote operation device to be transmitted and the operation command information transmitted wirelessly by the remote operation device are received, a control signal for controlling the operation of the work device is generated and transmitted to the work device, and the work device is operated. A working equipment operating device, wherein the working equipment detects a state of the movable portion and transmits state information of the movable portion, and receives a control signal transmitted by the working equipment operating device. An automatic operation unit that operates the movable unit based on the received control signal, and the remote control device receives the positioning information and detects its own position information, and the reception detection unit. Self-position detected by A transmission unit that wirelessly transmits the operation command information as the operation command information, and the work equipment operating device is installed in the fixed unit, receives the positioning information, detects the position information of the fixed unit, and wirelessly transmits the fixed unit A position receiver, a movable part position receiver which is installed in the movable part, receives positioning information, detects position information of the movable part and wirelessly transmits the position information, and a fixed part detected by the fixed part position receiver. A position receiving unit that receives position information and position information of the movable unit detected by the movable unit position receiver, a state receiving unit that receives state information of the movable unit transmitted by the work device, and the position receiving unit. A state detection unit that detects the state information of the work device using the received position information of the fixed unit, the position information of the movable unit, and the state information of the movable unit received by the state reception unit, and the remote control device Receives operation command information transmitted wirelessly by And a control signal generation unit that generates the control signal based on the operation command information received by the command reception unit and the state information of the work equipment detected by the state detection unit. It is characterized by.

  In the work equipment operation system according to the present invention, the remote operation device further includes an information input unit for inputting area information for designating an operation prohibited area of the work equipment, and the transmission unit is input by the information input unit. The area information storage unit that stores the area information received by the information receiving unit, the information receiving unit that receives the area information wirelessly transmitted by the remote operation device, and the area information storage unit that stores the area information received by the information receiving unit. And the control signal generator is based on the area information stored in the area information storage, the operation command information received by the command receiver, and the status information of the work equipment detected by the status detector. The control signal is generated so that the work equipment does not operate in the operation prohibited area.

  The work equipment operation system according to the present invention is characterized in that the movable part of the work equipment performs at least one of turning, extending and contracting, up and down, traversing, and running.

  A work equipment operating method according to the present invention is a work equipment operating method that includes a fixed part and a movable part, and generates a control signal for controlling the operation of the work equipment that operates the movable part to perform a predetermined work. Receiving a position receiving step for receiving the position information of the fixed portion and the position information of the movable portion, a state receiving step for receiving the state information of the movable portion, and operation command information for remotely operating the work device. A command receiving step, position information of the fixed portion and movable portion received by the position receiving step, state information of the movable portion received by the state receiving step, and operation command information received by the command receiving portion; And a control signal generation step of generating a control signal for controlling the operation of the work equipment and transmitting the generated control signal.

  The work equipment operating method according to the present invention further includes an information receiving step in which the work equipment operating method further receives area information designating an operation prohibited area of the work equipment and stores it in a storage unit, and the control signal The generation step includes the area information stored in the storage unit in the information receiving step, the position information of the fixed unit, the position information of the movable unit, the state information of the movable unit, and the operation command information received by the command receiving unit. Based on the above, the control signal is generated so that the work device does not operate in the operation prohibited area.

  A work equipment operating device according to the present invention includes a position receiving section that receives position information of a movable section and position information of a fixed section from a work equipment that has a movable section and a fixed section and performs a predetermined work, and the above work A state receiver that receives state information indicating the state of the movable part from the device, a position information of the movable part received by the position receiver, a position information of the fixed part, and a state information of the movable part received by the state receiver. And a control signal for controlling the operation of the work equipment based on the state information of the work equipment detected by the state detection section. And a control signal generation unit configured to generate and transmit the generated control signal to the work device.

  The work equipment operating apparatus, work equipment operating system, and work equipment operating method of the present invention have an effect that the work equipment can be automatically operated without an operator.

  In addition, there is an effect that a certain level of safety and accuracy can be guaranteed in the operation result.

  In addition, since a certain level of accuracy can be guaranteed, the safety of the slinging worker can be ensured at a certain level.

Embodiment 1 FIG.
In the first embodiment, a working equipment operating device, a working equipment operating system, and a working equipment operating method for automatically operating a crane will be described as an example of the working equipment.

  FIG. 1 is a configuration diagram of a work equipment operation system according to this embodiment. In FIG. 1, a crane main body 30 has a fixed part and a movable part, and a crane main body receiver 21 (corresponding to a fixed part position receiver) is installed in the fixed part. A crane jib tip receiver 20 (corresponding to a movable part position receiver) is installed in the movable part. The crane body receiver 21 receives the positioning information 1 transmitted from the positioning satellite group 200, detects position information indicating its own position (the position of the fixed portion), and wirelessly transmits the detected position information 3 of the fixed portion. To do. The crane jib tip receiver 20 receives the positioning information 1 transmitted from the positioning satellite group 200, detects position information indicating its own position (position of the movable part), and wirelessly transmits the detected position information 2 of the movable part. To do. Here, the satellite group is determined by one or more geostationary satellites, one or more GPS (Global Positioning System) satellites, one or more quasi-zenith satellites, etc. Is to do. In addition, in order to raise the positioning system, instead of receiving positioning information directly from the positioning satellite group 200, for example, PAS data of the national land position information system PAS (precision positioning service by GPS reference point provided by Mitsubishi Electric Corporation). You may receive correction data broadcast from the center.

  The crane semi-automatic operation apparatus 10 (corresponding to the work equipment operation apparatus) wirelessly transmits the position information 2 of the movable part wirelessly transmitted by the crane jib tip receiver 20 and the position information 3 of the fixed part wirelessly transmitted by the crane body receiver 21. Receive. The loading worker 500 performs a work for loading a crane. The unloading operator 400 performs an operation of removing the load hung on the crane. The remote operation device 40 and the remote operation device 50 receive the positioning information 1 transmitted by the positioning satellite group 200, detect position information indicating its own position (position of the remote operation device), and detect the detected remote operation device. The crane operation command information (operation command information) 4b and 5b for instructing the operation with respect to the crane including the position information is wirelessly transmitted. The loading worker 500 carries the remote operation device 50 and performs a remote operation of moving the movable part of the crane to a place where the loading operation is performed using the remote operation device 50 at hand. The unloading operator 400 carries the remote operation device 40 by using the remote operation device 40 at hand to carry the remote operation device 40 and move the movable part of the crane to the place where the unloading work is performed. Further, the remote control devices 40 and 50 input area information for designating an operation prohibition area for prohibiting the operation of the movable part of the crane, and wirelessly transmit the input dangerous area information 4a and 5a. The crane semi-automatic operation apparatus 10 wirelessly receives the dangerous area information 4a and 5a wirelessly transmitted by the remote control devices 40 and 50 and registers them in the storage unit. Moreover, the crane semi-automatic operation apparatus 10 receives the crane state signal 7 indicating the state of the movable part from the crane body 30. The crane semi-automatic operation device 10 wirelessly receives crane operation command information 4b and 5b from the remote operation devices 40 and 50. When the crane semi-automatic operation apparatus 10 receives the crane operation command information, the crane semi-automatic operation device 10 confirms the state information of the movable unit and refers to the area information so that the crane does not operate in the operation prohibited area according to the crane operation command information. A control signal for controlling the operation is generated, and the generated crane control signal 6 is transmitted to the crane body 30. The crane main body 30 receives the crane control signal 6 transmitted by the crane semi-automatic operation device 10 and operates the movable portion according to the crane control signal 6.

  FIG. 2 is a block diagram of each element constituting the system of FIG.

  The crane jib tip receiver 20 receives the positioning information 1 transmitted from the positioning satellite group 200, and receives the positioning information 1 via the antenna 22 and detects its own position information based on the positioning information 1. Unit 23, a transmission unit 24 that wirelessly transmits position information, and an antenna 25. It is assumed that the crane jib tip receiver 20 and the crane body receiver 21 have the same configuration. Although the transmission unit 24 wirelessly transmits the position information, it can also be connected to the crane semi-automatic operation device by wire. In this case, the transmission unit 24 does not pass through the antenna 25 and is wired. Is transmitted to the crane semi-automatic operation apparatus 10.

  The remote control device 40 includes danger area information 8a for designating an operation prohibition area for prohibiting crane operation, work end notification information 8c for notifying the end of loading work or unloading work, and operation command information for operating the crane. 8b, an information input unit 42 for receiving the operation completion notification information 8c transmitted by another remote control device, and a transceiver unit 43 and an antenna 48 for wirelessly transmitting the crane operation command information 4b and the dangerous area information 4a. The notification unit 44 for notifying work end information from another remote control device, the antenna 49 for receiving the positioning information 1 from the positioning satellite group 200, and its own position information based on the positioning information 1 received by the antenna 49. A reception detection unit 41 for detection.

  The remote operation device 50 is assumed to have the same configuration as the remote operation device 40.

  The crane semi-automatic operation apparatus 10 includes an antenna 11 that wirelessly receives the position information 3 of the fixed part and the position information 2 of the movable part. When the crane jib tip receiver 20 and the crane main body receiver 21 are connected to the crane semi-automatic operation device 10 by wire, the antenna 11 is not necessary, and the position information 3 of the fixed part and the position information 2 of the movable part Is directly received by the position receiving unit 16.

  Moreover, the state receiving part 18 which receives the crane state signal 7 which the crane main body 30 transmitted is provided. The crane status signal 7 may be received either by wire or wirelessly. The state detection unit 17 inputs the crane state signal 7, the position information 3 of the fixed part, and the position information 2 of the movable part, and accurately detects the state of the movable part and the positional relationship of the movable part with respect to the fixed part.

  Moreover, the antenna 12 which carries out radio reception of the crane operation command information 4b and 5b and the dangerous area information 4a and 5a which the remote control devices 40 and 50 transmitted is provided. The information receiving unit 13 receives the crane operation command information 4b and 5b and the dangerous area information 4a and 5a via the antenna 12, and registers the dangerous area information 4a and 5a in the dangerous area information storage unit 14. The crane operation command information 4 b and 5 b is transferred to the command analysis unit 15. The information receiving unit 13 has functions of an area information receiving unit and a command receiving unit. The command analysis unit 15 analyzes the crane operation command information 4 b and 5 b and passes the analyzed crane operation command information 4 b and 5 b to the control signal generation unit 19.

  The control signal generator 19 operates the movable part of the crane based on the state of the movable part detected by the state detector 17 and the positional relationship of the movable part with respect to the fixed part and the analyzed crane operation command information 4b and 5b. The crane control signal 6 is generated and transmitted to the crane body 30. The crane control signal 6 may be transmitted either by wire or wirelessly.

  The crane body 30 receives the crane control signal 6 transmitted by the crane semi-automatic operation device 10 and operates the crane's movable part according to the crane control signal 6, and detects the state of the crane's movable part to detect the crane's movable part. The movable part detection part 331 which produces | generates the state signal 7 and transmits the crane state signal 7 to the crane semi-automatic operation apparatus 10 is provided.

  FIG. 3 is a view for explaining the structure of a jib crane which is a working device of this embodiment.

  The crane body 30 has a fixed part 300 and a jib 31 that is a movable part. The above-described crane body refers to the fixed portion 300 and the jib 31.

Here, an example of “jib” is shown.
The jib is a revolving body that revolves 360 degrees with the revolving center 33 as a fulcrum (some rotations are restricted).
The jib goes up and down at a jib inclination angle 34 formed by the jib reference line and the ground surface (horizontal plane). ("Jib reference line" is a line connecting the center of the jib foot pin 38 and the jib point 39 at the upper part of the jib.)
The jib expands and contracts the jib length from the jib foot pin 38 to the jib point 39.

  A hook 32 is suspended from the tip of the jib by a wire, and the jib 31 adjusts the height of the hook 32 by winding or unwinding the wire with a winch (not shown).

  As described above, the jib 31 operates “turn”, “up / down”, “extension / contraction”, and winds up and down the winch. That is, the crane control signal 6 is a signal for controlling the jib turning amount, jib inclination angle, jib expansion / contraction amount, winch hoisting amount, winch lowering amount, etc. The change amount to be changed can be specified, or the jib reference state can be determined in advance and the change amount to be changed with respect to the reference state can be specified.

  The crane state signal 7 is a signal indicating the inclination angle of the jib, the jib length, the winding amount of the winch, and the like.

  The working radius 35 is a horizontal distance from the turning center 33 to a vertical line lowered from the jib point pin 37 (the center of the hook 32). If the length of the jib is the same and the tilt angle is small, the working radius is large, and if the tilt angle is large, the working radius is small. If the work radius is included in the crane operation command information 4b and 5b in addition to the position information of the remote control device, crane operation with higher operation accuracy can be performed.

  FIG. 3 shows an example of the installation location of the crane body receiver 21, the crane jib tip receiver 20, and the crane semi-automatic operation device 10. According to FIG. 3, the crane main body receiver 21 and the crane semi-automatic operation apparatus 10 are installed on the upper surface of the fixed portion 300 near the jib foot pin 38. The crane jib tip receiver 20 was installed at the jib end near the jib point 39 on the jib reference line. The crane jib tip receiver 20 is a place where the positioning information 1 can be received, and the position information of the place is used when measuring the turning angle, the inclination angle, and the amount of expansion / contraction of the jib 31, so it is installed at the end of the jib. It is desirable. Moreover, the crane main body receiver 21 is a place where at least the positioning information 1 can be received, and is used when measuring the turning angle, the tilt angle, and the amount of expansion / contraction of the jib 31 by using the position information of the place and the position information of the jib. Therefore, it is desirable to install at a predetermined location of the fixing unit 300 on the extension line of the jib reference line.

  Next, input of area information for designating work-prohibited areas will be described.

  FIG. 4 is a diagram showing a work prohibition area at the work site. In FIG. 4, a danger area 800 is an area where a building framework is built and a surrounding area where workers 500 and 400 are present. The danger area 800 is set by designating the position information of each of the points a to o. As an example of the designation method, the following three procedures are conceivable, but other procedures may be used. Three procedures will be described one by one. Although the description will be made using the remote operation device 40, the same result can be obtained even when the remote operation device 50 is used.

(Procedure 1)
The operator walks through the dangerous area while carrying the remote control device 40, and instructs the point of the dangerous area to detect position information from the information input unit 42 of the remote control device 40, and acquires the position information of each point. To do. At this time, an area formed by connecting a plurality of points is set as an operation prohibited area. This procedure is as follows.
(1) The remote operation device 40 inputs an instruction to start operation prohibition area and position information detection from the information input unit 42.
(2) The remote operation device 40 wirelessly receives the positioning information 1 via the antenna 49 at the point where the position information detection instruction is received, and the reception detection unit 41 uses the positioning information 1 to detect its own position. .
(3) The remote operation device 40 notifies the worker of the detected position information through the notification unit 44, and also notifies information for confirming whether or not to confirm this position information as a dangerous area.
(4) When the remote operation device 40 inputs an instruction to be confirmed from the information input unit 42, the remote operation device 40 registers the position information in a storage unit (not shown). When the remote operation device 40 inputs an instruction that is not fixed from the information input unit 42, the remote operation device 40 discards the position information.

For example, the dangerous area is an area formed by connecting four points a, b, c, and d. The worker 500 moves the points a, b, c, and d while carrying the remote control device 40, and executes the procedures (1) to (4) described above at each point. After determining the position information of point d, the next procedure is as follows:
(5) The remote operation device 40 inputs an instruction to end the designation of the operation prohibited area from the information input unit 42.
(6) The remote operation device 40 is an area formed by connecting position information determined between the instruction to start specifying the operation prohibited area and the instruction to end specifying, for example, position information of each of the points a, b, c, and d. As the operation prohibited area, the position information of each of the points a, b, c and d is wirelessly transmitted from the transmission / reception unit 43 to the semi-automatic crane 10 as the danger area information 4a.

  In the steps (1) to (6), information input from the information input unit 42 is designated as dangerous area information 8a.

(Procedure 2)
As another method of designating the operation prohibited area, map information of the work site is created in advance. The map information includes information for virtually displaying the work site in a graphical manner, and dividing the work site into a grid of a predetermined size, and storing position information of the center point of each zone. . The map information described above is registered in a storage unit (not shown) of the remote control device 40, and the map information is displayed by the notification unit 44. The operator 500 touches a point to be an operation prohibited area from the displayed map information with an electronic pen, a finger, etc., and designates the operation prohibited area. When the worker touches a point on the map information, the notification unit 44 acquires position information corresponding to the touched point from the map information. The procedure is described below.
(1) The remote operation device 40 inputs an instruction to start specifying an operation prohibited area from the information input unit 42.
(2) The remote control device 40 acquires map information on the work site from the storage unit (not shown) from the notification unit 44 and displays it.
(3) The remote operation device 40 inputs a designation of a point to be an operation prohibited area by touching a predetermined point on the map with an electronic pen or a finger from the information input unit 42.
(4) The remote operation device 40 uses the notification unit 44 to acquire position information corresponding to the designated predetermined point from the storage unit and notify the operator, and whether to confirm this position information as a dangerous area. Notify the information to confirm.
(5) When the remote operation device 40 inputs an instruction to be confirmed from the information input unit 42, the remote operation device 40 registers the position information in a storage unit (not shown). When the remote operation device 40 inputs an instruction that is not fixed from the information input unit 42, the remote operation device 40 discards the position information.

For example, the dangerous area is an area formed by connecting four points a, b, c, and d. The worker 500 designates the points a, b, c, and d of the displayed map information by executing the procedures (1) to (5) described above. After determining the position information of point d, the next procedure is as follows:
(6) The remote operation device 40 inputs an instruction to end the designation of the operation prohibited area from the information input unit 42.
(7) The remote control device 40 is an area formed by connecting position information determined between the instruction to start specifying the operation prohibited area and the instruction to end specifying, for example, position information of each of the points a, b, c, and d. As the operation prohibited area, the position information of each of the points a, b, c and d is wirelessly transmitted from the transmission / reception unit 43 to the semi-automatic crane 10 as the danger area information 4a.

(Procedure 3)
It is a method to designate another operation prohibited area, and the operator manually operates the crane without using a remote control device and moves the movable part to each point where the operation prohibited area is received, and receives the position information of the point of the crane jib The information receiving unit 13 of the crane semi-automatic driving device receives the position information acquired by the machine 20 and registers it in the danger area information storage unit 14.

  Although an example of the method for designating the operation prohibited area has been described as steps 1, 2, and 3, it may be designated by another procedure. In addition, the position information of each point in the danger area includes height information in addition to latitude information and longitude information. For example, in the work environment as shown in FIG. 4, a plane area can be specified by latitude information and longitude information, but a three-dimensional area cannot be specified, so height information is also included in the operation prohibited area information. In a work environment where there is no area where the crane cannot be operated, the operation prohibited area may not be designated.

  Next, the entire process of the work equipment operating method according to this embodiment will be described with reference to FIG.

  FIG. 5 is a block diagram showing the entire process of the work equipment operating method according to this embodiment.

  In FIG. 5, the work equipment operating method has five major steps. In the work equipment operating method, first, dangerous area information is registered in the work equipment operating device (S1). The procedure for registering the dangerous area information of the work equipment operating device is shown in FIG.

  Next, the remote operation device transmits crane operation command information, and the crane semi-automatic operation device generates and transmits a crane control signal for operating the crane according to the crane operation command information (S2). A procedure for generating a crane control signal of the crane semi-automatic operation apparatus is shown in FIG.

  There are two purposes for operating the crane: loading and unloading. The former is the transmission of operation command information by the loading operator (S3). In the latter case, the operation is performed by the unloading operator. This is command information transmission (S4). In both cases, the procedure of the remote control device and the semi-automatic crane operation device is the same.

  In parallel with S2, the crane semi-automatic operation device detects the crane state (S7). The crane state detection procedure is shown in FIG.

  In addition, the worker performs a process of notifying another worker that the loading work and the unloading work have been completed (S6). FIG. 9 shows a procedure for transmitting the work end notification. The procedure for receiving the work end notification is shown in FIG.

  When the crane control signal is transmitted to the crane body by the crane semi-automatic operation device, the crane body operates the movable part according to the crane control signal (S5).

  Of the overall steps shown in FIG. 5, the dangerous area registration step will be described with reference to FIG.

  In FIG. 6, the remote control device inputs dangerous area information (S10). Since the method for specifying the dangerous area information is as described above, detailed description of the procedure is omitted here, and the dangerous area information is specified.

  The remote operation device 40 wirelessly transmits the dangerous area information 4a from the transmission / reception unit 43 to the semi-automatic crane 10 via the antenna 48 (S11). The crane semi-automatic operation apparatus 10 wirelessly receives the dangerous area information 4a from the remote operation device 40 via the antenna 12 by the information receiving unit 13 (S12). Since the information receiving unit 13 also receives information other than the dangerous area information, it confirms that the information is dangerous area information (S13). When it is dangerous area information (S13, YES), the information receiving unit 13 stores the dangerous area information 4a in the dangerous area information storage unit 14 (S14). If NO in S13, the dangerous area information registration process is terminated.

  The remote operation devices 40 and 50 register the dangerous area information in the same procedure. Further, the information stored in the dangerous area information storage unit 14 is a three-dimensional three-dimensional area formed by connecting a plurality of points indicated by latitude information, longitude information, and height information as a dangerous area. Therefore, related information indicating related points is included. For example, in the example of the work site in FIG. 4, information that associates the points e and f with the latitude information, the longitude information, and the height information of each point e and f is registered as one danger area information. .

  Next, the generation and transmission process of the operation command information in the entire process of FIG. 5 will be described with reference to FIG.

  In the following description, the operation of the remote operation device 40 will be described, but the remote operation device 50 is assumed to perform the same operation as the remote operation device 40.

  In FIG. 7, the worker 400 inputs information instructing to operate the crane from the information input unit 42 to the remote control device 40. When the remote operation device 40 confirms that an instruction to operate the crane is input by the information input unit 42, the remote detection device 40 detects its own position information by the reception detection unit 41 and uses the detected position information as crane operation command information 4b. The transmission / reception unit 43 wirelessly transmits the crane semi-automatic operation apparatus 10 (S20, S21). The position information in this case is latitude information, longitude information, and height information. In addition to the position information, the worker 400 may determine the jib inclination angle, jib length, and jib turning angle and input the operation command information 8b from the information input unit 42. The jib inclination angle, jib length, and jib turning angle specify the amount to be changed with respect to the current state of the jib, or determine the jib reference state in advance and Specify the amount to change. When the operation command information 8b is input, the information input unit 42 passes the operation command information 8b to the transmission / reception unit 43. The transmission / reception unit 43 wirelessly transmits the position information and the operation command information 8b as crane operation command information 4b. Depending on the skill level of the operator 400, the case where the jib inclination angle, jib length, and jib turning angle can be determined or not can be considered. When the jib inclination angle, jib length, and jib turning angle cannot be determined, only the position information is wirelessly transmitted as crane operation command information 4b. If you can determine the angle of the jib, the length of the jib, and the turning angle of the jib, you can specify the angle of the jib, the length of the jib, or the turning angle of the jib and control the crane operation from the position information alone. Control the delicate operation of the crane. As described above, even an operator who has insufficient experience can easily control the operation of the crane, and even an experienced operator can control the operation of the crane more finely.

  The crane semi-automatic operation device 10 receives the crane operation command information 4b transmitted from the remote operation device 40 by the information receiving unit 13. Since the information receiving unit 13 receives other information in addition to the crane operation command information 4b, it confirms whether or not the received information is the crane operation command information 4b (S22). If it is the crane operation command information 4b, the process branches to S23 (S22, YES). If it is not crane operation command information 4b, the process is terminated (S22, NO). In S23, the command analysis unit 15 analyzes the contents of the crane operation command information 4b received in S22. For example, when the crane operation command information 4b includes position information, a jib inclination angle, a jib length, and a jib turning angle, the analysis separates these pieces of information. Moreover, the crane operation command information 4b is converted into a code or the like that can be understood by the control signal generator 19.

  After performing the analysis, the control signal generator 19 generates the crane control signal 6. In this case, the crane state information of FIG. 8 is acquired in order to generate the crane control signal 6 with reference to the crane state information. Perform the process.

  In FIG. 8, the crane semi-automatic operation apparatus 10 receives the crane state signal 7 indicating the state of the jib 31 (movable part) detected by the movable part detection unit 331 of the crane body 30 by the state reception unit 18 (S70). The process of S70 is performed at predetermined intervals or when the information receiving unit 13 receives the crane operation command information 4b. Further, the positioning information 1 is received by the crane main body receiver 21 and the position information 3 of the fixed portion is detected and transmitted from the positioning information 1, and the positioning information 1 is received by the crane jib tip receiver 20 and is movable from the positioning information 1. The position information 2 of the part is detected and transmitted, and the position information 16 of the fixed part and the position information 2 of the movable part are received by the position receiver 16 (S71, S72). The processes of S71 and S72 may be executed at the same interval as that of executing S70, or may be performed in parallel with the start of the process of S70.

  The state detection unit 17 receives the crane state signal 7, the position information 3 of the fixed part, and the position information 2 of the movable part, and detects state information indicating the latest crane state (S73). For example, the crane state signal 7 is a signal indicating the inclination angle of the jib 31, the length of the jib 31, the winding amount of the winch, and the like. From these signals, the current inclination angle of the jib 31, the length of the jib 31, the distance from the jib point pin 37 to the hook 32, and the working radius can be detected. Further, the turning position of the jib 31 can be detected from the position information 3 of the fixed part and the position information 2 of the movable part. Further, from the position information 2 of the movable part, the working radius 35 at that time, the position information 3 of the fixed part, the relative position from the crane body receiver 21 to the turning center 33 and the turning angle of the jib 31 (jib inclination angle 34). The turning center can be detected. The turning center is used for calculating the movement of the crane. Further, the winch hoisting amount and lowering amount can be calculated from the position information 3 of the fixed part, the position information 2 of the movable part, and the position information of the crane operation command information. The amount of winch being wound or lowered is used when the hook 32 is adjusted to an appropriate height.

  The state detection unit 17 notifies the control signal generation unit 19 of the detected state information of the jib 31 (S74).

  The above is the detection process of crane state information.

  The process from S24 in FIG. 7 will be described.

  In S24, the control signal generator 19 generates the crane control signal 6 based on the state information of the jib 31 notified in S73 of FIG. 8 and the analyzed crane operation command information. When the crane operation command information is only position information, the current state information of the jib 31 is compared with the position information of the crane operation command information, and the tip portion of the hook 32 has a predetermined distance from the position information, for example, A crane control signal 6 is generated that designates the amount of change in the tilt angle of the jib 31, the amount of change in the length of the jib 31, the amount of turning of the jib 31, the amount of change in winding of the winch, and the like so as to be in a 50 cm square range.

  Further, at this time, the control signal generation unit 19 refers to the prohibited area information stored in the dangerous area information storage unit 14 and generates the crane control signal 6 so that the jib 31 does not operate in the prohibited area. For example, when the operator 400 of FIG. 4 operates to move the jib 31 close to himself / herself, the dangerous area information storage unit 14 includes prohibited area information indicating the hatched portion of FIG. It is remembered. Therefore, the crane control signal 6 indicates the current state information of the jib 31 and the position information of the crane operation command information so that the jib 31 is not operated in the prohibited area indicating the hatched portion in FIG. 4 connecting the points e to o. In comparison, the crane control signal 6 is generated by adjusting the change amount of the inclination angle of the jib 31, the change amount of the jib 31, the turning amount of the jib 31, the winch winding change amount, and the like.

  The control signal generation unit 19 transmits the generated crane control signal 6 to the crane body 30 (S25). When the automatic operation unit 332 of the crane body 30 receives the crane control signal 6 from the crane semi-automatic operation apparatus 10, the inclination angle of the jib 31 is changed according to the received signal, or the length of the jib 31 is expanded or contracted. The position of the hook 32 is changed by turning the jib 31 or winding the winch up or down.

  When further adjustment is necessary after the jib 31 is operated, the operator 400 can change the change amount of the jib inclination angle, the change amount of the jib length, and the change of the jib turning angle from the remote control device 40. The operation command information 8b for adjusting the amount, the winding amount of the winch, etc. is input, the processing of FIGS. 7 and 8 is performed, and the jib 31 is finely adjusted.

  The jib is operated semi-automatically by the above process.

  When the worker 500 in FIG. 4 is a loading worker and the worker 400 is an unloading worker, the unloading worker 400 performs unloading work after the loading operation is completed. Is confirmed using the remote control device 40 at hand. This process will be described with reference to FIGS.

  FIG. 9 illustrates a procedure for notifying the end of the loading operation.

  FIG. 10 illustrates a procedure for receiving a notice of completion of the loading operation.

  In FIG. 9, when the loading work is completed, the loading worker 500 inputs loading work completion notification information 8c from the information input unit 52 of the remote control device 50 at hand (S90). Since the information input unit 52 also inputs other information in addition to the work end notification information 8c, it confirms whether or not the input information is the work end notification information 8c (S91). If it is the work end notification information 8c (S91, YES), the information input unit 52 wirelessly transmits the input work end notification information 8c from the transmission / reception unit 53 (S92). If it is not the work end notification information 8c (S91, NO), the process ends.

  The work end notification information 8c may be transmitted to a specific remote control device by specifying a destination, or may be broadcast to an unspecified number of remote control devices.

  On the other hand, in FIG. 10, the unloader 400 receives the work end notification information 8c transmitted from the remote operation device 40 via the antenna 48 by the transmitting / receiving unit 43 (S100). Since the transmission / reception unit 43 receives other information in addition to the work end notification information 8c, it confirms whether or not the received information is the work end notification information 8c (S101). If it is the work end notification information 8c (S101, YES), the transmission / reception unit 43 passes the received work end notification information 8c to the notification unit 44, and the notification unit 44 displays the work end notification information 8c (S102). If it is not the work end notification information 8c (S101, NO), the process ends.

  As described above, the work equipment can be automatically operated without an operator without the operator manually operating the work equipment by the work equipment operating device (crane semi-automatic driving and feeding device). For this reason, conventionally, skill is required to operate the device, but there is an effect that a certain level of operation can be automatically performed regardless of the skill level.

  Further, since the control signal is generated based on the current state of the crane, the content of the operation indicated by the control signal becomes the optimal operation content, and there is an effect that time loss due to useless operation can be reduced.

  Further, since the work equipment operating device detects the current state of the movable part based on the position information of the movable part and the position information of the fixed part, the state of the movable part not notified from the work equipment or the notified state When is not accurate, there is an effect that the state of the movable part can be supplemented.

  In addition, since area information for designating the operation prohibited area is registered in advance, it is possible to safely control the operation of the work equipment and to ensure the safety of the worker.

  The control signal is generated based on the position information transmitted from the remote operation device, and this position information is the position information of the remote operation device itself. Then, the remote control device detects this position information from the received positioning information. For this reason, since the remote operation device automatically detects its own position without obtaining and inputting the position information from which the control signal is generated, to the remote operation device, the burden on the worker is reduced. In addition, there is an effect that it is possible to eliminate an operation error due to the absence of a person. In addition, the working equipment can be efficiently operated.

  In addition, since the operator can input the operation and operation amount of the movable part such as turning, expansion / contraction, and up / down as operation command information to the remote operation device, there is an effect that the operation of the movable part can be finely adjusted. As a result, even if an unskilled operator operates the work equipment from the remote control device via the work equipment operating device, it is easy to obtain the same operation results as when the skilled operator operates the work equipment. There is an effect that can be realized.

  Further, the position information of each of the fixed part, the movable part, and the remote control device is detected from the positioning information transmitted by the positioning satellite. For this reason, when position information is detected using positioning information from a satellite with high positioning accuracy, there is an effect that the accuracy of operation of the work equipment can be increased regardless of the skill level of the operator.

  Also, since the positioning information from the satellite is used when operating the work equipment, the position error can be set to several centimeters when using a quasi-zenith satellite with high positioning accuracy for the satellite. There is an effect that the moving operation can be performed accurately.

  In addition, when the work equipment is a crane, for example, the work is often performed behind a building or a large ship, but by using a quasi-zenith satellite, the crane is fixed behind a building or a large ship. Even positioning information can be received. For this reason, there exists an effect which can widen the range of the installation place of work equipment.

Embodiment 2. FIG.
In the said Embodiment 1, the crane semi-automatic operation apparatus received the crane operation command information which operates a crane main body from a remote control apparatus. However, when loading and unloading a work place, for example, a ship, a place where the load is applied to the crane and a place where the load is removed from the crane may be fixed. In such a case, the position information of the place where the load is applied and the position information of the place where the load is removed are registered in advance in the semi-automatic crane operation device. Further, the crane semi-automatic operation device receives the loaded state and the unloaded state together with the state information of the movable part from the crane body. When the crane semi-automatic operation device confirms that the crane is not loaded, the crane semi-automatic operation device generates a control signal so as to operate the movable portion according to the position information of the place where the load is loaded, and transmits the control signal to the crane body. Further, when the crane semi-automatic operation device confirms the loaded state, the crane generates a control signal so that the movable unit operates the position information of the place where the load is removed, and transmits the control signal to the crane body.

  In the work environment as described above, the crane operation is considered to be the same operation and the same operation amount is repeated. For this reason, the control signal once generated in the crane semi-automatic operation apparatus may be registered, and the registered control signal may be taken out and used every time the crane is operated.

  Thus, a crane semi-automatic operation device that operates a crane without a remote control device can be considered as an automatic crane operation device.

  As described above, even if the remote control device is not provided, the crane semi-automatic operation device is effective in operating the crane.

  In addition, it is conceivable to prepare a plurality of remote operation devices, for example, for the number of workers. However, if the crane can be automatically operated, the remote operation device is not necessary, so that the system construction cost including the remote operation device is more than Costs can be reduced.

Embodiment 3 FIG.
It is assumed that the remote operation device described in the first embodiment can send operation command information to a plurality of work equipment operation devices. That is, the relationship between the remote control device and the work equipment operating device is one-to-many. However, in this case, the remote operation device designates the counterpart work equipment operating device and transmits the operation command information.

  The relationship between the remote control device and the work equipment operating device may be one-to-one. In the case of one-to-one, there are two remote control devices for the loading worker and the unloading worker, one in total, but two are considered as one set.

Embodiment 4 FIG.
An example of the work equipment described in the first to third embodiments is a crane called a jib crane. In addition to jib cranes, there are overhead cranes, bridge cranes, cable cranes, tower jib cranes and the like. An example in which the work equipment operating device is applied to these cranes will be described.

  The structure of the crane semi-automatic operation device is the same as the block diagram of FIG. 2 described in the first embodiment. The overall system configuration is the same as that of the system configuration diagram of FIG. The difference from Embodiment 1 is that the type of crane is different, the installation location of the movable part position receiving device and the fixed part position receiving device is different due to the difference in crane type, and the difference in crane type. The accompanying crane state is different. The procedure for designating the operation prohibited area is the same as the procedure described in the first embodiment. Although the remote operation device is not shown, it is carried by an operator as in the first embodiment, and the crane operation command information is wirelessly transmitted to the crane semi-automatic operation device.

  First, an example applied to an overhead crane will be described.

  FIG. 11 is a diagram illustrating the structure of an overhead crane that is a work device. In FIG. 11, the crane main body 30 a includes a rail 306 installed on the ceiling, a crane garter 309 that moves on the rail 306 by a saddle 305, a trolley 301 that moves on the crane garter 309, a cab 304, a hook A block 302 and a handrail 303 are included. The automatic operation part 332 and the movable part detection part 331 shall be provided in the cab. The trolley 301 is movable on the crane gutter 309 in the X direction (left and right direction with respect to the paper surface). The crane garter 309 can move in the Y direction (perpendicular to the paper surface) along the rail 306. That is, the movable parts are the trolley 301, the crane gutter 309, and the hook block 302. The hook block 302 is movable in the Z direction (up and down with respect to the paper surface). In the overhead crane of FIG. 11, the movable part position receiver 320 is installed on the trolley 301. The movable part position receiver 320 installed in the trolley 301 is installed in the cab 304 using position information in the X direction, position information in the Y direction, and position information in the height direction of the trolley 301 as position information of the movable part. To the crane semi-automatic operation apparatus 10. The movement in the X direction is called traversal, the movement in the Y direction is traveling, and the movement in the Z direction is called winding. The position information in the X direction corresponds to the position of the trolley 301, and the position information in the Y direction corresponds to the position of the crane gutter 309.

  In the overhead crane of FIG. 11, the fixed portion position receiver 321 is installed at a place where the rail 306 is a fixed portion and the crane gutter 309 on the rail 306 does not come into contact with the fixed portion. The fixed unit position receiver 321 transmits the position information (latitude information, longitude information, height information) of the place where it is installed to the crane semi-automatic operation apparatus 10.

  The crane semi-automatic operation device 10 receives position information of the remote operation device from the remote operation device as crane operation command information. Alternatively, the horizontal movement amount of the trolley 301, the movement amount of the crane garter 309, and the hoisting amount of the hook block 302 are received as the crane operation command information together with the position information. Moreover, the crane semi-automatic operation apparatus 10 receives the winding state of the hook block 302 as a crane state signal. The semi-automatic crane 10 detects the crane state from the crane state signal, the position information of the movable part, and the position information of the fixed part, and uses the detected result and the crane operation command information to detect the trolley 301 and the crane garter. A crane control signal for operating 309 and the hook block 302 is generated and transmitted to the automatic driving unit 332. For example, from the position information in the X direction and the Y direction of the position information of the movable part, the latitude information and the longitude information of the position information of the crane operation command information, and the latitude information and the longitude information of the position information of the fixed part, the crane garter 309 is obtained. And the movement amount of the trolley 301 are calculated, and a crane control signal is generated based on the movement amount. Further, the hoisting and lowering amounts of the hook block 302 are calculated from the hoisting state of the crane, the height information of the position information of the crane operation command information, and the height information of the position information of the fixed part, and the hoisting and hoisting are calculated. A crane control signal is generated based on the lowered amount.

  Next, an example applied to a bridge crane will be described.

12-14 is a figure explaining the structure of the bridge crane which is a working equipment, respectively. FIG. 12 shows a hoist bridge crane, FIG. 13 shows a club trolley bridge crane, and FIG. 14 shows a mantrol bridge crane. Bridge-type cranes are overhead crane rails installed on the ground.
12 to 14, the crane body 30 a includes a rail 306 installed on the ground, a crane garter 309 that moves on the rail 306, a trolley (cart) 301 that moves on the crane garter 309, and a hook block 302. Have. In addition, the cranes shown in FIGS. 12 to 14 are operated by a driving device (not shown) connected by radio or wire, and this driving device may be fixed to a wall or carried by a crane operator. The crane semi-automatic operation device is provided in the operation device (in this case, it may be integrated with the operation device). When a crane is operated by the crane semi-automatic operation device, the operator does not particularly give an operation instruction to the crane even if the operator carries the operation device. For this reason, the switch which switches manual operation and automatic driving | operation by an operator may be provided in the driving device or the crane semi-automatic driving device. It is assumed that the automatic operation unit 332 and the movable unit detection unit 331 are provided in the driving device. The trolley 301 is movable on the crane gutter 309 in the X direction (left and right direction with respect to the paper surface). The crane garter 309 can move in the Y direction (perpendicular to the paper surface) along the rail 306. The hook block 302 is movable in the Z direction (up and down with respect to the paper surface). That is, the movable parts are the trolley 301, the crane gutter 309, and the hook block 302. In the bridge crane shown in FIGS. 12 to 14, the movable part position receiver 320 is installed on the trolley 301. The movable part position receiver 320 installed in the trolley 301 uses the position information in the X direction, the position information in the Y direction, and the position information in the height direction of the trolley 301 as position information of the movable part. Send. The movement in the X direction is called traversal, the movement in the Y direction is traveling, and the movement in the Z direction is called winding. The position information in the X direction corresponds to the position of the trolley 301, and the position information in the Y direction corresponds to the position of the crane gutter 309.

  12-14, the fixed part position receiver 321 is installed in a place where the rail 306 is a fixed part and the crane garter 309 does not come into contact with the rail 306 even if it moves. The fixed part position receiver 321 transmits the position information (latitude information, longitude information, height information) of the installed location to the crane semi-automatic operation device.

  The crane semi-automatic operation device receives position information of the remote operation device from the remote operation device as crane operation command information. Alternatively, the horizontal movement amount of the trolley 301, the movement amount of the crane garter 309, and the hoisting amount of the hook block 302 are received as the crane operation command information together with the position information. The crane semi-automatic operation apparatus receives the hoisting state of the hook block 302 as a crane state signal. The semi-automatic crane operation device detects the crane state from the crane state signal, the position information of the movable part, and the position information of the fixed part, and uses the detected result and the crane operation command information to detect the trolley 301 and the crane garter 309. And a crane control signal for operating the hook block 302 are generated and transmitted to the automatic driving unit 332. For example, from the position information in the X direction and the Y direction of the position information of the movable part, the latitude information and the longitude information of the position information of the crane operation command information, and the latitude information and the longitude information of the position information of the fixed part, the crane garter 309 is obtained. And the movement amount of the trolley 301 are calculated, and a crane control signal is generated based on the movement amount. Further, the hoisting and lowering amounts of the hook block 302 are calculated from the hoisting state of the crane, the height information of the position information of the crane operation command information, and the height information of the position information of the fixed part, and the hoisting and hoisting are calculated. A crane control signal is generated based on the lowered amount.

  Next, the example applied to a tower type jib crane is demonstrated.

  FIG. 15 is a diagram for explaining the structure of a tower-type jib crane that is a working device. An example of the jib crane has been described in the first embodiment, but the jib crane of this embodiment is different from the jib crane of the first embodiment in that it is not mounted on a vehicle. Further, unlike the first embodiment, the jib operation can be turned or at least one of up and down. In FIG. 15, the crane body 30 a has a fixed part 300 and a movable part 340. The movable unit 340 includes the jib 31, the movable unit position receiver 320 installed at the tip of the jib 31, the hook block 302, and the crane semi-automatic operation device 10. The fixed unit 300 includes a fixed unit position receiver 321. It is assumed that the automatic operation unit 332 and the movable unit detection unit 331 are provided in the driving device. It is assumed that the driving device is provided in a place not shown near the crane semi-automatic driving device 10. The hook block 302 can move up and down.

  The application example of the work equipment operating device for the tower-shaped jib crane shown in FIG. 15 is the same as the jib crane of the first embodiment except that the jib cannot be expanded and contracted, and detailed description thereof is omitted here.

  Next, an example applied to a cable crane will be described.

  16 and 17 are diagrams illustrating the structure of a cable crane that is a work device. The cable crane is a crane in which a trolley traverses with a main rope as a starting point, with a cable stretched between two towers. FIG. 16 is an example of a one-side traveling cable crane, and FIG. 17 is an example of a gauge cable crane.

  16 and 17, the crane main body 30 a includes a fixing unit 300, a trolley 301, a hook block 302, and a cable 310. The trolley 301 moves the cable 310 in the X direction (moving left and right with respect to the paper surface, moving left and right is referred to as traversal). The hook block 302 moves up and down. 16 and 17, the trolley 301 is a movable part, the movable part position receiver 320 is installed on the upper part of the trolley 301, and the fixed part position receiver 321 is the end of the cable 310 in FIG. In FIG. 17, it installs in the cable connection means which connects two cables.

  The cable cranes of FIGS. 16 and 17 are operated by a driving device (not shown) connected wirelessly or by wire, and this driving device may be fixed to a wall or carried by a crane operator. . The crane semi-automatic operation device is provided in the operation device (in this case, it may be integrated with the operation device). When a crane is operated by the crane semi-automatic operation device, the operator does not particularly give an operation instruction to the crane even if the operator carries the operation device. For this reason, the switch which switches manual operation and automatic driving | operation by an operator may be provided in the driving device or the crane semi-automatic driving device. It is assumed that the automatic operation unit 332 and the movable unit detection unit 331 are provided in the driving device. The movable part position receiver 320 installed in the trolley 301 transmits the latitude information, the longitude information, and the height information of the trolley 301 as position information of the movable part to the semi-automatic crane operation apparatus.

  Moreover, the fixed part position receiver 321 transmits the position information (latitude information, longitude information, height information) of the place where it is installed to the crane semi-automatic operation apparatus.

  The crane semi-automatic operation device receives position information of the remote operation device as crane operation command information from a remote operation device (not shown). Alternatively, the horizontal movement amount of the trolley 301 and the hoisting amount of the hook block 302 are received as crane operation command information together with the position information. The crane semi-automatic operation apparatus receives the hoisting state of the hook block 302 as a crane state signal. The crane semi-automatic operation device detects the state of the crane from the crane state signal, the position information of the movable part, and the position information of the fixed part, and uses the detected result and the crane operation command information to detect the trolley 301 and the hook block 302. Are generated and transmitted to the automatic driving unit 332. For example, the movement amount of the trolley 301 is calculated from the latitude information and longitude information of the position information of the movable part, the latitude information and longitude information of the position information of the crane operation command information, and the latitude information and longitude information of the position information of the fixed part. Calculate and generate a crane control signal based on the travel. Further, the hoisting and lowering amounts of the hook block 302 are calculated from the hoisting state of the crane, the height information of the position information of the crane operation command information, and the height information of the position information of the fixed part, and the hoisting and hoisting are calculated. A crane control signal is generated based on the lowered amount.

  Thus, since the work equipment operating device and the work equipment operation system can be applied to various types of cranes, it is possible to provide services for various types of cranes as a business that enables automatic operation of the crane.

  What has been described as “to part” in the above description of the embodiment may be configured by a program that can be operated by a computer in part or in whole. These programs can be created in C language, for example.

  In addition, what has been described as “˜unit” in the description of the embodiment may be realized by firmware stored in a ROM (Read Only Memory). Alternatively, it may be implemented by software, hardware, or a combination of software and hardware.

  Further, the program for implementing each of the above embodiments is recorded on a recording medium. The recording medium may be a storage device such as a magnetic disk device, an FD (Flexible Disk), an optical disk, a CD (compact disk), an MD (mini disk), a DVD (Digital Versatile Disk), or the like.

  The program is loaded into a computer and executed based on the control of the processor.

1 is a configuration diagram of a work equipment operation system according to Embodiment 1. FIG. It is a block diagram of each element which comprises the system of FIG. It is a figure explaining the structure of the crane which is a working device of Embodiment 1. FIG. It is a figure which shows the work prohibition area in a work site. It is a figure which shows the block diagram of the whole process of the working equipment operation method of Embodiment 1. FIG. FIG. 3 is a flowchart showing a dangerous area registration process according to the first embodiment. FIG. 3 is a flowchart showing an operation command information generation / transmission step of the first embodiment. FIG. 3 is a flowchart showing a crane state detection step according to the first embodiment. FIG. 6 is a flowchart for explaining a process of notifying the end of the loading operation according to the first embodiment. FIG. 6 is a flowchart for explaining a process of receiving a notice of completion of the loading operation according to the first embodiment. It is a figure explaining the structure of the overhead crane which is a working equipment of Embodiment 4. FIG. It is a figure explaining the structure of the hoist type bridge crane which is a working equipment of Embodiment 4. FIG. It is a figure explaining the structure of the club trolley type bridge crane which is a working equipment of Embodiment 4. FIG. It is a figure explaining the structure of the mantroll-type bridge crane which is the working equipment of Embodiment 4. FIG. It is a figure explaining the structure of the tower type jib crane which is the working equipment of Embodiment 4. FIG. It is a figure explaining the structure of the cable crane which is a working equipment of Embodiment 4. FIG. It is a figure explaining the structure of the cable crane which is a working equipment of Embodiment 4. FIG.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 Positioning information, 2 Position information of movable part, 3 Position information of fixed part, 4a, 5a Danger area information, 4b, 5b Crane operation command information, 6 Crane control signal, 7 Crane status signal, 8a Danger area information, 8b operation Command information, 8c Work end notification information, 10 Crane semi-automatic operation device, 11, 12, 22, 25, 48, 49, 58, 59 Antenna, 13 Information receiving unit, 14 Danger area information storage unit, 15 Command analysis unit, 16 Position receiver, 17 State detector, 18 State receiver, 19 Control signal generator, 20 Crane jib tip receiver, 21 Crane body receiver, 23 Receiver, 24 Transmitter, 30, 30a Crane body, 31 Jib, 32 Hook, 33 swivel center, 34 jib tilt angle, 35 working radius, 37 jib point pin, 38 jib hook Pin, 39 Jib point, 40, 50 Remote control device, 41, 51 Reception detection unit, 42, 52 Information input unit, 43, 53 Transmission / reception unit, 44, 54 Notification unit, 110 Work place, 200 Positioning satellite group, 300 fixed , 301 trolley, 302 hook block, 303 handrail, 304 cab, 305 saddle, 306 rail, 309 crane gutter, 310 cable, 320 movable part position receiver, 321 fixed part position receiver, 331 movable part detector, 332 Automatic operation part, 340 movable part, 400,500 workers, 600 loads, 800 dangerous area.

Claims (10)

A position receiver that receives the position information of the movable part and the position information of the fixed part from a work device that has a movable part and a fixed part and performs a predetermined work;
A state receiving unit that receives state information indicating the state of the movable unit from the work equipment;
A state in which the state information indicating the state of the work equipment is detected using the position information of the movable part and the position information of the fixed part received by the position receiver and the state information of the movable part received by the state receiver. A detection unit;
A command receiving unit for wirelessly receiving operation command information from a remote control device for remotely operating the work equipment;
Based on the operation command information received by the command receiving unit and the state information of the work device detected by the state detection unit, a control signal for controlling the operation of the work device is generated, and the generated control signal is A work equipment operating device comprising: a control signal generation unit that transmits to the work equipment; and operating the work equipment. The work equipment operating device further includes an area information receiving unit that receives area information designating an operation prohibited area of the work equipment,
An area information storage unit for storing area information received by the area information receiving unit,
The control signal generation unit is based on the area information stored in the area information storage unit, the operation command information received by the command reception unit, and the status information of the work equipment detected by the status detection unit, 2. The work equipment operating device according to claim 1, wherein the control signal is generated so that the work equipment does not operate in the operation prohibited area. The movable portion performs at least one of turning, extending and contracting, up and down, traversing, and running,
The operation command information includes position information for operating the movable part to change the position of the movable part,
The control signal generator is configured to turn, extend, and move the movable part as the control signal based on the position information included in the operation command information and the work equipment state information. 3. The signal according to claim 1, further comprising: generating a signal indicating that the movable part performs at least one of the operation of traversing and running and the operation amount of the operation to be performed. Work equipment operating device.   The operation command information includes, in addition to the position information, performing at least one of the operations of turning the movable part, expanding and contracting, raising and lowering, traversing, and running. 4. The work equipment operating apparatus according to claim 3, further comprising information to be commanded. A working device having a fixed part and a movable part and operating the movable part to perform a predetermined work;
A remote operation device that wirelessly transmits operation command information for remotely operating the work equipment;
Receiving the operation command information wirelessly transmitted by the remote operation device, generating a control signal for controlling the operation of the work equipment, transmitting the control signal to the work equipment, and a work equipment operating device for operating the work equipment. Prepared,
The above work equipment is
A movable part detector that detects the state of the movable part and transmits state information of the movable part;
Receiving the control signal transmitted by the work equipment operating device, and comprising an automatic driving unit that drives the movable part based on the received control signal,
The remote control device is
A reception detector that receives positioning information and detects its own position information;
A transmission unit that wirelessly transmits the position information detected by the reception detection unit as the operation command information;
The work equipment operating device is
A fixed position receiver that is installed in the fixed section, receives positioning information, detects position information of the fixed section and wirelessly transmits the position information;
A movable part position receiver that is installed in the movable part, receives positioning information, detects position information of the movable part, and wirelessly transmits the position information;
A position receiver that receives position information of the fixed part detected by the fixed part position receiver and position information of the movable part detected by the movable part position receiver;
A state receiver that receives state information of the movable part transmitted by the work device;
A state detection unit that detects the state information of the work equipment using the position information of the fixed unit and the position information of the movable unit received by the position reception unit, and the state information of the movable unit received by the state reception unit; ,
A command receiver for receiving operation command information wirelessly transmitted by the remote control device;
A work device comprising: a control signal generation unit that generates the control signal based on operation command information received by the command reception unit and state information of the work device detected by the state detection unit Operation system. The remote operation device further includes an information input unit for inputting area information for designating an operation prohibited area of the work equipment,
The transmission unit wirelessly transmits the area information input by the information input unit,
The work equipment operating device includes an information receiving unit that receives area information wirelessly transmitted by the remote control device;
An area information storage unit for storing area information received by the information receiving unit,
The control signal generation unit is configured to perform the operation based on the area information stored in the area information storage, the operation command information received by the command reception unit, and the work equipment state information detected by the state detection unit. 6. The work equipment operation system according to claim 5, wherein the control signal is generated so that the work equipment does not operate in a prohibited area.   6. The work equipment operation system according to claim 5, wherein the movable part of the work equipment performs at least one of turning, extending and contracting, up and down, traversing, and running. In a work equipment operating method that has a fixed part and a movable part, and generates a control signal that controls the operation of the work equipment that performs the predetermined work by operating the movable part,
A position receiving step of receiving the position information of the fixed part and the position information of the movable part;
A state receiving step of receiving state information of the movable part;
A command receiving step for receiving operation command information for remotely operating the work equipment;
Based on the position information of the fixed part and the position information of the movable part received by the position receiving process, the state information of the movable part received by the state receiving process, and the operation command information received by the command receiving part, And a control signal generating step of generating a control signal for controlling the operation of the work equipment and transmitting the generated control signal. The work equipment operating method further includes an information receiving step of receiving area information specifying an operation prohibited area of the work equipment and storing the area information in a storage unit,
The control signal generating step is received by the area information stored in the storage unit by the information receiving step, the position information of the fixed unit, the position information of the movable unit, the state information of the movable unit, and the command receiving unit. 9. The work equipment operating method according to claim 8, wherein the control signal is generated based on the operation command information so that the work equipment does not operate in the operation prohibited area. A position receiver that receives the position information of the movable part and the position information of the fixed part from a work device that has a movable part and a fixed part and performs a predetermined work;
A state receiving unit that receives state information indicating the state of the movable unit from the work equipment;
A state in which the state information indicating the state of the work equipment is detected using the position information of the movable part and the position information of the fixed part received by the position receiver and the state information of the movable part received by the state receiver. A detection unit;
A control signal generation unit configured to generate a control signal for controlling operation of the work device based on the state information of the work device detected by the state detection unit, and to transmit the generated control signal to the work device; A working equipment operating device characterized by comprising:

Images