JP2010254417A - Direction display device, system and method for operating moving body - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a direction display device, a system and method for operating a moving body used for operation of movement of the moving body with improved safety. <P>SOLUTION: The moving body operating system 100 includes the moving bodies 5, 7a, an operation remote control 9 including an indication means for operating and indicating a movement direction of the moving bodies 5, 7a, and the direction display device 30 displaying the movement direction of the moving bodies 5, 7a indicated by the operation means 9, and provided at an area visible from an operator operating the movement of the moving bodies 5, 7a, and a person staying within a movement allowable range of the moving bodies. The operation means 9 includes a selecting means 11a used by the operator to select the movement direction of the moving bodies before moving the moving bodies 5, 7a, and an execution indication means 11b executing and indicating the movement of the moving bodies 5, 7a. <P>COPYRIGHT: (C)2011,JPO&amp;INPIT

Description

  The present invention relates to a direction display device, a moving body operating system, and a moving body operating method used for operating a moving body.

  An overhead crane installed on a ceiling of a factory, for example, as shown in Patent Document 1, is a hoisting machine between a pair of saddles that run on wheels on a traveling rail laid in parallel near the ceiling of a building. A girder that can be traversed is mounted horizontally. As this hoisting machine, an electric hoist using a wire rope, an electric chain block using a load chain, or the like is used as a hoisting support, and a hook provided on a hook block suspended from the hoisting machine is used. Then, the slinging tool hung around the transported object is hung up and lifted, and the transported object is moved to an arbitrary position by the overhead crane.

  In control of a crane, the technique which notifies the operation state of an overhead crane with a light and a sound for a driver | operator is proposed (refer patent document 2).

JP 2004-75284 A JP 2008-143613 A

  An object of the present invention is to provide a direction display device, a moving body operating system, and a moving body operating method that are used for a moving body moving operation with improved safety.

1. Direction display device The direction display device of the present invention,
An operation means including an instruction means for instructing an operation direction of the moving body displays an instructed moving direction of the moving body, an operator who operates the movement of the moving body, and an allowable movement range of the moving body It is provided in a place where a person in can see it.

  According to the present invention, the moving direction of the moving body can be notified by the direction display device to the operator and those around him (the person who is within the movement allowable range of the moving body). It is useful for constructing a system that can easily prevent accidents such as contact with and collisions.

In the present invention, the operation means includes a selection means for an operator to select a moving direction of the moving body before moving the moving body,
Execution instruction means for instructing execution of movement of the mobile body,
When the moving direction is selected by the selection means, the moving direction can be displayed.

  As described above, the operation means is provided with the selection means and the execution instruction means, and after the direction is selected by the selection means and the direction is displayed on the direction display device, the movement of the moving body can be executed only by the execution instruction means. Because it can prevent the moving body from moving without being noticed by the people around it, it is useful for building a system that can prevent accidents such as contact and collision between the moving body and the operator. Is. Moreover, since the operator can confirm the moving direction selected in advance before moving the moving body, malfunction can be prevented.

2. Mobile object operating system The mobile object operating system of the present invention is
A moving object,
Operation means including an instruction means for instructing an operation direction of the moving body;
The moving direction of the moving body instructed by the operating means is displayed, and the direction indication provided at a place where the operator who operates the moving body and the person who is within the movement allowable range of the moving body can see the moving body. Including the device.

  According to the present invention, the moving direction of the moving body can be notified by the direction display device to the operator and those around him (the person who is within the movement allowable range of the moving body). It is possible to construct a system that can easily prevent accidents such as contact with or collisions.

In the present invention, the operation means includes a selection means for an operator to select a moving direction of the moving body before moving the moving body;
Execution instruction means for instructing execution of movement of the mobile body,
When the moving direction is selected by the selection means, the moving direction can be displayed.

  As described above, the operation means is provided with the selection means and the execution instruction means, and after the direction is selected by the selection means and the direction is displayed on the direction display device, the movement of the moving body can be executed only by the execution instruction means. Since it is possible to prevent the moving body from moving without being noticed by a person in the vicinity, it is possible to construct a system that can more easily prevent accidents such as contact and collision between the moving body and the operator. Moreover, since the operator can confirm the moving direction selected in advance before moving the moving body, malfunction can be prevented.

3. Method for operating a mobile object The method for operating a mobile object according to the present invention includes:
A step (A) of displaying the direction instructed by the operation means on a direction display device provided at a place where an operator who operates the movement of the moving body and a person who is within the movement allowable range of the moving body can see; Including.

  According to the present invention, the moving direction of the moving body can be notified by the direction display device to the operator and those around him (the person who is within the movement allowable range of the moving body). It is possible to realize a method of operating a moving body that can easily prevent accidents such as contact with or collision with the vehicle.

In the present invention, the operation means includes a selection means for an operator to select a moving direction of the moving body before moving the moving body,
Before the step (A), a step (B) of displaying the moving direction of the moving body selected by the operation means on the direction display device can be included.

  Thus, before the step (A), including the step (B) of displaying the moving direction of the moving body selected by the operation means on the direction display device, the surrounding person is not aware of it. Therefore, it is possible to realize a method for operating the moving body that can more easily prevent accidents such as contact and collision between the moving body and the operator. Moreover, since the operator can confirm the moving direction selected in advance before moving the moving body, malfunction can be prevented.

  Here, the “moving body” refers to an article that is relatively moved in a two-dimensional or three-dimensional direction from a reference position by a moving body operating system. In the case of a device that can move relative to the two-dimensional or three-dimensional direction (self-propelled), the device itself corresponds to a `` moving body '' and can move relatively in the two-dimensional or three-dimensional direction. In the case of an apparatus including members, the constituent members correspond to “moving bodies”. Specific examples of the “moving body” include gripping or mounting any article that can be relatively moved in a two-dimensional or three-dimensional direction by a moving body operation system, for example, a hook in a crane apparatus or an article in a transport robot. A transfer arm or its gripping part, a part corresponding to a loading platform such as a mounting part, a bucket (deck) in an aerial work vehicle, and a helicopter body in a helicopter.

  The movement allowable range refers to an area in which the moving body can move.

It is a figure which shows the schematic diagram of a movement operation system. It is a figure which shows the function conceptual diagram of an operation remote control. It is a figure which shows the example of a switch of an operation remote control. It is a figure which shows the structural example of an operation remote control. It is a figure which shows the example of a display of a direction display apparatus. It is a perspective view which shows the whole structure of an overhead crane. It is a figure which shows the structure of the hoisting machine as an elevator of an overhead crane. It is a block diagram which shows the control mechanism in an overhead crane. It is a figure which shows typically the example of attachment of a direction display apparatus.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

  A moving body operating system according to an embodiment will be described. FIG. 1 is a conceptual diagram of a moving body operating system.

  A moving body operation system 100 includes an operation remote controller (operation means) 9 including moving bodies (for example, elevators, articles) 5 and 7a, an instruction means for instructing operation directions of the moving bodies 5 and 7a, and an operation remote controller thereof. 9 is displayed in a place where the moving direction of the moving bodies 5 and 7a indicated by 9 is displayed and visible to the operator who operates the moving bodies 5 and 7a and those who are within the movement allowable range of the moving bodies 5 and 7a. Direction display device 30.

  The operation remote controller 9 includes a selection unit 11a for the operator to select the moving direction of the moving bodies 5 and 7a before the moving bodies 5 and 7a are moved, and an execution instruction unit 11b for instructing the movement of the moving bodies 5 and 7a. Can be included. The selection unit 11a can include, for example, a + X direction selection input unit, a -X direction selection input unit, a + Y direction selection input unit, a -Y direction selection input unit, an ascending selection input unit, and a descending selection input unit. Note that the + X direction, the -X direction, the + Y direction, and the -Y direction may be indicated by east, west, south, and north as shown in FIG.

  Here, the “remote control” is an abbreviation of a remote controller having the meaning of a device for performing remote operation, remote control or the like, or an abbreviation of remote control having meaning of remote operation, remote control or the like. Note that the difference in signal transmission methods such as wireless and wired does not affect the definition or interpretation of “remote control” unless otherwise described.

  When the direction is selected by the selection unit 11b, the direction display device 30 is activated (for example, the moving direction arrow is lit or blinking), and the direction selected by the selection unit 11b is displayed. FIG. 5 shows an example when the north direction is selected. Next, when the operator instructs the execution of the movement of the moving body by the execution instructing means 11b, the moving bodies 5 and 7a move.

  The selection unit 11a and the execution instruction unit 11b can be formed of a push button switch or a touch sensor, but are not particularly limited as long as the operator can input an instruction. The selection unit 11a and the execution instruction unit 11b may be configured by separate input switches, but may be configured by one input switch as shown in FIGS. In the case of a single input switch, it can be a pushbutton of a multistage switch. That is, as shown in FIG. 4, the first-stage input can be the input as the selection means 11a, and the second-stage input can be the input as the execution instruction means 11b. When a three-stage input switch is applied, the second-stage input is an instruction for instructing execution of movement of a low-speed moving body, and the third-stage input is for instructing execution of movement of a high-speed moving body. Can be input.

  The selection unit 11a and the execution instruction unit 11b may be a combination of a touch sensor and a push button switch. That is, an example in which a touch sensor function is provided on the upper surface of the push button switch, the touch sensor functions as the selection unit 11a, and an execution instruction can be issued by pressing the push button. In this case, the push button switch may be a two-stage switch or a three-stage or more switch. A known multi-stage switch can be applied.

  When two selection instructions for the direction of the selection means 11a are performed at the same time, the selection means 11a may move in the middle direction. For example, when the + X direction selection input unit and the + Y direction selection input unit are input at the same time, they move in the intermediate direction between the + X direction and the + Y direction (the + X direction or a direction 45 degrees from the + Y direction). Also good. The selection means 11a may be a cross key switch.

  A specific example of the direction display device 30 is not particularly limited as long as it can display the direction, but includes a liquid crystal display device and a display device using LEDs. Further, as a display example of the direction display device 30, the display color (for example, blue) when the direction is selected and the display color (for example, red) when the moving bodies 5 and 7a are being moved are changed. Also good. When the direction is selected, the arrow may blink, and when the moving bodies 5 and 7a are being moved, the arrow may be lit.

  The direction display device 30 may have a display unit for displaying the state when the moving body 7a is in the up or down state. For example, as shown in FIGS. 5A and 5B, “UP” can be displayed when ascending and “DOWN” can be displayed when descending.

  The place where the direction display device 30 is attached is a place where an operator or a person around the moving body can see, and is not particularly limited as long as it is not restricted by the movement of the moving body. In the case where there are a roof and a wall that cover the possible range of movement, as shown in FIG. 9, the roof and wall can be provided on the support frame of the moving mechanism. Moreover, as shown in FIG. 9, the direction display device 30 may be attached to the moving mechanism 20 of the moving body and move simultaneously with the movement of the moving body. The direction display device 30 can be tilted so as to be easily seen by an operator or the like, or can be made horizontal. The direction display device may be provided at a plurality of locations.

  According to such a moving body operation system 100, the moving direction of the moving bodies 5 and 7 a is notified to the operator and those around him (persons who are within the movement allowable range of the moving body) by the direction display device 30. Therefore, the system is easy to prevent accidents such as contact and collision between the moving body and the operator. Further, the operation remote controller 9 is provided with a selection unit 11a and an execution instruction unit 11b. After the direction is selected by the selection unit 11a and the direction is displayed on the direction display device 30, the execution instruction unit 11b is the first of the moving bodies 5 and 7a. Since it is possible to execute the movement, it is possible to prevent the moving bodies 5 and 7a from moving without being noticed by a person in the vicinity, so that an accident such as a contact or collision between the moving body and the operator can be prevented. It is possible to build a system that is easy to prevent. Furthermore, since the operator can confirm the moving direction selected in advance before moving the moving body, malfunction can be prevented.

  In addition, when the direction is selected or when the crane is operating, the moving body operation system 100 notifies the user that the direction is selected by sound or the crane is operating (FIG. (Not shown). As the notification means, a known speaker can be applied. Note that the sound may be changed depending on whether the moving body moves in the horizontal direction (east, west, south, and north) or in the vertical direction (up and down). Further, the sound may be changed in each direction in the horizontal direction and each direction in the vertical direction. The sound may be a buzzer sound, or may convey direction by human voice. A dedicated sound may be notified in each state when a direction is selected or when an execution instruction is given.

  The above moving body operating system 100 is preferably applied to an overhead crane.

  Next, the configuration of the overhead crane will be described.

FIG. 6 is a perspective view showing the overall configuration of the overhead crane. FIG. 7 is a diagram showing a structure of a hoisting machine as an elevator for an overhead crane as a three-dimensional movement apparatus according to an embodiment of the present invention. FIG. 8 is a block diagram showing a control mechanism in the overhead crane.
As shown in FIG. 6, the overhead crane 1 as a three-dimensional moving device is provided between a pair of saddles 3 </ b> A and 3 </ b> B that travel via wheels on traveling rails 2 </ b> A and 2 </ b> B laid in parallel near the ceiling of the building. A crane girder 4 equipped with a hoisting machine 5 as a lifting machine can be traversed, and a hook 7 as a moving body is fixed to the tip of a support wire rope 6 wound up by the hoisting machine 5 as a lifting machine. It is configured.
As described above, the overhead crane 1 is configured so that the crane girder 4 is placed substantially perpendicular to the traveling rails 2A and 2B, and the hoisting machine 5 having the hook 7 at the tip moves on the crane girder 4. Since it is configured, as a three-dimensional moving device centering on a moving mechanism comprising a Z-axis motor that moves the hook 7 as a moving body in the vertical direction, and an X-axis motor and a Y-axis motor that move in a horizontal plane Is suitable.

  From the hoisting machine 5, the communication cable 8 hangs down to the vicinity of the floor surface and is connected to the remote control housing 10.

  Further, as shown in FIG. 6, the hoisting machine 5 has a pair of wheels 14 that are sandwiched between the crane girders 4, and these wheels 14 are traversing motors (Y-axis motors) 13. The hoisting machine 5 traverses along the crane girder 4 by being driven and rotated. A hoisting machine main body 17 is suspended and supported by these traversing units by a support member 15, and a hoisting motor (Z-axis motor) for hoisting or extending the supporting wire rope 6 on the hoisting machine main body 17. 16 is attached.

The saddles 3A and 3B that run on the traveling rails 2A and 2B with the crane girder 4 shown in FIG. 6 supported at both ends are provided with traveling wheels and a traveling motor (X-axis motor) (not shown), respectively. It has been. Further, the hoisting machine main body 17 shown in FIG. 7 has a motor drive control circuit for driving these X-axis motor, Y-axis motor 13 and Z-axis motor 16 in accordance with the operation of the operation remote controller 9. Built in.
The motor drive control circuit 18 built in the hoisting machine main body 17 includes a microcomputer (hereinafter also referred to as “microcomputer”) 20 and an inverter (or contactor) 21.

Here, the microcomputer 20 includes a CPU (Central Processing Unit), a memory device such as a ROM and a RAM, and an input / output (I / O) device, and transmits from the remote control housing 10 through a communication line in the communication cable 8. The electric signal is received and necessary arithmetic processing is performed, and the processing result is output to the inverter (or contactor) 21 as an electric signal. The microcomputer 20 may be a so-called one-chip microcomputer, or may be composed of a plurality of chips or elements / parts.
When the operation switch 11 of the operation remote controller 9 is pressed, a predetermined electrical signal is transmitted to the microcomputer 20 through the communication line in the communication cable 8, and the microcomputer 20 transmits a control signal to the inverter (or contactor) 21. The inverter (or contactor) 21 supplies a drive current to the X-axis motor 23 and / or the Y-axis motor 13 according to the control signal, and drives the X-axis motor 23 and / or the Y-axis motor 13 as a moving body. The hook 7 is moved in the direction in which the remote control housing 10 is facing.

The motor drive control circuit 18 including the inverter 21 and the microcomputer 20 controls the drive of the X-axis motor 23 and / or the Y-axis motor 13, and the contactor 22 controls the drive of the Z-axis motor 16. Therefore, a drive control device 61 is configured including the motor drive control circuit 18 and the contactor 22, and the drive control device 61 and the operation remote controller 9 include the communication cable 8 of FIG. It is composed. The X-axis motor 23, the Y-axis motor 18, and the Z-axis motor 16 correspond to the moving mechanism 62.
When the up switch 11A and the down switch 11B as the up / down switches provided on the operation remote controller 9 are pressed, a predetermined electrical signal is transmitted to the motor drive control circuit 18 through the communication line in the communication cable 8. Similarly, when the drive current is supplied to the Z-axis motor 16 from the contactor 22 and is pushed to the Z-axis motor 16 when the lift switch 11A is pressed, the Z-axis motor 16 is connected to the support cable 6. When the lowering switch 11B is pushed, the Z-axis motor 16 operates to extend the support cable 6 and lower the hook 7.
Therefore, the operator who operates the overhead crane 1 first presses the lowering switch 11B of the operation remote controller 9 to operate the Z-axis motor 16 to lower the hook 7, and attach the hook 7 to the transported object placed on the floor surface. The Z-axis motor 16 is actuated by pushing the lift switch 11AA, and the support wire rope 6 is wound up to lift the conveyed product to a height that does not hinder horizontal movement. Subsequently, the transported object can be translated in a desired direction by the operation switch 11 of the operation remote controller 9.

  Various modifications can be made to the above-described embodiment within the scope of the present invention.

  The direction display device, the moving body operating system, and the moving body operating method of the present invention can realize the moving operation of the moving body with improved safety.

5 Elevator 7a Article 9 Operation remote control 11 Operation switch 11a Selection means 11b Execution instruction means 30 Display device 100 Mobile object operation system

Claims (6)

  An operating means including an instruction means for operating and instructing the moving direction of the moving body displays the instructed moving direction of the moving body, and an operator who operates the moving body and an allowable movement range of the moving body Direction display device provided in a place where a person in the city can see. In claim 1,
The operation means includes a selection means for an operator to select a moving direction of the moving body before moving the moving body,
Execution instruction means for instructing execution of movement of the mobile body,
A direction display device that displays a moving direction when a moving direction is selected by the selection means. A moving object,
An operation means including an instruction means for instructing an operation direction of the moving body;
The moving direction of the moving body instructed by the operation means is displayed, and the direction indication provided at a place where the operator who operates the moving body and the person within the movement allowable range of the moving body can see A moving body operating system including the apparatus. In claim 3,
The operation means includes a selection means for an operator to select a moving direction of the moving body before moving the moving body;
Execution instruction means for instructing execution of movement of the mobile body,
A moving body operating system for displaying a moving direction when a moving direction is selected by the selecting means.   A step (A) of displaying the direction instructed by the operation means on a direction display device provided at a place where an operator who operates the movement of the moving body and a person who is within the movement allowable range of the moving body can see; Including moving body operation method. In claim 5,
The operation means includes a selection means for an operator to select a moving direction of the moving body before moving the moving body,
Prior to the step (A), the moving body operating method includes the step (B) of displaying the moving direction of the moving body selected by the operating means on the direction display device.

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