JP2013116774A - Crane operation system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To hoist a member by a crane as a lifted cargo to be assembled to another member.SOLUTION: A first member 2 to be assembled to a second member 1 is hoisted by a crane 3 via a lifted cargo attitude stabilizing device 5. A pair of right and left cameras 6 are installed in the first member. A pair of right and left target markers 7 are installed in the second member. A position of the first member is automatically adjusted by automatically controlling the lifted cargo attitude stabilizing device on the basis of video information of the target markers captured by the cameras. The video information of the target markers captured by the cameras is displayed on a monitor 8 in an operation room 4. An operator manually operates the crane while monitoring the monitor. An operation amount of the crane is calculated on the basis of the video information of the target markers captured by the cameras and displayed in the operation room, thereby enabling manual operation by the operator.

Description

  The present invention relates to construction techniques for buildings and various structures using cranes, and in particular, when performing an operation of assembling a mounting member as a suspended load by a crane to a mounted member, the work can be efficiently performed. The present invention relates to a crane operating system.

  As is well known, when constructing buildings and various structures, it is common to lift and transport various materials and equipment with a crane. For example, the construction of a frame in a building is basically performed by lifting various structural members such as columns, beams, walls, and the like with a crane and sequentially assembling them on the constructed frame.

  In that case, the installed housing is used as a member to be attached, and the attachment member to be newly attached is lifted and transported and assembled to the member to be attached. In the past, an attachment rope was attached to the attachment member as a suspended load in advance, and a field worker was waiting at the position where the attachment work was to be performed. The operation member guides the attachment member to the position of the member to be attached, and finally the field worker operates the attendant rope to guide the attachment member to the attachment position.

  For example, as shown in Patent Document 1, in a large-scale crane, a surveillance camera is attached to the tip of a boom, and the crane is operated while monitoring an image from the surveillance camera.

No. 8-9980

  As described above, it is not always easy or efficient to position the mounting member as a suspended load by an instruction from a field worker or the operation of an attendant rope. Therefore, it is possible to save labor and automate such work. In reality, the development of appropriate means is desired.

  In view of the above circumstances, the present invention makes it possible to efficiently perform the work of lifting a mounting member as a suspended load and assembling the mounted member with a crane when constructing a building or various structures with a crane. An object is to provide an effective and appropriate crane operation system.

  The invention described in claim 1 is a crane operating system for lifting and transporting a mounting member as a suspended load by a crane and assembling it to a mounted member when constructing a building or various structures. A mounting member to be assembled to the member is suspended by a crane via a suspended load posture stabilizing device, and a pair of left and right cameras are mounted on the mounting member, and the mounted member is in a position photographed by the camera. A pair of left and right target markers are attached, the suspension posture stabilization device is automatically controlled based on video information of the target markers by the camera, and the position of the attachment member can be automatically adjusted. By displaying information on the monitor in the operation room, the operator can manually operate the crane while monitoring the monitor. Characterized in that it was.

  The invention according to claim 2 is the crane operation system according to claim 1, wherein the operation amount of the crane is calculated based on the video information of the target marker by the camera and displayed in the operation room. The manual operation by the operator can be guided.

  According to the present invention, it is possible for the operator to perform the crane operation while monitoring the monitor screen, so that it is possible to perform the construction efficiently. Therefore, work efficiency can be greatly improved, and efficient construction is possible even when a field worker cannot stand by at the installation work position.

It is a figure which shows embodiment of the operation system of the crane of this invention.

FIG. 1 shows an embodiment of a crane operating system of the present invention.
This embodiment is an application example in which a structural member is lifted and transported by a crane (a tower crane in the illustrated example) when a building is assembled, and FIG. 1 shows a state in which a beam is assembled to an already constructed column. Is shown.

  As shown in FIG. 1, in this embodiment, an already assembled column is a mounted member 1, a beam to be assembled to the mounted member 1 is a mounting member 2, and it is lifted by a crane 3 as a suspended load. Basically, it is assembled with the attached member 1 by heavy transport.

  As described above, in the past, on-site workers are waiting at the installation work position during such work, and the operator (crane operator) manually operates the crane in the operation room 4 by the guidance. However, in the present embodiment, the following configuration is adopted in order to omit the instruction guidance work by the field worker.

  In other words, in the present embodiment, the mounting member 2 as a suspended load is suspended by the crane 3 via the suspended load posture stabilizing device 5, and a pair of left and right cameras 6 are mounted on the mounting member 2, and attached The main object is to attach a pair of left and right target markers 7 to the member 1 at positions photographed by the cameras 6 and to position the attachment member 2 based on the video information of the target markers 7 by the camera 6.

  Specifically, an image captured by the camera 6 is displayed on the monitor 8 in the operation room 4 so that the mounting position is appropriate when the left and right target markers 7 are aimed on the monitor 8 screen (in other words, The aiming is overlaid in the monitor screen so that the target marker 7 matches the aim on the monitor 8 screen when the mounting position becomes appropriate.

  Further, the arithmetic processing device 9 performs arithmetic processing on the size of the captured image of the left and right target markers 7 by the left and right cameras 6, and the arithmetic processing device 9 automatically controls the suspended load posture stabilization device 5 based on the result, The mounting member 2 is horizontally turned so that the sizes of both target markers 7 are equal, that is, the mounting member 2 is in an appropriate orientation with respect to the mounted member 1.

  The operator manually operates the crane 3 with the operation lever 10 while monitoring the screen of the monitor 8 in the operation room 4 to move the attachment member 2 in the front-rear direction, the left-right direction, and the up-down direction, and guides it to the attachment position. At this time, in order to assist and guide the manual operation by the operator, the arithmetic processing unit 11 performs arithmetic processing on an appropriate operation amount and displays it on the monitor 8.

  That is, information such as camera coordinates, camera coordinate rotation angle, crane base coordinate, crane base coordinate rotation angle, and operation lever output is input to the arithmetic processing unit 11, and the arithmetic processing unit 11 determines the position of the mounting member 2 and the information based thereon. By calculating the appropriate amount of operation for guiding the actuator to the mounting position every moment, the appropriate amount of operation and the direction of operation of the operation lever 10 are displayed on the monitor 8 screen, and the operator operates according to the operation amount accordingly. It is possible to easily and reliably guide the attachment member 2 to the attachment position.

  In this case, in the illustrated example, the camera coordinates and the crane base coordinates are reversed in the front / rear and left / right directions. Therefore, in order to match the operation lever output by the operator and the movement of the aim of the monitor screen, the crane base coordinates and the camera coordinates Based on the state of the above, if the arithmetic processing unit 11 performs arithmetic processing on the mast tilt angular velocity, turning angular velocity, and wire winding speed in real time and sends a command to each motor, the operator can intuitively display it on the monitor screen. By moving the operation lever 10 so that the aim is aligned with the target marker, the mounting member can be easily guided to an appropriate position.

  Note that the rotation angle of the crane base coordinates may be detected by an angle sensor of the crane rotation axis. The camera coordinates may be measured by an orientation sensor, or rotation of the camera coordinates relative to the target marker 7 may be calculated by image processing from the images of the left and right cameras 6 with the mounting orientation of the target marker 7 known.

  Further, the monitor 8 is arranged vertically at a position in front of the operator's seat so that an operator can easily see it, so that the horizontal and vertical positions of the mounting member 2 can be easily monitored, and the positioning operation is sensuous. However, since it is difficult to monitor the position of the mounting member in the front-rear direction (depth direction) only with the aiming screen, the front-rear direction of the mounted member 1 and the mounting member 2 detected by the above-mentioned coordinates if necessary. Is preferably displayed on the monitor 8 as video information. In that case, if a monitor for displaying the video information is also installed on the side of the operator, the positioning operation in the front-rear direction can be more intuitively performed. It becomes easy to do.

With the above-described configuration, according to the operation system of the present invention, the operator can perform the crane operation while monitoring the monitor screen, so that the attachment work of the attachment member 2 can be performed. There is no need to wait and give instructions to the operator or guide with an attendant rope, thereby greatly improving work efficiency.
In addition, if for some reason (such as when it is not possible to ensure work safety in nuclear facilities, etc.) the field worker can not approach the work position or can not wait for a long time at that position, Conventionally, efficient construction is difficult, but according to the present invention, it is particularly effective to apply to such a case because it is unnecessary to wait for a field worker.

  In the present invention, as in the above embodiment, the operation of the suspended load posture stabilization device 5 is performed by automatic control by the arithmetic processing unit 9, and the operation of the crane 3 is based on the manual operation of the operator. Although it is realistic that the operation is guided by the arithmetic processing unit 11, in addition to that, if necessary, the suspended load posture stabilizing device 5 can be configured so that it can be manually operated by an operator, Although it is possible to control the altitude, if possible, the crane 3 itself may be configured to be capable of autonomous operation by automatic control by the arithmetic processing unit 11.

  In addition, the present invention can be widely applied not only to the construction of buildings but also to general lifting work using a crane. Various types of general-purpose cranes and suspended load posture stabilizers can be used depending on the purpose and purpose. The type of cameras and target markers, their mounting positions and mounting patterns can be arbitrarily selected according to the actual construction situation, including the shape, shape, and dimensions of mounting members and mounted members. And it may be set optimally.

  Of course, the hardware and software necessary for calculating and displaying the image information from the camera and the information of each element by each sensor and outputting the operation command are specifically described within the scope of the present invention. Needless to say, the configuration is arbitrary. For example, instead of using the two arithmetic processing devices 9 and 11 as in the above-described embodiment, all processing and control are performed in a single device. It may be configured as above, or it may be configured such that the operator remotely operates the crane from a distance.

1 Mounted member (pillar)
2 Mounting members (beams, suspended loads)
DESCRIPTION OF SYMBOLS 3 Crane 4 Operation room 5 Suspended load attitude stabilizer 6 Camera 7 Target marker 8 Monitor 9 Arithmetic processor 10 Operation lever 11 Arithmetic processor

Claims (2)

When constructing a building or various structures, a crane operation system for lifting and transporting a mounting member as a suspended load by a crane and assembling it to a mounted member,
The attachment member to be assembled to the attached member is suspended by the crane via the suspended load posture stabilization device,
Attaching a pair of left and right cameras to the attachment member, and attaching a pair of left and right target markers to positions to be photographed by the camera on the attached member,
Based on video information of the target marker by the camera, the suspension posture stabilization device is automatically controlled to automatically adjust the position of the mounting member,
A crane operation system in which video information of the target marker by the camera is displayed on a monitor in an operation room so that an operator can manually operate the crane while monitoring the monitor. The crane operating system according to claim 1,
A crane operation system, wherein an operation amount of the crane is calculated based on video information of the target marker by the camera and displayed in an operation room, thereby enabling manual operation by an operator to be guided.

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