JP2015067413A - Automatically setting method of suspension position detector for crane barge - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic setting method of a suspension position detector for a crane barge which can easily and accurately set information such as a jib length necessary to calculate a suspension body position by a suspension position detector for a crane barge in arithmetic means.SOLUTION: A rectangular reference region part having a constant width is set on a barge type platform 2, and a crane swiveling part 3 and a jib 4 are operated so as to each come to a first normal condition that the jib 4 is kept directed in a direction orthogonal to a width direction of the reference region part, a second normal condition that a jib tip 4a is positioned on a side edge of the reference region part, and a third normal condition that the jib tip 4a is positioned on the side edge of the reference region part. Azimuths α1 - α3 and elevation angles β1 - β3 of the jib 4 with a GPS antenna 11 as the base point are measured for each of the first to third normal conditions. On the basis of the measurement results, the length L of the jib 4 and the relative distance A of a jib base end to the swivel center are calculated to automatically set the calculation results in arithmetic means.

Description

  The present invention automatically provides information necessary for calculation when operating a suspension body such as a grab bucket of a crane ship such as a gut ship used for the construction of a rubble mound and a crane ship suspension position detection device used for ship operation. The present invention relates to an automatic setting method for a crane ship hanging position detecting device for setting to a fixed value.

  When constructing a rubble mound, which is the foundation of an underwater structure, a crane turning part installed on a trolley to be able to turn, a jib supported to be turned up and down on the crane turning part, and a wire fed from the tip of the jib Using a crane ship such as a gut ship equipped with, a grab bucket that is suspended from the tip of a wire by a crane is operated to throw rubble.

  Conventionally, in this rubble throwing work, it has been common to place a mark such as a flag at the position where the rubble is thrown, and the operator operates the crane based on that mark. There is a problem that a mark such as a flag moves due to the above, or a crane operation that relies on visual observation requires skill.

  Therefore, in recent years, a grab bucket at a position suspended from the jib tip by fixing the GPS antenna constituting the position measuring means to the jib tip and measuring the exact position of the jib tip. A suspension position detection device for detecting the position of the heel has been developed, and a rubble throwing operation or the like can be performed efficiently and easily based on detection data from the suspension position detection device (see, for example, Patent Document 1).

  In this crane ship hanging position detecting device, it is necessary to measure the exact position of the tip of the jib in order to accurately detect the position of a suspended body such as a grab bucket. The GPS antenna that constitutes the position measuring means is directly fixed to the jib tip so that the position of the jib tip can be specified without depending on the position of the ship.

  On the other hand, in the crane device, it is difficult to grasp the crane posture only with the position information of the GPS antenna fixed to the jib tip, so in addition to the position information of the jib tip, the crane such as the length of the jib There is a case where the calculation is performed using the specification information of the apparatus, and the posture control of the crane is performed based on the calculation result.

  Conventionally, it has been common to obtain specification information such as crane length from the design drawing of the crane ship, or when actual measurement is not available from the design drawing, etc. Using various sensors in addition to the GPS antenna of the head part, for example, using a first GPS antenna fixed to the crane turning part and a second GPS antenna fixed to the jib tip, both GPS antennas A method of calculating the length of a crane jib (boom) based on the position information of the crane has been developed (see, for example, Patent Document 2).

JP 2009-24400 A JP 2006-44932 A

  However, in the conventional techniques as described above, there is a problem that the fixing work of the GPS antenna to the jib tip part involves a dangerous work at a high place, and the work is complicated and takes a lot of time, and the efficiency is poor. On the other hand, in both cases of detecting the position of the jib tip and calculating the specification information such as the jib length, a GPS antenna fixed to the jib tip is used.

  In addition, in the case of crane ships, if there are special circumstances such as the gut ships that can be used for rubble throwing work differ from day to day depending on the operation schedule, it will be necessary to install and remove each time the hanging position detection device is used. Further, it is necessary to reset the specification information such as the jib length necessary for the calculation to the calculation means such as a computer every time it is used, and there is a problem that the setting work is complicated and inefficient.

  Furthermore, the actual measurement of a long jib is not easy and is inefficient and dangerous, and such prior measurement is accurate because errors in the actual measurement will cause errors in subsequent calculations. There was a problem that required skill and skill.

  Therefore, in view of such a conventional problem, the present invention calculates a suspended body position when using a crane ship hanging position detection device that can detect the position of a jib tip without fixing the GPS antenna to the jib tip. The present invention has been made for the purpose of providing an automatic setting method of a crane ship hanging position detecting device capable of easily and accurately setting information such as a jib length necessary for the calculation to a calculation means.

  The feature of the invention according to claim 1 for solving the above-described conventional problems is that a crane turning unit is installed on a carriage so as to be capable of turning, and is supported by the crane turning unit so as to be rotatable up and down. A crane ship having a jib and a wire fed out from the tip of the jib, and a GPS antenna detachably fixed at an arbitrary position of the crane turning portion, and the position and orientation of the GPS antenna are measured Position and orientation measuring means, jib elevation angle measuring means for measuring the elevation angle of the jib, and arithmetic means for calculating the position of the jib tip based on the measurement results obtained from the position and orientation measurement means and the jib elevation angle measuring means. A method for automatically setting information necessary for calculation in the calculation means when using the crane ship suspension position detection apparatus provided, the rectangular shape having a certain width on the carriage A first reference state in which the jib is oriented in a direction perpendicular to the width direction of the reference area, and the tip end of the jib is positioned on a side edge of the reference area. The second reference state and the jib tip are located on the side edge of the reference region, and are spaced apart in the direction perpendicular to the width direction and the position of the jib tip in the second reference state. The crane turning unit and the jib are operated so as to be in the respective reference states, and the azimuth of the GPS antenna and the elevation angle of the jib are measured for each of the first to third reference states. The horizontal distance between the jib length and the jib base and the turning center based on the direction of the GPS antenna, the elevation angle of the jib, and the width of the reference area in the first to third reference states And the calculation result is sent to the calculation means. In automatic setting method for a crane ship hanging position detecting device to be set dynamically.

  According to a second aspect of the present invention, in addition to the configuration of the first aspect, the crane turning unit and the jib are operated so as to be in the first to third reference states in a stopped state, and the first The GPS antenna position and direction from the reference state to the third reference state are measured as needed, and the turning center position of the crane turning part is calculated based on a circle passing through the measured GPS antenna positions. And calculating the relative position of the GPS antenna with respect to the turning center of the crane turning unit based on the calculated turning center position and the position and orientation of any one of the measured GPS antenna sets. The result is to automatically set the result in the computing means.

  According to a third aspect of the present invention, in addition to the configuration of the second aspect, the turning center position of the crane turning portion is calculated based on a circle passing through the position of the GPS antenna in the first to third reference states. The GPS antenna with respect to the turning center of the crane turning unit based on the calculated turning center position and the position and orientation of any one set of GPS antennas measured in the first to third reference states. Is to calculate the relative position of.

  According to a fourth aspect of the present invention, in addition to the configuration of the second or third aspect, the calculated turning center position, the measured position and orientation of any one set of GPS antennas, and the jib The relative position of the GPS antenna with respect to the turning center of the crane turning portion is calculated based on the mounting angle of the GPS antenna.

  According to a fifth aspect of the present invention, in addition to the configuration of the first aspect, the GPS antenna is fixed so that the direction of the GPS antenna coincides with the turning radius direction of the crane turning portion, and the first antenna is stopped in advance. The crane turning unit and the jib are operated so as to be in the first to third reference states, and the position and orientation of the GPS antenna from the first reference state to the third reference state are measured as needed, A plurality of straight lines passing through the GPS antenna and the turning center are calculated based on the measured position and orientation of the GPS antenna, and a turning center position of the crane turning unit is calculated based on the calculated plurality of straight lines. The calculated turning center position, the position of the measured GPS antenna located on any one of the straight lines, the direction of the GPS antenna, or the jib Wherein the mounting angle of the GPS antenna, the calculating the relative position of the GPS antenna with respect to the turning center based on, is to automatically set to the arithmetic unit result output the calculated.

  According to a sixth aspect of the present invention, in addition to the configuration of the fourth aspect, the GPS antenna and the turning center are based on the measured position and orientation of the GPS antenna in each of the first to third reference states. A straight line passing through is calculated, a turning center position of the crane turning part is calculated based on the calculated plurality of straight lines, and the calculated turning center position and any one of the first to third reference states Calculating the relative position of the GPS antenna with respect to the turning center of the crane turning unit based on the position of the GPS antenna in the state 1 and the orientation of the GPS antenna or the mounting angle of the GPS antenna with respect to the jib. is there.

  As described above, an automatic setting method for a crane ship suspension position detection apparatus according to the present invention includes a crane turning unit that is turnably installed on a carriage, and a jib that is rotatably supported by the crane turning unit. A GPS ship that is detachably fixed to an arbitrary position of the crane turning part, and a position for measuring the position and orientation of the GPS antenna. Azimuth measuring means, jib elevation angle measuring means for measuring the elevation angle of the jib, and arithmetic means for calculating the position of the jib tip based on the measurement results obtained from the position azimuth measuring means and the jib elevation angle measuring means. When using the crane ship suspension position detection device, the information required for calculation is automatically set in the calculation means, and has a certain width on the carriage. A rectangular reference area is set, and in advance, a first reference state in which the jib is directed in a direction orthogonal to the width direction of the reference area, the jib tip is on the side edge of the reference area The second reference state and the jib tip are located on the side edge of the reference region, and are spaced apart in the direction perpendicular to the width direction and the position of the jib tip in the second reference state. The crane turning unit and the jib are operated so as to be respectively in the third reference state, and the azimuth of the GPS antenna and the elevation angle of the jib are measured for each of the first to third reference states, Based on the measured azimuth of the GPS antenna in the first to third reference states, the elevation angle of the jib and the width of the reference area, the length of the jib and between the base end of the jib and the turning center The horizontal distance is calculated, and the calculation result is By automatically setting the calculation means, it is possible to calculate the jib length and the like without a GPS antenna at the jib tip, and to calculate the position of the jib tip easily and accurately without complicated input operations. The necessary specification data can be set.

  Further, in the present invention, the crane turning unit and the jib are operated so as to be in the first to third reference states in a stopped state, and from the first reference state to the third reference state. The GPS antenna position and azimuth are measured as needed, the turning center position of the crane turning unit is calculated based on a circle passing through the measured GPS antenna positions, the calculated turning center position, and the measurement By calculating the relative position of the GPS antenna with respect to the turning center of the crane turning unit based on the position and orientation of any one set of GPS antennas, and automatically setting the calculation result in the computing means The relative positional relationship between the attached GPS antenna and the turning center can be easily and efficiently set without depending on actual measurement.

  Further, in the present invention, a turning center position of the crane turning part is calculated based on a circle passing through the position of the GPS antenna in the first to third reference states, the calculated turning center position, The length of the jib is calculated by calculating the relative position of the GPS antenna with respect to the turning center of the crane turning unit based on the position and orientation of any one set of GPS antennas measured in the first to third reference states. The relative positional relationship between the attached GPS antenna and the turning center can be set easily and efficiently simultaneously with the setting of the specification data derived from the crane ship such as the above.

  Further, in the present invention, based on the calculated turning center position, the measured position and orientation of any one set of GPS antennas, and the mounting angle of the GPS antenna with respect to the jib, By calculating the relative position of the GPS antenna with respect to the turning center, the relative position of the GPS antenna with respect to the turning center of the crane turning portion can be set in accordance with the jib direction.

  Further, in the present invention, the GPS antenna is fixed so that the direction thereof coincides with the turning radius direction of the crane turning part, and the crane is set so as to be in the first to third reference states in a state where the ship is stopped in advance. The swivel unit and the jib are operated, and the position and orientation of the GPS antenna from the first reference state to the third reference state are measured as needed. Based on the measured position and orientation of the GPS antenna A plurality of straight lines passing through the GPS antenna and the turning center are calculated, and a turning center position of the crane turning unit is calculated based on the calculated plurality of straight lines. The position of the measured GPS antenna located on the straight line of 1 and the orientation of the GPS antenna or the mounting angle of the GPS antenna with respect to the jib And calculating the relative position of the GPS antenna with respect to the turning center, and automatically setting the calculation result in the computing means, so that the relative positional relationship between the attached GPS antenna and the turning center is actually calculated. It can be set easily and efficiently without depending on the measurement.

  Furthermore, in the present invention, a straight line passing through the GPS antenna and the turning center is calculated based on the measured position and orientation of the GPS antenna in the first to third reference states, and the calculated plurality of straight lines The turning center position of the crane turning part is calculated based on the calculated turning center position, the position of the GPS antenna in any one of the first to third reference states, and the GPS antenna. , Or the relative angle of the GPS antenna with respect to the turning center of the crane turning part based on the orientation of the GPS antenna or the mounting angle of the GPS antenna with respect to the jib, the specifications derived from the crane ship such as the length of the jib At the same time as setting the data, the relative positional relationship between the installed GPS antenna and the turning center can be set easily and efficiently without relying on actual measurements. It is possible.

BRIEF DESCRIPTION OF THE DRAWINGS It is a top view of the crane ship for demonstrating the state of each process in 1st Example of the automatic setting method of the hanging position detection apparatus for crane ships concerning this invention, (a) is a 1st reference | standard state, ( b) is the second reference state, and (c) is the third reference state. It is a front view of the crane ship in FIG. It is the schematic which shows the structure of a hanging position detection apparatus. It is a top view of the crane turning part for demonstrating the calculation method of the jib tip position using the suspension position detection apparatus same as the above. It is a schematic plan view which shows the relationship between the jib and the hold in the 1st thru | or 3rd reference state. It is a schematic side view which shows the relationship between the jib and the hold in the 1st thru | or 3rd reference | standard state. It is a schematic plan view for demonstrating the calculation method of the turning center coordinate in FIG. It is a top view of the crane ship for demonstrating the state of each process in 2nd Example of the automatic setting method of the hanging position detection apparatus for crane ships which concerns on this invention, (a) is a 1st reference | standard state, ( b) is the second reference state, and (c) is the third reference state. It is a schematic plan view for demonstrating the calculation principle of the turning center coordinate same as the above.

  Next, an embodiment of an automatic setting method for a crane ship hanging position detecting apparatus according to the present invention will be described based on the embodiment shown in FIGS.

  Note that the coordinate system shown in the figure is a planar rectangular coordinate system designed for displaying positions in rectangular coordinates, and a point indicated by a predetermined longitude and latitude is the coordinate system origin, and the coordinate system origin is The axis that coincides with the meridian is the x-axis, and the axis that is orthogonal to the x-axis is the y-axis, and the direction toward true north and the direction toward true east are positive.

  1 (a) to 1 (c) show the states of the respective steps in the first embodiment of the automatic setting method of the crane ship hanging position detecting apparatus according to the present invention, that is, the first to third states. FIG. 3 is a plan view showing the GPS antenna 11 positions Q1 (x11, y11, z11) to Q3 (x13, y13, z13) measured in each state through the first to third states. ) And azimuth (azimuth of azimuth angles α1 to α3 with the x axis as a reference and a clockwise direction as positive), and specification data necessary for using the hanging position detection device 10 based on the elevation angles β1 to β3 of the jib 4 That is, information on the length L of the jib 4, the horizontal distance A between the base end of the jib 4 and the turning center C, and the distances d1 and d2 indicating the relative position of the GPS antenna 11 with respect to the turning center C of the crane turning unit 3 Is automatically set in the calculation means 15 To.

  In the figure, reference numeral 1 denotes a crane ship having a hold 9 such as a gut ship used for throwing rubble at the time of creating a rubble mound.

  As shown in FIG. 2, the crane ship 1 is supported by a crane turning unit 3 that is turnably supported at the center of one end on the carriage 2, and is supported by the crane turner 3 so as to be turnable up and down. A jib 4 and a wire 5 fed out from the tip of the jib 4 are provided, and a grab bucket 6 is suspended from the tip of the wire 5 as a suspension.

  Moreover, in such a crane ship 1, in consideration of the special circumstances that the crane ship 1 that can be used every day depends on the operation schedule, the position of the suspended body such as the grab bucket 6 is determined based on the position of the jib tip 4a. The suspension position detection device 10 to be detected is detachably installed, and is necessary for calculating the required length L of the jib 4 each time the suspension position detection device 10 is remounted on the crane ship 1 by the method of the present invention. Information is easily and efficiently set in the computing means 15 comprising a computer or the like.

  As shown in FIG. 3, the hanging position detection device 10 includes GPS antennas 11 and 12 that are detachably fixed at arbitrary positions on the crane turning unit 3, and a position P1 (x1, y1, z1) of the GPS antenna 11. ) And azimuth (azimuth angle α with respect to the x-axis as a reference and positive in the clockwise direction), a jib elevation angle measurement means 14 for measuring the elevation angle β of the jib 4, and a jib tip 4a And calculating means 15 for calculating the position P (x, y, z) of the crane ship 1 is detachably installed.

  The GPS antennas 11 and 12 are detachably fixed at arbitrary positions on the crane turning part 3, for example, on the upper surface part of the operation room 8 that is easily accessible by lifting means such as a ladder or a lift device. .

  When the GPS antennas 11 and 12 are fixed, the mounting angle γ of the GPS antenna 11 with respect to the jib 4 after fixing, that is, between the two GPS antennas 11 and 12 with the longitudinal direction of the jib 4 as a reference and the clockwise direction being positive. The angle γ formed by the direction and the longitudinal direction of the jib 4 is actually measured, and the measured mounting angle γ is manually input to the calculation means 15.

  The GPS antennas 11 and 12 are preferably fixed so that the direction between the GPS antennas 11 and 12 is parallel to the jib 4, that is, the mounting angle γ = 0. In this case, the calculation formula used is simplified. Can be

  The position / orientation measuring means 13 includes a GPS reception processor main body 18 to which both GPS antennas 11 and 12 are connected by wire, and each GPS antenna based on radio waves received by the GPS antennas 11 and 12 in the GPS reception processor main body 18. 11, and the direction between both GPS antennas 11, 12, that is, the direction (azimuth angle α) with respect to one GPS antenna 11 is measured based on the radio waves received by both GPS antennas 11, 12. Then, the measurement data of the position P1 (x1, y1, z1) and azimuth (azimuth angle α) of the GPS antenna 11 is output from the GPS reception processor body 18 to the computing means 15 by wire or wirelessly.

  Note that the mode of the position / orientation measuring means 13 is not limited to the above-described embodiment, and a true azimuth meter such as a gyrocompass may be used for azimuth measurement, and an azimuth using both GPS antennas 11 and 12 is used. The measurement and a true azimuth meter such as a gyrocompass may be used in combination.

  The jib elevation angle measuring means 14 includes an inclinometer 19 that is detachably fixed to the proximal end portion of the jib 4 and outputs the measured value to the calculating means 15 by wire or wirelessly.

  For the calculation means 15, for example, a portable computer terminal such as a notebook computer or tablet PC provided with display means such as a monitor M is used, and measurement information sent from the position / orientation measurement means 13 and the jib elevation angle measurement means 14 is used. And distances d1 and d2 indicating the relative positions of the GPS antennas 11 and 12 with respect to the turning center C of the crane turning unit 3 set in advance in the calculation means 15, the mounting angle γ of the GPS antenna 11 with respect to the jib 4, and the length L of the jib 4 Based on the horizontal distance A between the base end of the jib 4 and the turning center C, for example, the position P (x, y, z) of the jib tip 4a is calculated by the following equation and the result is monitored. It is displayed on M and stored in the storage unit.

  However, as shown in FIG. 4, the relative position between the GPS antenna 11 and the turning center C is the distance between each other side of the right triangle that is perpendicular to the straight line connecting the GPS antenna 11 and the turning center C. It shall be represented by d1 and d2. It should be noted that the orthogonal sides of the right triangle are preferably set so as to be parallel or orthogonal to the jib 4, but if they are right triangles with the straight line connecting the GPS antenna 11 and the turning center C as the hypotenuse, The direction is not limited. For example, any one of the sides may be set parallel to the x-axis direction.

  Then, the calculation means 15 detects the position of the suspended body such as the grab bucket 6 based on the calculated position P (x, y, z) of the jib tip 4a, the amount of feeding of the wire 5, and the like. Yes.

  In using this position detection device 10, the length L of the jib 4, the horizontal distance A between the base end of the jib 4 and the turning center C, and the relative position of the GPS antenna 11 with respect to the turning center C of the crane turning part 3. In order to automatically set the information of the distances d1 and d2 indicating in advance in the calculation means 15, after installing the suspension position detecting device 10 on the crane ship 1, the carriage 2 is stopped and the crane turning part 3 is turned. Assume that the center C position is fixed.

  Then, a rectangular reference area having a certain width W is set on the carriage 2. In this embodiment, a crane ship 1 having a rectangular hold 9 is used for the carriage 2, the hold 9 is set as a reference area, the width W of the hold 9 is measured, and the value is input to the calculation means 15. input.

  Next, as shown in FIG. 1 (a), the crane turning part 3 and the jib 4 are operated, and the jib 4 is a direction perpendicular to the width direction of the reference area, and the width W of the hold 9 is divided into two. The first reference state toward the. At that time, for example, by moving the grab bucket 6 in accordance with the center of the edge of the hold 9, it is possible to easily align the first reference state.

  In this state, the position / azimuth measuring unit 13 and the jib elevation angle measuring unit 14 measure the position Q1 (x11, y11, z11) and direction (azimuth angle α1) of the GPS antenna 11 and the elevation angle β1 of the jib 4 respectively. The measurement result is output to the calculation means 15 and the measurement result is stored in the storage unit of the calculation means 15.

  Next, as shown in FIG. 1B, the crane turning portion 3 is turned from the first reference state and the jib 4 is turned downward, so that the jib tip portion 4a is positioned on the side edge of the reference area portion. The second reference state is assumed. At that time, for example, by moving the grab bucket 6 according to the corner of the hold 9, it is possible to easily align the second reference state.

  In this state, the position / orientation measurement unit 13 and the jib elevation angle measurement unit 14 measure the position Q2 (x12, y12, z12) and direction (azimuth angle α2) of the GPS antenna 11 and the elevation angle β2 of the jib 4 respectively. The measurement result is output to the calculation means 15 and the measurement result is stored in the storage unit of the calculation means 15.

  Next, as shown in FIG. 1 (c), the crane turning part 3 is turned from the second state and the jib 4 is raised, and the jib tip part 4a is on the side edge of the reference area, and the second reference In this state, the third reference state is set with a gap in the direction orthogonal to the position of the jib tip 4a and the width direction. At that time, the grab bucket 6 can be easily aligned to the third reference state by moving the grab bucket 6 to an arbitrary position on the other side edge of the hold 9, for example, near the center of the side edge. Can do.

  In the present embodiment, the third reference state is positioned on the side edge opposite to the second reference state. However, in the third reference state, the jib tip 4a is the second reference state. It may be located on the side edge on the same side as the state, with an interval in the direction orthogonal to the position of the jib tip 4a and the width direction in the second reference state.

  In this state, the position / orientation measurement means 13 and the jib elevation angle measurement means 14 measure the position Q3 (x13, y13, z13) and orientation (azimuth angle α3) of the GPS antenna 11 and the elevation angle β3 of the jib 4 respectively. The measurement result is output to the calculation means 15 and the measurement result is stored in the storage unit of the calculation means 15.

  Next, based on the measurement results measured through the first to third reference states as described above, the length L of the jib 4 and the horizontal distance A with respect to the turning center C of the base end of the jib 4 are calculated and calculated. A method for setting the means 15 will be described.

  The azimuth angles α1 to α3 of the GPS antenna 11 in the first to third reference states and the width W of the reference area are shown in FIG. 5, that is, right-angled triangles whose hypotenuses are the radial distances R2 and R3, respectively. The calculation means 15 calculates, for example, the turning radius direction distances R2 and R3 of the jib 4 in the second reference state and the third reference state by the following formulas, and temporarily stores them in the storage unit of the calculation means 15 .

  If the turning radius direction distances R2, R3 of the jib 4 in the second reference state and the third reference state are obtained, the turning radius direction distances R2, R3 of the jib 4 and the length L of the jib 4 are 6, the calculation means 15 calculates the length L of the jib 4 using the turning radius direction distances R2 and R3 and the elevation angles β2 and β3 of the jib 4 in the second reference state and the third reference state. Since the length L of the jib 4 is constant, the calculation result is automatically set in the calculation means 15.

  When the length L of the jib 4 is obtained, the calculation means 15 calculates the horizontal distance A with respect to the turning center C at the base end of the jib 4 by the following equation, and since the horizontal distance A is constant, The calculation result is automatically set in the calculation means 15.

  On the other hand, since the carriage 2 is stopped and the turning center C of the crane turning portion 3 is fixed, the position PC of the turning center C is the first to third positions as shown in FIG. Since it is the center on the same circular orbit of the radius D passing through the positions Q1 to Q3 of the GPS antenna 11 in the reference state, the horizontal position PC (a, b) is obtained from the following equation using a circle equation, for example: The result of the calculation is stored in the storage unit of the calculation means 15.

  If the horizontal position PC (a, b) of the turning center C is obtained, the horizontal positions Q1 (x11, y11) to Q3 (x13, y13) of the GPS antenna 11 in the first to third reference states are obtained. From the relationship between any one (Q1 in the present embodiment) and the horizontal position PC (a, b) of the fixed turning center C, the horizontal position PC (a, b) of the turning center C and the first through Based on the horizontal position Q1 (x11, y11) and the azimuth (azimuth angle α1) of any one set of GPS antennas 11 measured in the third reference state, for example, d1 and d2 are calculated by the following equations: Since d1 and d2 are constant, the calculation result is automatically set in the calculation means 15. In the calculation, by using the attachment angle γ with respect to the jib 4, each side related to the distances d 1 and d 2 indicating the relative position of the GPS antenna 11 with respect to the turning center C is set according to the direction parallel or orthogonal to the jib 4, respectively. can do.

  As described above, necessary specification information for using the suspension position detection device 10, that is, the length L of the jib, the horizontal distance A between the base end of the jib 4 and the turning center C, the GPS antenna 11 and the turning center Distances d1 and d2 indicating relative positions to C are calculated and automatically set in the calculation means 15.

  The distances d1 and d2 indicating the relative positions of the GPS antenna 11 and the turning center C are calculated to be in the first to third reference states as shown in FIGS. 1 (a) to 1 (c). The crane swivel unit 3 and the jib 4 are sequentially operated, and the position of the GPS antenna 11 from the first reference state to the third reference state is measured at any time, and the position information of each measured GPS antenna 11 is measured. The information of the arbitrary 3 points | pieces is selected, You may make it calculate the turning center position C of the crane turning part 3 by the method similar to the above-mentioned Example based on the circle | round | yen which passes the arbitrary 3 points | pieces. .

  Further, in that case, based on the turning center position C and the position and orientation of any one set of GPS antennas 11 measured, the turning center C of the crane turning unit 3 is similar to the above-described embodiment. Distances d1 and d2 indicating the relative position of the GPS antenna 11 are calculated. At that time, by using the mounting angle γ of the GPS antenna 11 with respect to the jib 4 for the calculation, directions corresponding to the distances d1 and d2 indicating the relative position of the GPS antenna 11 with respect to the turning center C are parallel or orthogonal to the jib 4 respectively. Can be set to

  Further, the calculation method of the distances d1 and d2 indicating the relative positions of the GPS antenna 11 and the turning center C is not limited to the above-described embodiment, but the second embodiment shown below depending on how the GPS antenna 11 is attached. May be calculated. In addition, the same code | symbol is attached | subjected and demonstrated to the structure similar to the above-mentioned Example, and it abbreviate | omits suitably.

  8 (a) to 8 (c) show the states of the respective steps in the second embodiment of the automatic setting method for the crane ship hanging position detecting apparatus according to the present invention, that is, the first to third states. It is a top view shown, respectively.

  In this embodiment, the GPS antennas 11 and 12 are fixed so that the azimuth (both GPS antennas 11 and 12 directions) with respect to the GPS antenna 11 coincides with the turning radius direction of the crane turning part 3, that is, one of the GPS antennas. The antenna 11 is fixed so as to be positioned on a straight line passing through the other GPS antenna 12 and the turning center C. At that time, the mounting angle γ of the GPS antenna 11 with respect to the jib 4, that is, the angle formed between the jib 4 and the direction between the two GPS antennas 11 and 12 is actually measured and set manually in the computing means 15.

  The configurations of the crane ship 1 and the suspension position detection device 10 are the same as the configurations of the above-described embodiment except for the attachment of the GPS antennas 11 and 12, and thus the description thereof is omitted.

  In using this position detection device 10, the length L of the jib 4, the horizontal distance A between the base end of the jib 4 and the turning center C, and the relative position of the GPS antenna 11 with respect to the turning center C of the crane turning part 3. In order to automatically set the information of the distances d1 and d2 indicating in advance in the calculation means 15, after installing the suspension position detecting device 10 on the crane ship 1, the carriage 2 is stopped and the crane turning part 3 is turned. Assume that the center C position is fixed.

  In addition, the mounting angle γ, that is, the angle γ formed by the longitudinal direction of the jib 4 and the direction between both GPS antennas 11 and 12 with the turning center C as a key, is actually measured and set in the computing means 15.

  Then, a rectangular reference area having a certain width W is set on the carriage 2. In this embodiment, a crane ship 1 having a rectangular hold 9 is used for the carriage 2, the hold 9 is set as a reference area, the width W of the hold 9 is measured, and the value is input to the calculation means 15. input.

  Next, as shown to Fig.8 (a), the crane turning part 3 and the jib 4 are operated, and the direction which is orthogonal to the width direction of the reference | standard area part, and the width | variety W of the hold 9 is divided into two. The first reference state toward the. At that time, for example, by moving the grab bucket 6 in accordance with the center of the edge of the hold 9, it is possible to easily align the first reference state.

  In this state, the position / azimuth measuring unit 13 and the jib elevation angle measuring unit 14 measure the position Q1 (x11, y11, z11) and direction (azimuth angle α1) of the GPS antenna 11 and the elevation angle β1 of the jib 4 respectively. The measurement result is output to the calculation means 15 and the measurement result is stored in the storage unit of the calculation means 15.

  Next, as shown in FIG. 8B, the crane turning portion 3 is turned from the first state and the jib 4 is turned downward, and the jib tip portion 4a is positioned on the side edge of the reference area portion. 2 is the reference state. At that time, for example, by moving the grab bucket 6 according to the corner of the hold 9, it is possible to easily align the second reference state.

  In this state, the position / azimuth measuring unit 13 and the jib elevation angle measuring unit 14 determine the position Q2 (x12, y12, z12) of the GPS antenna 11 and the direction (azimuth angle α2) based on the GPS antenna 11 and the jib 4. Are measured and output to the calculation means 15, and the measurement results are stored in the storage unit of the calculation means 15.

  Next, as shown in FIG. 8 (c), the crane turning part 3 is turned from the second state and the jib 4 is raised, and the jib tip part 4a is on the side edge of the reference area, and the second reference In this state, the third reference state is set with a gap in the direction orthogonal to the position of the jib tip 4a and the width direction. At that time, the grab bucket 6 can be easily aligned to the third reference state by moving the grab bucket 6 to an arbitrary position on the other side edge of the hold 9, for example, near the center of the side edge. Can do.

  In the present embodiment, the third reference state is positioned on the side edge opposite to the second reference state. However, in the third reference state, the jib tip 4a is the second reference state. It may be located on the side edge on the same side as the state, with an interval in the direction orthogonal to the position of the jib tip 4a and the width direction in the second reference state.

  In this state, the position / orientation measuring means 13 and the jib elevation angle measuring means 14 are arranged so that the position Q3 (x13, y13, z13) of the GPS antenna 11 and the azimuth (azimuth angle α3) based on the GPS antenna 11 and the jib 4 Are measured and output to the calculation means 15, and the measurement results are stored in the storage unit of the calculation means 15.

  Then, based on the measurement results measured through the first to third reference states in this way, the calculation and setting of the horizontal direction distance A with respect to the length L of the jib 4 and the turning center C of the jib base end are described above. Similar to the embodiment, the calculation is performed based on FIGS.

  On the other hand, since the carriage 2 is stopped and the GPS antenna 11 is fixed so that its direction coincides with the turning radius direction, the straight line connecting the GPS antenna 11 and the turning center C in each reference state is Each is expressed by the following formula using azimuth angles α1 to α3.

  Since the turning center C is an intersection of the straight lines, the horizontal position PC (a, b) of the fixed turning center C is, for example, the first reference state and the second reference position among these straight lines. By using two straight lines in the state, it is calculated from the following formula, and the result is stored in the storage unit of the calculation means 15.

  If the position PC (a, b) of the turning center C is obtained, any one of the horizontal positions Q1 (x11, y11) to Q3 (x13, y13) of the GPS antenna 11 in the first to third reference states. 1 (Q1 in this embodiment) and the horizontal position PC (a, b) of the fixed turning center C, the turning center position PC (a, b) and the first to third reference states Any one of the horizontal positions Q1 (x11, y11) to Q3 (x13, y13) of the GPS antenna 11 (Q1 in this embodiment) and either one of the azimuth angle α1 or the mounting angle γ at that time For example, the distances d1 and d2 indicating the relative position of the GPS antenna 11 with respect to the turning center C are calculated by the following formula, and d1 and d2 are constant, so that the calculation result is automatically set in the calculation means 15. To do. In addition, by using the attachment angle γ for calculation, each side related to the distances d1 and d2 indicating the relative position of the GPS antenna 11 with respect to the turning center C can be set in accordance with the direction of the jib 4.

  As described above, necessary specification information in using the suspension position detection device 10, that is, the length L of the jib 3, the horizontal distance A between the jib 4 base end and the turning center C, the GPS antenna 11 and the turning center Distances d1 and d2 indicating relative positions to C are calculated and automatically set in the calculation means 15.

  The distances d1 and d2 indicating the relative positions of the GPS antenna 11 and the turning center C are calculated by operating the crane turning unit 3 and the jib 4 so that the first to third reference states are obtained in a state where the ship is stopped in advance. In addition, the position of the GPS antenna 11 from the first reference state to the third reference state shown in FIGS. 8A to 8C is measured at any time, and the measured GPS antennas 11 are measured. Two arbitrary points are selected from the position and direction, and a plurality of straight lines passing through the GPS antenna 11 and the turning center C based on the position and direction of the GPS antenna 11 at the two arbitrary points are the same as in the above-described embodiment. And the turning center position of the crane turning part 3 may be calculated based on the plurality of calculated straight lines.

  In that case, with respect to the turning center C based on the turning center position, the position of any selected measured GPS antenna 11 located on a straight line, and either the orientation or the mounting angle γ of the GPS antenna 11 The relative position of the GPS antenna 11 is calculated, and the calculation result is automatically set in the calculation means 15.

  In each of the above-described embodiments, a gut ship used for a rubble throwing operation when creating a rubble mound has been described as an example. However, the crane ship 1 is not limited to a gut ship, and can also be applied to a grab dredger.

  Furthermore, although the grab bucket was mentioned as a suspended body in the above-mentioned Example, the aspect of a suspended body is not limited to a grab bucket, Other buckets, such as an orange peel bucket, may be things other than a bucket. .

  Furthermore, in the above-described embodiment, the example in which the hold 9 is used for the reference area has been described. However, the aspect of the reference area is not limited thereto, and may be any rectangular shape having a certain width. Two decks may be used for the reference zone.

  Furthermore, the coordinate system used for position measurement is not limited to the rectangular plane coordinate system shown in the above-described embodiment, and other coordinate systems established for position measurement may be used. May be used.

  Moreover, each calculation formula to be used is not limited to each calculation formula shown in the above-mentioned Example, You may apply the calculation formula based on another mathematical method.

L Jib length A Horizontal distance between jib base and turning center B Vertical distance between jib base and GPS antenna C Turning center R2, R3 Turning radial distance α GPS antenna azimuth β Jib elevation angle GPS antenna mounting angle with respect to γ jib 1 crane ship 2 carriage 3 crane turning part 4 jib 5 wire 6 grab bucket 8 operation room 9 hold 10 suspension position detector 11, 12 GPS antenna 13 position direction measuring means 14 jib elevation angle measuring means 15 Calculation means 18 GPS reception processor body
19 Inclinometer

Claims (6)

In a crane ship provided with a crane turning part installed to be turnable on a trolley, a jib supported to be pivotable up and down on the crane turning part, and a wire fed from the tip of the jib,
A GPS antenna detachably fixed at an arbitrary position of the crane turning unit, a position / orientation measuring means for measuring the position and orientation of the GPS antenna, a jib elevation angle measuring means for measuring the elevation angle of the jib, and the position When using a crane ship hanging position detecting device comprising a calculating means for calculating the position of the jib tip based on the measurement results obtained from the azimuth measuring means and the jib elevation angle measuring means, A method for automatically setting the necessary information,
Set a rectangular reference area having a certain width on the carriage,
In advance, a first reference state in which the jib is directed in a direction orthogonal to the width direction of the reference region, a second reference state in which the jib tip is located on a side edge of the reference region, and the jib tip The third reference state is located on the side edge of the reference area and spaced apart in the direction perpendicular to the width direction and the position of the jib tip in the second reference state. While operating the crane turning unit and the jib,
Measure the azimuth of the GPS antenna and the elevation angle of the jib for each of the first to third reference states, and measure the azimuth of the GPS antenna in the first to third reference states, the elevation angle of the jib, and The length of the jib and the horizontal distance between the base end of the jib and the turning center are calculated based on the width of the reference area, and the calculation result is automatically set in the calculation means. A method for automatically setting a hanging position detecting device for a crane ship. The crane turning unit and the jib are operated so as to be in the first to third reference states in a stopped state, and the position of the GPS antenna from the first reference state to the third reference state Measure the direction from time to time,
Calculate the turning center position of the crane turning part based on the circle passing through the position of each measured GPS antenna,
Based on the calculated turning center position and the measured position and orientation of any one set of GPS antennas, the relative position of the GPS antenna with respect to the turning center of the crane turning unit is calculated, and the calculation result is The automatic setting method of the hanging position detection apparatus for crane ships of Claim 1 set to the said calculating means automatically. Calculating a turning center position of the crane turning portion based on a circle passing through the position of the GPS antenna in the first to third reference states;
Relative of the GPS antenna with respect to the turning center of the crane turning unit based on the calculated turning center position and the position and orientation of any one set of GPS antennas measured in the first to third reference states The automatic setting method of the hanging position detection apparatus for crane ships of Claim 2 which calculates a position.   The GPS antenna with respect to the turning center of the crane turning unit based on the calculated turning center position, the measured position and orientation of any one set of GPS antennas, and the mounting angle of the GPS antenna with respect to the jib The automatic setting method of the hanging position detection apparatus for crane ships of Claim 2 or 3 which calculates the relative position of. The GPS antenna is fixed so that its orientation coincides with the turning radius direction of the crane turning part,
The crane turning unit and the jib are operated so as to be in the first to third reference states in a state of stopping in advance, and the GPS antenna from the first reference state to the third reference state is operated. Measure the position and orientation from time to time,
A plurality of straight lines passing through the GPS antenna and the turning center are calculated based on the measured position and orientation of the GPS antenna, and a turning center position of the crane turning unit is calculated based on the calculated plurality of straight lines. And
The calculated turning center position;
The position of the measured GPS antenna located on any one of the straight lines;
The orientation of the GPS antenna or the mounting angle of the GPS antenna with respect to the jib;
2. The method for automatically setting a crane ship hanging position detecting device according to claim 1, wherein a relative position of the GPS antenna with respect to the turning center is calculated based on the calculation result, and the calculation result is automatically set in the calculating means. A straight line passing through the GPS antenna and the turning center is calculated based on the measured position and orientation of the GPS antenna in the first to third reference states, and the crane is calculated based on the calculated plurality of straight lines. Calculate the turning center position of the turning part,
The calculated turning center position;
The position of the GPS antenna in any one of the first to third reference states;
The orientation of the GPS antenna or the mounting angle of the GPS antenna with respect to the jib;
The automatic setting method of the crane ship hanging position detecting device according to claim 5, wherein a relative position of the GPS antenna with respect to a turning center of the crane turning unit is calculated based on the above.

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