JP2019112178A - Automatic operation system for tower crane - Google Patents

Abstract

To provide an automatic operation system for a tower crane, which is capable of efficiently performing an operation without running off a set conveyance track.SOLUTION: This automatic operation system is configured such that receivers 9, 10, and 11 capable of always performing satellite positioning are respectively provided to the top of a tower 1, the tip of a gib 3, and a hook block 8, a control device 12 reads and stores at least a plan view and a solid view of a design drawing of a structure, time coordinates based on the rotational angle of a turning body and time coordinates based on the undulation angle of the gib, and displays a plan view or a solid view or both of a floor to be constructed on an operation panel, and through touching to the position of a construction member lifted in a loading area and a position for installation, the construction member is automatically transferred to be installed by calculating a shortest transfer distance on the basis of time coordinates calculated from the lifting position and the position for installation.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a system for automatically operating a tower crane used in constructing a high-rise building by satellite positioning.

  There are a plurality of techniques known as an apparatus for automatically operating this type of crane. Among them, the first known technology is an automatic operation device of a crane having a jib capable of being undulated and turned, which almost always detects and outputs the actual position of the jib tip of the jib of the crane under operation Jib tip position measuring means, undulation driving means for undulating movement of the jib, swing driving means for pivotal movement of the jib, and winding and lowering movement of suspended load supporting means suspended by a wire from the jib tip portion Automatic operation control means for controlling the movement of the suspended load supporting means from an arbitrary position to an arbitrary position by controlling the vertical winding driving means for the motor. The movement path of the jib tip based on the movement start position and movement stop position of the suspended load support means is compared with the current position of the jib tip output from the jib tip position measurement means, and the jib Controlling the up-and-down moving means and the turning drive means so that the position of the jib tip returns on the movement path when the current position of the jib tip is deviated from the movement path of the end. The automatic operation device of the crane which is carried out (patent document 1).

  According to the above-mentioned crane automatic operation device, when the crane is automatically operated, the position of the jib tip is deviated from the movement path of the jib tip based on the movement start position and the movement stop position of the suspended load support means determined in advance. In addition, since the automatic operation control means controls the ups and down movement means and the turning drive means so as to return the position of the jib tip onto the movement path, the suspension load is maintained even if the automatic operation of the crane is continued. There is no need to approach an obstacle or shift the unloading position, and there is no need to stop the automatic operation and switch to the manual mode.

  With regard to the second known art, according to the corrected document, a hook block, a jib for suspending the hook block at the tip, an undulating device for undulating the jib, and a winding device for raising and lowering the hook block A crane having the above, a mast for supporting the crane, a pivoting device for pivoting the crane with respect to the mast, and a time for the light to reciprocate upon receiving light and being able to be raised and lowered and pivotable A total station for measuring the distance by measuring the distance, reflecting means provided on the hook block and reflecting light transmitted from the total station to the total station, and a pivot for measuring the pivot angle of the crane with respect to the mast And the total station is A tower crane apparatus characterized by collimating means and tracking the hook block to measure a turning angle and an ups and down angle of the total station and measuring a distance between the total station and the hook block (Patent Document 2).

  According to this tower crane device, as in the case of providing a detection device outside the site, when the crane is operated, the three-dimensional position of the hook block can be always grasped without being disturbed by the mast. In addition, even when the hook block is swung by wind, the three-dimensional position of the hook block, that is, the suspended load can be always grasped. Therefore, the operation of the tower crane can be automated, and the burden on the operator and the signal person can be reduced.

Japanese Laid-Open Patent Publication No. 10-258989 Japanese Laid-Open Patent Publication No. 2001-80881

  In the inventions of the known techniques 1 and 2, the position of the jib tip is determined by constantly detecting the actual position of the jib tip of the jib and the lifting and lowering movements of the load supporting means by the jib tip position measuring means. The mobile station provided on the revolving unit of the tower crane and the fixed station provided on the ground when it deviates from the movement path of the jib tip based on the movement start position and movement stop position of the suspended load support means determined in advance Based on the received position data, the position measurement calculation processing unit calculates coordinate values and the automatic operation control means controls the ups and down movement means and the turning drive means to return the position of the jib tip onto the movement path. Therefore, when the tip of the jib that lifts the lifting load moves, an operation is performed to detect a position shift from the moving path and return it to the moving path, and the lifting operation and the moving operation are performed separately. Since the, there is a problem that operating time of the move to the operating time of the lifting is positive, constructed costs not only workability is deteriorated increases costs.

  In order to solve the above problems, the present invention is a simple configuration and operation, an operation including turning operation of a revolving unit, raising and lowering of a jib and lifting and lowering of a suspended load without departing from a set conveyance path. It is an object of the present invention to provide a tower crane automatic operation system capable of efficiently performing operations.

  The present invention, as a specific means for solving the above-mentioned problems, is provided with a swing body at the top of the tower, and on the swing body, a base of a jib of a required length is mounted inclinably, Automatic of tower crane equipped with a hook block attached to the tip of the wire which can be hung up and down from the tip of the jib, and capable of controlling the rotation of the revolving unit, the ups and downs of the jib and the winding and unwinding of the wire In the driving system, a receiver capable of always performing satellite positioning is provided at the top of the tower, at the top of the jib, and at the hook block, and the control device has a storage device, a display function unit, an arithmetic function unit, and an operation panel. And at least a plan view and a three-dimensional view of a design drawing of a structure in the control device, and a time coordinate according to a rotation angle of the revolving unit and a relief angle of a jib Read the inter-coordinates and save, display a plan view or a stereo view or both of the hierarchy to be constructed on the operation panel, and touch the position of the building member lifted in the unloading area and which position to install Thus, the present invention provides a tower crane automatic operation system characterized by calculating the shortest transfer distance based on time coordinates calculated from the lifted position and the installed position, and automatically transferring and installing.

  In the above invention, the calculation of the shortest distance may be performed simultaneously with rotation and relief, and controlled so that the shorter time is decelerated according to whichever of rotation and relief is longer, and simultaneously arrive at the installation site; And about the position which installed the said construction member, having colored and displayed by stereographic is included as an additional requirement.

  According to the tower crane automatic operation system according to the present invention, it is possible to quickly convey and install to the installation location with the shortest transportation route by simply touching the unloading position and the installation position displayed on the operation panel. The work efficiency is significantly improved, and not only the number of surplus workers can be reduced because they are all automatic, but also the cost can be reduced if the operation skills of the crane operator can be standardized uniformly and easily. There are various excellent effects such as leading to

BRIEF DESCRIPTION OF THE DRAWINGS It is explanatory drawing (image figure) which showed roughly the tower crane to which the automatic driving | operation system which concerns on embodiment of this invention was applied. It is a block diagram showing the schematic structure concerning the automatic operation system of the tower crane. They are the top view of one hierarchy of a structure concerning the automatic operation system of the tower crane, and the image figure which combined and showed the time coordinate from a loading yard to an installation position. It is an image figure which combined and showed the three-dimensional figure of the whole building concerning the automatic operation system of the tower crane, and the coordinates for calculating rolling up and lowering and jib ups and downs time. It is the coordinate of an example which showed the angle (speed) by rotation of the rotation object concerning the automatic operation system of the tower crane in time unit. It is the coordinate of an example which showed the angle (velocity) by the unevenness of the jib of the rotating body concerning the automatic operation system of the tower crane in time unit. It is an image diagram showing a state where it can be displayed three-dimensionally and memorized, and it can be displayed in order to clarify the installation position of the building member of the building which changes daily concerning the automatic operation system of the same tower crane. is there. It is a chart figure showing the system flow concerning the automatic operation system of the tower crane. It is an explanatory view showing movement of load (building component) based on a system flow concerning the automatic operation system of the tower crane. It is explanatory drawing which showed the example which corrects the positional offset of the perpendicular direction before arrival of the load of conveyance in the system flow which concerns on the automatic operation system of the tower crane. In the automatic operation system of the tower crane, it is an explanatory view showing that it can correct automatically, even if the tapped position of one member on the screen and the actual tap position are deviated. In the automatic operation system of the tower crane, it is an explanatory view showing that it can correct automatically, even if the tapped position of the other member on the screen and the actual tap position are deviated.

The present invention will be described in detail based on the illustrated embodiments.
FIG. 1 is an explanatory view (image view) schematically showing a tower crane to which the automatic driving system according to the embodiment is applied, and a swing body 2 is provided on the top of the tower 1 and the swing body 2 The base 4 of the jib 3 of the required length is pivotably supported (rotatably) and is supported by a wire 6 stretched between it and the tip 5 of the jib 3 in the same manner as a general tower crane. A wire 7 which can be suitably undulated via a not shown) and which can be wound up and down with a winch (not shown) is suspended from the jib tip 5 and a hook block 8 is attached to the tip of the wire 7. It is an attached configuration.

  In a tower crane having such a configuration, GNNS, which is satellite positioning, is provided with a turning core at the top of the tower 1, satellite 10, the receiver 10 at the jib tip 5, and the receiver 11 at the hook block 8, respectively. , It is comprised so that the positional relationship of each can be measured in real time.

  In addition, as the tower crane automatic operation system, as shown in FIG. 2, the control device 12 for automatic operation is provided on the revolving unit 2, and based on the reception signals from the respective receivers 9, 10, 11, The positional relationship of each part can be grasped in real time, and it is possible to immediately respond to the position of the suspended load and the direction position to be installed. Furthermore, the control device 12 is equipped with various functions such as a storage device for operation control, a display unit, an arithmetic function unit, etc., and an anemometer 15 and a touch panel 16 also serving as an operation display unit. ing. Furthermore, the controller 12 calculates the present position of the suspended load from the azimuth angle of the crane, the jib angle, and the wire length, and guides the suspended load to the tapped position (for transportation), in case of trouble in satellite positioning. Also have the ability to

  Then, the control device 12 sends a signal as a result of calculation of how to control the crane based on the received signal to a control device 17 which can be operated artificially installed at an appropriate place having the same function, For example, when an unexpected situation occurs in the design and construction of a construction in the process of construction, or by exchanging signals of calculation results to correct control operation and improve functions etc., in a preferable state Can control the crane. In addition, the touch panel 16 is usually provided on the driver's seat of a crane, and gives the control device 12 an instruction as to which position to be installed based on a design drawing displayed on a screen. It is. However, in this case, it is preferable that the operator handle the cargo handling yard, since a worker is required to wirelessly communicate with the driver at the driver's seat the identification of the load (member) to be lifted with the loading yard. It is also possible to operate the touch panel 16 by confirming the identification display at the time of lifting in the vicinity of.

  Further, as shown in FIGS. 3 and 4, the control device 12 stores a plan view and a three-dimensional view on the design of the structure 18 to be built. In this case, in the plan view, radial line segments 19 are provided at equal intervals (approximately 2 ° intervals) in the installation position of the tower crane, that is, in the range of 360 degrees where the jib tip 5 reaches around the tower 1 Together with the coordinates of the time axis provided with a large number of circular lines 20 in correspondence with the inclination angle (approximately 2 °) of the jib 3 are stored. For a three-dimensional view, the range is defined so as to surround in a cylindrical shape in a 360 degree range where the jib tip 5 can reach around the installation position of the tower 1, and for example, If it is 10 stories, 11 thin wires 21 including ground surface are equally spaced, that is, the time coordinate of winding wire lowering speed of lifting wire 7 is represented on the outer peripheral surface, and it corresponds to the position of the pillar attached to the outer surface The image figure which provided the thin wire | line 22 and the thin wire | line 23 of a longitudinal direction which were radiate | emitted from the center in the position which stores is memorized. In addition, the code | symbol 24 in FIG. 3 is a loading yard which carries a load (building component) with a truck.

  The plan view and the three-dimensional view of the above-mentioned design drawing can be appropriately displayed for each hierarchy before and during construction in the building 18, and by looking at the display screen, the load (member) to be lifted is installed where By deciding the position and touching the position on the screen, the control device 12 operates the revolving unit 2 and the jib 3 to automatically carry it to the target position for installation. In addition, the situation around the site where the building 18 is constructed, that is, the presence of standing trees around the building, checking of the existing buildings, aerial photographs from above by drones, etc. It is natural to remember the surrounding situation together. The coordinates shown in FIG. 3 and FIG. 4 are used for calculation in the calculation function unit and are not usually displayed on the touch panel 16, but if necessary, together with the design drawing as shown. It can also be displayed.

Moreover, an example of the turning time of the revolving unit 2 and the up-and-down time of the jib 3 will be described with reference to FIG. 5 and FIG.
First, for the turning time in FIG. 5, if a line (a part of the coordinates) is drawn with the angle advancing from the position of the jib 3 to the target position 25 every second at maximum speed as grid, Below the grid, it is calculated that 14 grids, that is, 14 seconds to the target position, are required after rounding off the decimal point.
Next, for the relief time in FIG. 6, a circular line (a part of the coordinates) is made up of a radius at which the jib tip 5 in the horizontal position stands up every one second at maximum speed until the target position 25 (thick line position). When it is drawn, it reaches the 6th grid as shown, and it is calculated that 6 seconds are required.

  Thus, the operation of the tower crane automatic operation system of the present invention will be described. For example, as shown in FIG. 3 and FIG. 7, the building 18 to be built is under construction, and as described above, if it is 10 floors, the 6th floor part and the 7th floor part above the construction are finished. , And a three-dimensional view of the seventh floor portion constructed on the sixth floor portion are displayed on the touch panel 16, and the operator lifts the position at the unloading yard 24 and the first setting of the building member (load) The controller 12 simultaneously performs the ups and downs of the jib 3 (including the winding up) and the pivoting of the revolving unit 2 simply by touching the position 26 or the second position 27 with the touch pen 28 or the like. From the current working radius, calculate how many meters to move to the installation position, and calculate the time required for the movement. For turning, it is calculated how many degrees of angular movement from the current position to the installation position, and the time required for movement is calculated.

And comparing movement time of ups and downs, priority is given to the time-consuming one, and the shorter one is automatically controlled to slow down to arrive at the installation position at the same time as the time-consuming one. It is to do. For example, in the case where the undulation time is 30 seconds at the maximum speed and the turning time is 15 seconds at the maximum speed, the actual operation is also 30 seconds for the turning time (1/2 of the maximum speed) Control) to drive. In the opposite case, for example, if the undulation time is 15 seconds at the maximum speed and the turning time is 30 seconds at the maximum speed, the actual operation is 30 seconds for the turning according to the turning (1/2 of the maximum speed Control and the turning time is 30 seconds.
By automatically controlling in this manner, it is possible to perform the work efficiently without the trouble of stopping or reactivating the relief or turning operation.

  The building members (posts, beams, wall materials, etc.) of the parts installed in this way may be a designed plan view as shown in FIG. 7, but preferably colored in an appropriate color on a three-dimensional drawing Then, it can be displayed on the screen that it has been installed, and design pillars and beams of parts not yet installed can be displayed, for example, being left white. In this way, by being able to display the installation status in real time, it is possible to not only understand at a glance on the screen which construction member should be transported and where to install it, but also save this information on a daily basis. It can be used for progress control, and the guidance of the subsequent building material will be able to automatically avoid its installed position.

  Next, the system flow diagram shown in FIG. 8 will be described. The process of A is always performing satellite positioning at the stage of installing the tower crane 1 at the construction site. Step B uses the design drawing of the building 18 to be constructed, which is read and stored in the control unit 12 and the coordinates for calculating the transfer time in the actual operation and operation, using the jib tip 5 of the tower crane 1 Load the position of the building and the installation position of the building member (suspension load) on the coordinates, calculate the positional relationship (distance) between the two in the process of C, roll up / wind down, process of D in the process of D At the same time it is determined whether it is the ups and downs of 3 or the right turn or the left turn of the rotary body 2, the time required for it is also calculated to determine the moving speed, the automatic operation start signal is output in the step E, In the process of F, each drive unit is activated based on the signal from the process of step S, and as shown in FIG. 9, the building member (suspension load) 29 passes the circled numbered position in each process. Is transported.

  Subsequently, in the process of H, before the building member 29 reaches the installation position, the positional deviation due to a suspended load is predicted, and the rotational speed of the rotational body 2 and the ups and downs of the jib 3 are decelerated to correct the positional deviation. . That is, it is decelerated in front of the installation position as shown in FIG. 10 by satellite positioning to see if the receivers 10 and 11 provided at the jib tip 5 and the hook block 8 are deviated in the vertical direction, and The load swing is corrected (suppression function) by accelerating automatically in the direction of the slippage as shown by the arrow a. In this way, it has the function of constant speed, deceleration and acceleration depending on the load condition.

  At the position where the load swing is stopped, in step I, it is determined whether the horizontal distance between the horizontal position of the jib tip 5 and the set position is within the set value. If the determination is yes, in the process of J, the unwinding signal is output, the load is lowered to the installation position in the process of K and set in the installation position, and the unwinding signal is cut off and the operation is ended. Then, the complete end signal of the lifted load is output, and the jib 3 is returned by touching the original position (the position of the loading yard) or the next unloading position for the next operation. If it is know (no), the difference from the installation position at the shifted position is calculated in the L process, whether it is ups and downs or not in the M process, and the shift is corrected in the M process. In order to drive the jib 3 or the pivoting body 2 by outputting an ups and downs and / or a swing signal, return to the step I to determine whether the horizontal distance between the jib tip 5 and the set position is within the set value or not. If yes, as described above, after the process of J, the load is set at the installation position in the process of K, and the jib 3 is automatically returned to the original position.

  In addition, as shown in FIG. 11, when the building member 29 is a pillar, the actual tap position 13 (intersection point) is temporarily on the touch panel 16 and a range 13a (7 mm) indicated by an imaginary line on the drawing. Even if the position is shifted within the range, it has a function of automatically correcting the shift to the actual tap position 13 by the correction means 30 and guiding it. Also, even when the building member 29 is a beam, as shown in FIG. 12, the actual tap position 14 (intermediate position between the intersection point and the intersection point) is temporarily indicated by a virtual line on the touch panel 16 Even if it is a position deviated by the range 14a of the mark (about 7 mm), it has a function of automatically correcting the deviation to the actual tap position 14 by the correction means 30 and guiding it. The direction of these deviations is front and back, left and right. Any deviation between upper and lower can be automatically corrected by calculation.

In any case, in the tower crane automatic operation system of the present invention, a design diagram (plan view and three-dimensional view) of the entire structure designed for the main structure of the structure to be built and a design diagram for each layer ( The plan view and the three-dimensional view are read into the control device and stored, and the building shape changes day by day according to the construction progress. Under such circumstances, conditions for automatically guiding a suspended load (building member) require an operation that constantly grasps the shape of the building and omit the inside of the building area from the route for guiding the suspended load. Therefore, the position where the building member is lifted (taped) and automatically guided and installed is displayed in 3D building shape data (three-dimensionally) as a building progress result as shown in FIG. 7, and the building progress shape It is set up automatically as a suspended load automatic guidance route with a distance of 1/2 or more of the size of suspended load.
The tower crane is automatically operated in three-dimensional positioning basically in real time by the receiver 9 provided at the top of the tower 1, the receiver 10 provided at the jib tip 5, and the receiver 11 provided at the hook block 8. The positioning of the suspended load (building component) 29 is performed by the receiver 9 and the receiver 11. If the receiver 11 does not function due to multipath, the receiver 10 of the jib tip 5 is operated. And the receiver 9 of the tower 1 can grasp the approximate position of the suspended load, and the control device 12 can wind up the winding wire 7, lift it to the positioning position, and transfer it from the position to the target position (installation position) It is

  The tower crane automatic operation system according to the present invention is provided with a revolving unit 2 at the top of the tower 1 and is provided with a wire 6 for undulating the base of the jib 3 of a required length on the revolving unit. A control device in which a hook block 8 is attached to the tip of the wire 7 that can be hung up and down from the tip 5 of the jib, and control rotation of the revolving unit 2 and unevenness of the jib 3 and winding up and down of the wire 7 An automatic operation system of a tower crane comprising the receivers 12, 10 and 11 capable of performing satellite positioning constantly on the top of the tower 1, the jib tip 5 and the hook block 8, and the control device stores Device, a display function unit, an arithmetic function unit, and an operation touch panel, and at least a plan view and a three-dimensional view of a design drawing of a structure in the control device; A construction in which a time coordinate according to the rotation angle of the body and a time coordinate according to the relief angle of the jib are read and stored, and a plan view and time coordinates of the hierarchy to be constructed are displayed on the operation panel. The shortest transfer distance is calculated on the basis of the coordinates, and it is automatically transferred and installed by touching which position on the drawing the member is to be installed. The drawing displayed on the operation touch panel Therefore, by simply touching where to place the load (building component) lifted in the loading yard, it can be quickly transported and installed to the installation location with the shortest transport route, so the working efficiency is significantly improved and all Not only is it possible to reduce the number of surplus workers because it is automatic, but it is also possible to make the operation skills of the crane operator uniform and easy to operate. Since the lead to reduction, it can be used in a wide range in the building industry.

1 tower 2 rotating body 3 jib 4 base 5 jib tip
6, 7 Wires 8 Hook Blocks 9, 10, 11 Receivers 12, 17 Controls 13, 14 Actual Tap Positions 13a, 14a Offset Tap Positions 15 Anemometers 16 Touch Panels for Operation 18 Building 19 21, 22, 23 thin lines
24 unloading yard 25 installation position (target position)
26 1st position 27 2nd position 28 touch pen 29 building component (suspended load)
30 Correction means

Claims (3)

A rotating body is provided at the top of the tower, and a base of a jib of a required length is mounted on the rotating body so as to be able to move up and down, and a wire for performing the up and down movement is provided. A self-operating system for a tower crane comprising a hook block attached to a tip, and a control device capable of controlling the rotation of the revolving unit, the relief of the jib, and the winding and lowering of the wire,
Provide receivers that can always perform satellite positioning on the top of the tower, the jib tip and the hook block,
The control device includes a storage device, a display function unit, an arithmetic function unit, and an operation panel, and the control device at least a plan view and a three-dimensional view of a design of a structure, and time coordinates according to a rotation angle of the revolving unit Load and save the time coordinate by the undulation angle of the jib and
The plan view or the three-dimensional view or both of the hierarchy to be constructed is displayed on the operation panel, and the hoisted position and the installation position are touched by touching the construction member position lifted in the unloading area and the position to be installed. An automatic operation system for a tower crane, wherein the shortest transfer distance is calculated based on the time coordinate calculated from and automatically transferred for installation. In the calculation of the shortest distance, rotation and undulation are simultaneously performed, and a shorter time is decelerated according to whichever rotation or undulation is longer, and control is made to arrive at the installation site at the same time. The automatic operation system of the tower crane of Claim 1. The system for automatically operating a tower crane according to any one of claims 1 to 2, wherein the position at which the building member is installed is colored and displayed in a three-dimensional view.

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