JP2020132314A - Crane and route generation system for crane - Google Patents

Abstract

To provide a crane which, while suppressing a calculation amount, can generate a conveying route on which a cargo surely passes through a designated spatial position within a three-dimensional space of a workable range.SOLUTION: A crane comprises: a workable range setting part 32a for setting a workable range Ar; a joint generation part 32b for generating a plurality of joints P(n) which a cargo W can pass through; a route generation part 32c for generating a plurality of routes R(n) which connect adjacent joints P(n) by each joint P(n) generated by the joint generation part 32b; and a conveying route determination part 32d for determining a conveying route CR for the cargo W which meets predetermined conditions due to the plurality of generated joints P(n) and the plurality of generated routes R(n). The joint generation part 32b generates a passing joint Pp(n) at a specific position set within the workable range Ar, and generates a plurality of joints P(n) within the workable range Ar on the basis of the passing joint Pp(n), and the conveying route determination part 32d determines a conveying route CR that passes through the passing joint Pp(n).SELECTED DRAWING: Figure 8

Description

The present invention relates to a crane and a crane path generation system.

Conventionally, in the work of transporting a load by a crane, the load is moved in a three-dimensional space by using movements such as turning, undulating, expanding and contracting the boom, and hoisting a wire rope alone or in combination. The load transportation route is determined in consideration of the attitude of the crane, the position and shape of the feature, the shape of the load, the lifting position and the hanging position.

The transport route of the luggage can be arbitrarily set within the workable range of the crane. Further, since the crane moves the load according to the combination of the movements of the actuators, the load can be moved by different combinations even in the same transport route. For this reason, the operator is required to have a lot of experience and a high degree of skill in determining the optimum transport path and the combination of actuator movements. Therefore, a route search system that searches for a movement route that avoids obstacles is known. For example, as in Patent Document 1.

The route search system described in Patent Document 1 generates a plurality of navigation nodes in a virtual space including an obstacle or the like. Further, the route search system searches for a route from the start point to the destination point based on the coefficient desired by the user. In addition, the route search system can increase the density of nodes by adding new navigation nodes at the midpoint between each node. With this configuration, the route search system can precisely calculate the route for avoiding the collision. However, due to the nature of the crane to lift and transport the load, the transport path is restricted even if there are no obstacles around it. That is, the crane may not be able to transport the load from the start point to the destination even if a route including the node generated at the start point and the node generated at the destination is generated.

Special Table 2007-530967

Provided are a crane and a crane route generation system capable of generating a transport path in which a load can surely pass through a specified space position while suppressing the amount of calculation in a three-dimensional space within a workable range.

The problem to be solved by the present invention is as described above, and next, the means for solving this problem will be described.

That is, the first invention is a crane provided with an undulating and expandable boom on a swivel base, and a workable range setting unit that sets a workable range in which the load can be transported from the weight of the load to be transported. , Within the workable range, a node generation unit that generates a plurality of nodes through which the load can pass, and a route generation unit that generates a plurality of routes connecting adjacent nodes for each node generated by the node generation unit. A transport route determining unit that determines a transport route of the load satisfying a predetermined condition based on the priority of operating the plurality of actuators of the crane from the generated node and the plurality of paths. , The node generation unit generates a passing node at a specific position set within the workable range, and generates a plurality of nodes within the workable range with the passing node as a reference, and the transport path. The determination unit is a crane that determines the transport route via the passing node.

In the second invention, the node generation unit sets a specific region including the passing node, and the distance between the passing node and the node adjacent to the passing node in the specific region and the distance between the adjacent nodes are predetermined. It is a crane that generates the node in the specific area so as to be within the range.

In the third invention, the specific position is a hoisting completion position where the load is vertically above the transport start position and the transport start position, or a hoisting start position which is vertically above the transport end position and the transport end position. It is a route generation system for a crane.

A fourth invention is a path generation system for a crane in which a undulating and expandable boom is provided on a swivel, and acquires the position information of the crane, the machine body information of the crane, the weight of the luggage, and a specific position. , The information and communication unit that transmits the transport route of the luggage, the workable range setting unit that sets the workable range in which the luggage can be transported from the weight of the luggage, and the luggage can pass within the workable range. A node generation unit that generates a plurality of nodes, a route generation unit that generates a plurality of routes connecting adjacent nodes for each node generated by the node generation unit, and the generated plurality of nodes and the plurality of nodes. The node generation unit is capable of performing the work, comprising a transport route determining unit that determines a transport route of the load satisfying a predetermined condition based on the priority of operating a plurality of actuators of the crane from the path of the above. Passing nodes are generated at specific positions set within the range, and a plurality of nodes are generated within the workable range based on the passing nodes, and the transport route determining unit determines the transport path via the pass nodes. It is the path generation system of the crane to decide.

The present invention has the following effects.

In the first invention, since the node is generated at a specific position where the load is to be passed within the workable range and then the node is generated in the entire workable range, the density of the node is generated so that the node is generated at the specific position. There is no need to increase. As a result, it is possible to generate a transport path within the three-dimensional space of the workable range, in which the load reliably passes through the designated space position while suppressing the amount of calculation.

In the second invention, since the interval between the nodes in the specific region around the passing node generated at the specific position where the load is to be passed is adjusted, the influence of the variation of the nodes on the transport path is suppressed. As a result, it is possible to generate a transport path within the three-dimensional space of the workable range, in which the load reliably passes through the designated space position while suppressing the amount of calculation.

In the third invention, a transport path is generated in which the load is reliably transported vertically above the transport start position and the load is reliably suspended vertically above the transport end position without increasing the density of the nodes. .. As a result, it is possible to generate a transport path within the three-dimensional space of the workable range, in which the load reliably passes through the designated space position while suppressing the amount of calculation.

In the fourth invention, since the node is generated at a specific position where the load is to be passed within the workable range and then the node is generated in the entire workable range, the density of the node is generated so that the node is generated at the specific position. There is no need to increase. As a result, it is possible to generate a transport path within the three-dimensional space of the workable range, in which the load reliably passes through the designated space position while suppressing the amount of calculation.

The side view which shows the whole structure of the crane which concerns on this invention. A block diagram showing a control configuration of a crane. A block diagram showing a control configuration for route generation in a control device. FIG. 4 shows the state of node generation. (A) shows the state of the node seen from above the crane, and (B) shows the state of the node seen from the side of the crane. FIG. 5 shows nodes and paths. (A) shows the nodes and paths for each undulation angle, (B) shows the nodes and paths for each turning angle, and (C) shows the nodes and paths for each boom length. The figure which shows the weight based on the transport speed for each route. FIG. 7 shows an aspect of selecting a transport route. (A) shows the difference in the transport path due to the length of the path in the same turning radius, and (B) shows the difference in the transport path due to the difference in the turning radius. FIG. 8 shows a node generation state in a specific region including a passing node. (A) shows the state of the node seen from above the crane, and (B) shows the state of the node in the XX cross section in FIG. 8 (A). FIG. 9 shows a node generation state at the lifting position. (A) shows the state of the passing node and the node in the specific area, and (B) shows the state of the node outside the specific area. FIG. 10 shows the state of the transport path. (A) shows the state of the transport path seen from above the crane, and (B) shows the state of the transport path seen from the side. A block diagram showing a control configuration for route generation in a server computer.

The crane 1 will be described below with reference to FIGS. 1 and 2. Although the rough terrain crane will be described in the present application, the technical idea disclosed in the present application can be applied to all terrain cranes, truck cranes, loaded truck cranes, aerial work platforms and the like.

The crane 1 is composed of a vehicle 2 and a crane device 6.

The vehicle 2 includes a pair of left and right front wheels 3 and a rear wheel 4. Further, the vehicle 2 is provided with an out-trigger 5 for stabilizing the load W by grounding it when carrying the load W. The vehicle 2 supports a crane device 6 on its upper part.

The crane device 6 is a device for lifting a load W by a wire rope. The crane device 6 includes a swivel 8, a boom 9, a main hook block 10, a sub hook block 11, a main winch 13, a main wire rope 14, a sub winch 15, a sub wire rope 16, a cabin 17, and the like.

The swivel base 8 is a structure that allows the crane device 6 to swivel. The swivel base 8 is provided on the frame of the vehicle 2 via an annular bearing. The swivel base 8 is provided with a swivel hydraulic motor 81 which is an actuator. The swivel base 8 is configured to be swivelable in the left-right direction by a swivel hydraulic motor 81.

The turning hydraulic motor 81 is rotated by a turning valve 22 which is an electromagnetic proportional switching valve. The swivel valve 22 can control the flow rate of the hydraulic oil supplied to the swivel hydraulic motor 81 to an arbitrary flow rate. That is, the swivel base 8 is configured to be controllable to an arbitrary swivel speed via a swivel hydraulic motor 81 that is rotationally operated by the swivel valve 22. The swivel table 8 is provided with a swivel sensor 27 that detects the swivel angle and the swivel speed of the swivel table 8.

The boom 9 is a structure that allows the luggage W to be lifted. The boom 9 is provided so that its base end can swing at substantially the center of the swivel base 8. The boom 9 is provided with an expansion / contraction hydraulic cylinder 91 and an undulating hydraulic cylinder 92, which are actuators. The boom 9 is configured to be expandable and contractible in the longitudinal direction by a telescopic hydraulic cylinder 91. Further, the boom 9 is configured to be undulating in the vertical direction by the undulating hydraulic cylinder 92. Further, the boom 9 is provided with a boom camera 93.

The expansion / contraction hydraulic cylinder 91 is expanded / contracted by the expansion / contraction valve 23, which is an electromagnetic proportional switching valve. The expansion / contraction valve 23 can control the flow rate of the hydraulic oil supplied to the expansion / contraction hydraulic cylinder 91 to an arbitrary flow rate. That is, the boom 9 is configured to be controllable to an arbitrary expansion / contraction speed via the expansion / contraction hydraulic cylinder 91 that is expanded / contracted by the expansion / contraction valve 23. The boom 9 is provided with an expansion / contraction sensor 28 that detects the boom length and expansion / contraction speed of the boom 9.

The undulating hydraulic cylinder 92 is expanded and contracted by the undulating valve 24, which is an electromagnetic proportional switching valve. The undulation valve 24 can control the flow rate of the hydraulic oil supplied to the undulation hydraulic cylinder 92 to an arbitrary flow rate. That is, the boom 9 is configured to be controllable to an arbitrary undulation speed via the undulation hydraulic cylinder 92 that is expanded and contracted by the undulation valve 24. The boom 9 is provided with an undulation sensor 29 that detects the undulation angle and undulation speed of the boom 9.

The boom camera 93 acquires images of the luggage W and the feature C (see FIG. 11). The boom camera 93 is provided at the tip of the boom 9. Further, the boom camera 93 is configured to be rotatable 360 °, and can shoot in all directions centered on the tip end portion of the boom 9. The boom camera 93 is connected to a control device 32 described later.

The main hook block 10 and the sub hook block 11 are members for lifting the luggage W. The main hook block 10 is provided with a main hook 10a. The sub hook block 11 is provided with a sub hook 11a.

The main winch 13 and the main wire rope 14 are mechanisms for lifting the luggage W hooked on the main hook 10a. Further, the sub winch 15 and the sub wire rope 16 are mechanisms for lifting the luggage W hooked on the sub hook 11a. The main winch 13 and the sub winch 15 are provided with a winding sensor 26 for detecting the amount of rotation of each. The main winch 13 is configured so that the main hydraulic motor is controlled by a main valve 25 m, which is an electromagnetic proportional switching valve, and can be operated at arbitrary feed-in and feed-out speeds. Similarly, the sub winch 15 is configured to control the sub hydraulic motor by the sub valve 25s, which is an electromagnetic proportional switching valve, so that the sub winch 15 can be operated at an arbitrary feeding and feeding speed.

The cabin 17 is a structure that covers the cockpit. Inside the cabin 17, an operating tool for operating the vehicle 2 and an operating tool for operating the crane device 6 are provided. The swivel operating tool 18 can operate the swivel hydraulic motor 81. The undulation operation tool 19 can operate the undulation hydraulic cylinder 92. The telescopic operating tool 20 can operate the telescopic hydraulic cylinder 91. The main drum operating tool 21m can operate the main hydraulic motor. The sub drum operating tool 21s can operate the sub hydraulic motor.

The GNSS receiver 30 receives range-finding radio waves from satellites and calculates latitude, longitude, and altitude. The GNSS receiver 30 is provided in the cabin 17. Therefore, the crane 1 can acquire the position coordinates of the cabin 17. In addition, the bearing with respect to the vehicle 2 can be acquired. The GNSS receiver 30 is connected to a control device 32 described later.

The data communication device 31 is a device that communicates with an external server computer. The data communication device 31 is provided in the cabin 17. The data communication device 31 is configured to acquire spatial information of the work area Aw and information related to the transport work, which will be described later, from an external server computer. The data communication device 31 is connected to a control device 32 described later.

The control device 32 is a computer that controls various switching valves (swivel valve 22, expansion / contraction valve 23, undulation valve 24, main valve 25 m, and sub valve 25s). The control device 32 stores various programs and data for controlling various switching valves (22, 23, 24, 25 m, 25 s). Further, the control device 32 is connected to various sensors (winding sensor 26, turning sensor 27, expansion / contraction sensor 28, and undulation sensor 29). Further, the control device 32 is connected to various operating tools (swivel operating tool 18, undulating operating tool 19, telescopic operating tool 20, main drum operating tool 21m, and sub-drum operating tool 21s). Therefore, the control device 32 can generate control signals corresponding to the operation amounts of various operation tools (18, 19, 20, 21 m, 21s).

The crane 1 configured in this way can move the crane device 6 to an arbitrary position by traveling the vehicle 2. Further, the crane 1 can increase the lift and working radius of the crane device 6 by erecting the boom 9 and extending the boom 9. Then, the crane 1 can move the load W by alone or in combination with movements such as turning, undulating, expanding and contracting the boom 9, and hoisting the wire rope (main wire rope 14, sub wire rope 16).

Next, with reference to FIGS. 3 to 7, the automatic generation of the transport path CR of the load W within the workable range Ar of the work area Aw of the crane 1 will be described. It is assumed that the crane 1 is arranged in a work area Aw such as a construction site. Further, the crane 1 shall automatically transport the load W suspended from the sub-hook 11a along the generated transport path CR. In the following description, the position information is the position coordinate data of the crane 1. The airframe information is performance specification data of the crane 1. The control information is the operating state of the crane 1, control signals, detection values of various sensors, and the like. The information on the work is related to the lifting position Ps which is the transport start position of the luggage W, the lifting completion position Pu, the hanging start position Pd, the hanging position Pe which is the transport end position of the luggage W, the weight Wg of the luggage W, and the like. Information. The transport route information is the transport route CR of the package W, the transport speed, and the like. The spatial information of the work area Aw is three-dimensional information such as a feature C in the work area Aw.

As shown in FIG. 3, the crane 1 automatically generates a transport path CR for the load W in the control device 32. The control device 32 includes a workable range setting unit 32a, a node generation unit 32b, a route generation unit 32c, a transfer route determination unit 32d, and a transfer control unit 32e.

The workable range setting unit 32a of the control device 32 sets the workable range Ar in the virtual space from the weight Wg of the load W to be transported. The workable range setting unit 32a sets the lifting position Ps, the hanging position Pe, the weight Wg of the luggage W, and the work area Aw (see FIG. 4) as information related to work from an external server computer or the like via the data communication device 31. Get spatial information. The workable range setting unit 32a calculates the workable range Ar (see FIG. 4), which is a space in which the crane 1 can convey the load W, from the machine information of the crane 1 and the weight Wg of the load W.

As shown in FIG. 4, the node generation unit 32b has an arbitrary boom length Lx (n) and an arbitrary turning angle θy of the boom 9 within the workable range Ar in the polar coordinate system with the turning center of the boom 9 as the origin. Luggage W for changing (n) and an arbitrary undulation angle θz (n) for each predetermined boom length step, any turning angle step, and any undulation angle step, respectively, passes through. A node P (n) is generated in the virtual space (n is an arbitrary natural number).

The node generation unit 32b can expand and contract the boom 9 at a position of an arbitrary turning angle θy (n) in the clockwise direction with respect to the traveling direction of the vehicle 2 and an arbitrary undulation angle θz (n) with respect to the horizontal direction. A node P (n) is generated when the boom length is expanded or contracted at an arbitrary boom length step in the entire range of the boom length Lx (n). Next, the node generation unit 32b expands and contracts the boom 9 at a position of an arbitrary turning angle θy (n + 1) and an arbitrary undulation angle θz (n) that differs by an arbitrary turning angle step, every arbitrary boom length step. The node P (n) of the case is generated in the entire range of the stretchable boom length Lx (n). In this way, the node generation unit 32b expands and contracts the boom 9 at the position of the arbitrary undulation angle θz (n) at every arbitrary turning angle step in the entire range of the turning angle θy (n) that can be turned. Generate node P (n).

Similarly, the node generation unit 32b creates a node P (n) when the boom 9 at a position of an arbitrary undulation angle θz (n + 1), which differs by an arbitrary turning angle step, is expanded and contracted at an arbitrary boom length step. , It is generated for every turning angle step in the entire range of the turning angle θy (n) that can be turned. As described above, the node generation unit 32b has every turning angle step in the entire range of the swivel turning angle θy (n) and every arbitrary undulating angle step in the entire range of the undulating undulation angle θz (n). And, a node P (n) is generated at any boom length step in the entire range of the expandable boom length Lx (n). As a result, within the workable range Ar, a node P (n) at an arbitrary boom length Lx (n), an arbitrary turning angle θy (n), and an arbitrary undulation angle θz (n) of the boom 9 is arbitrary. It is generated for each turning angle step, every undulating angle step, and every boom length step.

Next, the path generation unit 32c of the control device 32 connects the nodes P (n) generated at the adjacent positions within the workable range Ar, thereby connecting the nodes P (n). Generate a path R (n) between them (see FIG. 5). The route generation unit 32c can move the load W from one node P (n) to a plurality of other nodes P (n + 1), P (n + 2), ... Adjacent to any one node P (n). Identify as. The route generation unit 32c generates routes R (n), R (n + 1) ... From one node P (n) to a plurality of adjacent other nodes P (n + 1), P (n + 2) ... .. The route generation unit 32c generates a route R (n) between all the nodes P (n) to generate a route network that covers the space within the workable range Ar.

As shown in FIG. 5 (A), the path generation unit 32c generates nodes in the order in which the boom 9 having the undulation angle θz (n) is reduced at an arbitrary turning angle θy (n) in every boom length step. The node P (n + 2) and the node P (n + 3) of the luggage W generated in order by reducing the boom 9 of P (n), the node P (n + 1) and the undulation angle θz (n + 1) for each boom length step. Generate a route connecting each of. The path R (n + 1) connecting the node P (n) and the node P (n + 1) is a path through which the luggage W passes due to the expansion and contraction of the boom 9. The route R (n + 2) connecting the node P (n) and the node P (n + 2) is a route through which the luggage W passes due to the undulations of the boom 9. The path R (n + 3) connecting the node P (n) and the node P (n + 3) is a path through which the luggage W passes due to expansion and contraction and undulation of the boom 9.

Further, as shown in FIG. 5 (B), the path generation unit 32c generates a boom 9 having a turning angle θy (n) by standing up at an arbitrary undulation angle step at an arbitrary boom length Lx (n). The node P (n + 4) and the node P (n + 5) of the luggage W and the boom 9 of the turning angle θy (n + 1) are erected at every undulation angle step to generate the node P (n + 6) and the node P of the luggage W. Generate a route connecting (n + 7). The route R (n + 5) connecting the node P (n + 4) and the node P (n + 5) is a route through which the luggage W passes due to the undulations of the boom 9. The route R (n + 6) connecting the node P (n + 4) and the node P (n + 6) is a route through which the luggage W passes by turning the boom 9. The route R (n + 7) connecting the node P (n + 4) and the node P (n + 7) is a route through which the luggage W passes due to the turning and undulation of the boom 9.

Further, as shown in FIG. 5C, the path generation unit 32c moves the boom 9 having a boom length Lx (n) in a clockwise direction at an arbitrary turning angle step at an arbitrary undulation angle θz (n). The luggage W generated by turning the node P (n + 8) and the node P (n + 9) of the luggage W generated by turning and the boom 9 having the boom length Lx (n + 1) in a clockwise direction at an arbitrary turning angle step. A route connecting the node P (n + 10) and the node P (n + 11) is generated. The route R (n + 9) connecting the node P (n + 8) and the node P (n + 9) is a route through which the luggage W passes due to the turning of the boom 9. The path R (n + 10) connecting the node P (n + 8) and the node P (n + 10) is a path through which the luggage W passes due to the expansion and contraction of the boom 9. The path R (n + 11) connecting the node P (n + 8) and the node P (n + 11) is a path through which the luggage W passes due to the turning and expansion / contraction of the boom 9. In the path R (n + 10) and the path R (n + 11), it is assumed that the fluctuation in the height direction due to the expansion and contraction of the boom 9 is controlled so as not to be caused by the winding and lowering of the sub wire rope 16.

The plurality of paths R (n) generated in this way are the paths of the load W carried by the independent movements of the boom 9 expansion / contraction, undulation, or rotation, and the plurality of movements of the expansion / contraction, undulation, and rotation. It is composed of the route of the luggage W transported by the combined use.

The transport route determination unit 32d of the control device 32 determines the transport path CR of the load W that satisfies the priority order for operating the actuator and the predetermined condition. The order of priority for operating the actuator is a turning hydraulic motor 81 for turning the boom 9, an undulating hydraulic cylinder 92 for raising and lowering the boom 9, and an expansion and contraction hydraulic cylinder 91 for expanding and contracting the boom 9. Further, the first condition, which is a predetermined condition of the present embodiment, is to select a route that minimizes the transport time of the load W by the independent operation of each actuator. Further, the second condition, which is a predetermined condition, is to select the path R (n) that reduces the turning radius when the load W is transported. In the present embodiment, the transport route CR is determined by the transport route determination unit 32d on a path on a plane in which the height direction of the load W is constant.

As shown in FIG. 6, the paths generated by the path generation unit 32c are nodes P (A1), nodes P (A2), ... Nodes generated at equal intervals on the circumference of an arbitrary turning radius RA. P (A6) and nodes P (B1), nodes P (B2), and nodes P (B6) generated at equal intervals on the circumference of an arbitrary turning radius RB are connected to each other. .. The route connecting the node P (A1) to the node P (A6) is referred to as a route R (n + 1), a route R (n + 2), and a route R (n + 6). The route connecting the node P (B1) to the node P (B6) is referred to as a route R (n + 7), a route R (n + 8), ... A route R (n + 12). Further, the route connecting the node P (A1) and the node P (B1) is defined as the route R (n + 13). The route connecting the node P (A3) and the node P (B3) is defined as the route R (n + 14). The route R (n + 1) to the route R (n + 12) is a route through which the load W is conveyed by the turning of the boom 9. The route R (n + 13) and the route R (n + 14) are routes through which the load W is transported by the undulations or expansion and contraction of the boom 9.

The transport route determination unit 32d sets a weight regarding the transport time for each route R (n) in order to select a route R (n) that satisfies the first condition. The transport route determining unit 32d sets a weight 1 from the path R (n + 1) to the path R (n + 12) to which the load W is transported by turning the boom 9 having the fastest transport speed (enclosed numbers in FIG. 6). Similarly, the transport path determining unit 32d has a path R (n + 13) and a path R (n + 14) in which the load W is conveyed by the undulations of the boom 9 having the next fastest transfer speed or the expansion / contraction of the boom 9 having the slowest transfer speed. ), The weight 2 during transportation due to undulations and the weight 3 during transportation due to expansion and contraction are set (enclosed numbers in FIG. 6). That is, in the transport path CR composed of a combination of a plurality of paths R (n), the smaller the total weight, the shorter the transport time.

As shown in FIG. 7A, when the node P (A1) is set to the lifting position Ps and the node P (A3) is set to the hanging position Pe, the transport path determining unit 32d uses the Dijkstra method or the like to perform the transfer path determination unit 32d. The route connecting the node P (A1) and the node P (A3) is determined to have the minimum weight. The route from the node P (A1) to the node P (A3) is a transport route CR1 (white) connecting the route R (n + 1) and the route R (n + 2) to which the load W is transported by the turning of the boom 9 having a high priority. There is a transport path CR2 (black-painted arrow) connecting the path R (n + 6), the path R (n + 5), the path R (n + 4), and the path R (n + 3). Since the turning radius of the transport path CR1 and the swivel radius of the transport path CR2 are the same, both transport path CRs satisfy the second condition. The transport route determination unit 32d selects the transport route CR1 having the smaller total weight of the routes as the transport route CR satisfying the first condition among the transport path CR1 having a total weight of 2 and the transport path CR2 having a total weight of 4. To do.

As shown in FIG. 7 (B), when the node P (A1) is set as the lifting position Ps and the node P (B3) is set as the hanging position Pe, the route from the node P (A1) to the node P (B3). Is a transport path CR3 with a turning radius RA connecting the path R (n + 1), the path R (n + 2), and the path R (n + 14) to which the load W is transported by the turning of the boom 9 having a high priority and the undulation of the boom 9. There are a black-painted arrow) and a transport path CR4 (white-painted arrow) having a turning radius RB connecting the path R (n + 13), the path R (n + 7), and the path R (n + 8). The transport route determination unit 32d sets a weight 2 due to undulations on the route R (n + 13) and the route R (n + 14). Since the total weight of the transport path CR3 and the total weight of the transport path CR4 are both 4, both transport path CRs satisfy the first condition. The transport path determination unit 32d selects the transport path CR4 having a small turning radius RB as the transport path CR that satisfies the second condition.

The transport control unit 32e of the control device 32 transmits a control signal Md to various switching valves of the crane device 6 so as to transport the load W along the transport path CR determined based on the priority of the actuator. When the load W is transported by the transport path CR4, the transport control unit 32e raises and lowers the boom 9 from the node P (A1) which is the lifting position Ps to transport the load W to the node P (B1). Subsequently, when the load W reaches the node P (B1), the transport control unit 32e turns the boom 9 and suspends the load W through the node P (B2) to the node P (B3) which is the position Pe. To be transported.

With this configuration, the crane 1 generates a node P (n) and a path R (n) connecting them only within the workable range Ar (see FIG. 4) determined by the weight Wg of the load W. , The cost for route generation can be reduced. Further, the crane 1 has a transport path CR in which the load W is transported from the lifting position Ps to the hanging position Pe in the shortest time by using an actuator having a high priority for transporting the load W of the actuator, and the load in the transport path CR. The combination of actuators used to convey W is determined. That is, the crane 1 selects a combination of actuators satisfying the first condition and the second condition based on the priority order of the actuators determined from the characteristics, the state of the workable range Ar, and the like. As a result, the load W can be transported by the optimum transport path CR in consideration of the operating conditions of the actuator.

Further, the transport route determination unit 32d has the second condition of selecting the path R (n) that reduces the turning radius of the load W during transport, but the height of the load W during transport, the entry prohibited area, and the like are used. The selection of a route that meets the restrictions may be the second condition. With this configuration, in the crane 1, the transport path CR is determined in consideration of the situation within the workable range Ar and the work content by using the actuator having a high priority for transporting the load W of the actuator. As a result, the load W can be transported by the optimum transport path CR in consideration of the operating conditions of the actuator. The node P (n) can be generated at any step in the feeding and feeding of the main winch 13 and the sub winch 15, and the tilting and expanding and contracting of the jib. That is, the crane 1 can generate the path R (n) and the transport path RC based on the feeding and feeding of the main winch 13 and the sub winch 15, and the tilting and stretching of the jib.

Next, the generation of the passing node Pp (n) and the path R (n) at a specific position in the workable range Ar will be described with reference to FIG. It is assumed that no node P (n) is generated in the workable range Ar. In the present embodiment, the specific positions are the lifting position Ps of the luggage W, the lifting completion position Pu, the hanging start position Pd, and the hanging position Pe. The passing node Pp (n) is a node through which the luggage W is passed. That is, the transport path CR is determined to include the passing node Pp (n).

As shown in FIG. 8, the node generation unit 32b of the control device 32 obtains three-dimensional coordinate information of the lifting position Ps, the lifting completion position Pu, the hanging start position Pd, and the hanging position Pe set by the operator or the like. Acquire (see Fig. 3). The lifting position Ps is a transport start position of the load W. The lifting completion position Pu represents the height at which the luggage W is lifted vertically upward from the lifting position Ps. The hanging position Pe is the transfer end position of the luggage W. The suspension start position Pd represents the height at which the luggage W is suspended from vertically above and suspended at the suspension position Pe.

The node generation unit 32b is a passing node Pp (n) that allows the load W to pass through the lifting position Ps, the lifting completion position Pu, the hanging start position Pd, and the hanging position Pe (in the present embodiment, the passing node Pp (1)). , Passing node Pp (2), passing node Pp (3) and passing node Pp (4)) are generated. Further, the node generation unit 32b is a hemisphere having a predetermined radius RC arbitrarily determined around the passing node Pp (1), the passing node Pp (2), the passing node Pp (3), and the passing node Pp (4). The specific area As of is set in the virtual space.

As shown in FIG. 9A, the node generation unit 32b generates a node P (n) with reference to the passing node Pp (n) in the specific region As. In the node generation unit 32b, the distance between the passing node Pp (n) in the specific region As and the node P (n) adjacent to the passing node Pp (n), and the adjacent nodes P (n) in the specific region As The position of the node P (n) is adjusted so that the interval (width of variation of the interval) is within a predetermined range.

Further, as shown in FIG. 9B, the node generation unit 32b uses the generated passing node Pp (1), passing node Pp (2), passing node Pp (3), and passing node Pp (4) as a reference. A plurality of nodes P (n) are generated in the workable range Ar. The node generation unit 32b adjusts the position of the node P (n) so that the distance between the adjacent nodes P (n) within the workable range Ar other than the specific area As is within a predetermined range. That is, the node P (n) is generated in the workable range Ar with the passing node Pp (1), the passing node Pp (2), the passing node Pp (3), and the passing node Pp (4) as base points. At this time, the node generation unit 32b generates the node P (n) so that the node density in the specific region As is higher than the node density in the region other than the specific region As. In this way, the node generation unit 32b adjusts the position of the node P (n) so that the distance between the adjacent passing node Pp (n) and the node P (n) and the distance between the adjacent nodes P (n) are adjusted. A plurality of nodes P (n) are generated in the workable range Ar while keeping the interval within a predetermined range.

The path generation unit 32c of the control device 32 passes through the passage points Pp (n) and the nodes P (n) in the workable range Ar including the node P (n) generated in the specific region As at adjacent positions. The path R (n) is generated by connecting the node Pp (n) and the node P (n), respectively (see FIG. 5). Since the nodes P (n) are arranged in each specific region As so that the node density is higher than that of the surroundings, a more precise route network than the surroundings is generated.

As shown in FIG. 10, the transport route determination unit 32d of the control device 32 determines the transport path CR of the load W that satisfies the priority order for operating the actuator and the predetermined conditions. The transport path determining unit 32d determines the transport path CR with the passing node Pp (1) generated at the lifting position Ps as the start point and the passing node Pp (4) generated at the suspension position Pe as the end point. .. At this time, the transport path determining unit 32d includes the passing node Pp (2) generated at the lifting completion position Pu and the passing node Pp (3) generated at the lifting start position Pd as passing points. Determine the route CR. The transport route determination unit 32d selects the route R (n) from the passing node Pp (1) so as to include the passing node Pp (4), so that the luggage W is lifted at the lifting position Ps, the lifting completion position Pu, and the suspension is started. A transport path CR that passes through the position Pd and the suspended position Pe can be constructed. The transport control unit 32e of the control device 32 transmits a control signal Md to various switching valves of the crane device 6 so as to transport the load W along the determined transport path CR. The crane 1 conveys the load W from the lifting position Ps to the lifting completion position Pu, the hanging start position Pd, and the hanging position Pe.

The crane 1 determines the transport path CR based on the lifting position Ps, the hanging position Pe, etc. acquired from an external server computer or the like, but the route input by the operator from a mobile terminal or the like (not shown). The transport path CR may be determined based on the position or the like. Further, the node generation unit 32b may be configured to adjust the distance between a plurality of adjacent nodes P (n) in the entire workable range Ar so as to be within a predetermined range without setting a specific area As. As a result, the node generation unit 32b has a region for adjusting the distance between the plurality of adjacent nodes P (n) more than the specific region As, so that the node generation unit 32b and the node P (n) adjacent to the passing node Pp (n) It is possible to reduce the range of the intervals between the passing nodes Pp (n) and the intervals between the adjacent nodes P (n) (the width of the variation in the intervals).

With this configuration, the crane 1 has a lifting position Ps, a lifting completion position Pu, a lifting start position Pd, and a specific position at which the luggage W is desired to pass within the workable range Ar determined by the weight Wg of the luggage W. Since the passing node Pp (n) is generated at the hanging position Pe and then the node is generated in the entire workable range Ar, the node is generated in the specific position or in the vicinity of the specific position. There is no need to increase the node density. Further, in the crane 1, the distance between the passing node Pp (n) in the specific area As and the node P (n) adjacent to the passing node Pp (n) and the distance between the adjacent nodes P (n) are predetermined. The generation position of the node P (n) is adjusted so that it falls within the range. Therefore, the crane 1 suppresses the influence of the variation of the node P (n) on the transport path CR.

Further, the crane 1 is transported vertically upward from the lifting position Ps to the lifting completion position Pu without increasing the node density, and is suspended from the suspension start position Pd vertically above the suspension position Pe. Is generated. As a result, the crane 1 can generate a transport path CR in which the load reliably passes through the designated specific position in the three-dimensional space of the workable range Ar while suppressing the amount of calculation. That is, the crane 1 can generate a route in consideration of the characteristics of the crane 1 by setting a specific position.

In the present embodiment, the crane 1 acquires the spatial information of the work area Aw and the information related to the work from an external server computer or the like, and automatically generates the transport path CR of the luggage W in the control device 32. It may be the configuration to acquire.

As shown in FIG. 11, the route generation system 33 automatically generates the transport route CR of the load W by the crane 1. The route generation system 33 is configured in the server computer 35 having the server computer side communication device 34, and is connected to the control device 32 of the crane 1 via the data communication device 31. The route generation system 33 includes an information communication unit 33a, a workable range setting unit 32a, a node generation unit 32b, a route generation unit 32c, and a transport route determination unit 32d. The following route generation system 33 is applied in place of the control device 32 of the crane 1, and the same name, drawing number, and code used in the description are used to refer to the same system. In the embodiment, the same points as those in the above-described embodiment will be omitted, and the differences will be mainly described.

The information and communication unit 33a acquires various information from the crane 1 and transmits various information to the crane 1. The information communication unit 33a acquires the position information of the crane 1, the machine body information of the crane 1, information on the work, and the like from the control device 32 of the crane 1 by using the communication device 34 on the server computer side. Further, the information communication unit 33a transmits the transport path CR determined by the transport route determination unit 32d to the crane 1.

The workable range setting unit 32a sets the workable range Ar in the virtual space in the server computer 35 from the weight Wg of the package W to be transported acquired by the information communication unit 33a. Further, the workable range setting unit 32a works with the lifting position Ps, the lifting completion position Pu, the hanging start position Pd, the hanging position Pe, and the weight Wg of the luggage W, which are information related to the work acquired by the information communication unit 33a. The spatial information of the area Aw (see FIG. 4) is acquired. The workable range setting unit 32a calculates the workable range Ar (see FIG. 4), which is a space in which the crane 1 can convey the load W, from the machine information of the crane 1 and the weight Wg of the load W.

The node generation unit 32b is a passing node P (n) that allows the load W to pass through the lifting position Ps, the lifting completion position Pu, the hanging start position Pd, and the hanging position Pe (in the present embodiment, the passing node Pp (1)). , Passing node Pp (2), passing node Pp (3) and passing node Pp (4)) are generated. The node generation unit 32b generates a node P (n) in a specific region As set around the passing node Pp (1), the passing node Pp (2), the passing node Pp (3), and the passing node Pp (4). To do. Further, the node generation unit 32b has a plurality of nodes P in the workable range Ar with reference to the generated passing node Pp (1), passing node Pp (2), passing node Pp (3), and passing node Pp (4). (N) is generated.

The route generation unit 32c generates all the routes R (n) through which the luggage W can pass within the workable range Ar (see FIG. 7). The path R (n) connects a plurality of nodes P (n) through which the luggage W suspended in the state where the sub wire rope 16 is most wound up can pass, for example. Then, the transport path determining unit 32d satisfies the priority order for operating the actuator and a predetermined condition, and sets the passing node Pp (1), the passing node Pp (2), the passing node Pp (3), and the passing node Pp (4). The transport route CR of the included luggage W is determined.

The route generation system 33 transmits the transport route CR calculated in the virtual space of the server computer 35 to the control device 32 of the crane 1 by using the communication device 34 on the server computer side. The control device 32 controls each actuator of the crane 1 based on the information of the transport path CR acquired from the route generation system 33. With this configuration, the route generation system 33 acquires the position information of the crane 1, the aircraft information of the crane 1, and the information related to the work, and calculates the transport route CR using the server computer 35 having sufficient computing power. To do. As a result, the route generation system 33 can suppress the calculation amount of the control device 32 of the crane 1 whose calculation capacity is limited.

The above-described embodiment only shows a typical embodiment, and can be variously modified and implemented within a range that does not deviate from the gist of one embodiment. It goes without saying that it can be carried out in various forms, and the scope of the present invention is indicated by the description of the claims, and further, the equal meanings described in the claims, and all within the scope. Including changes.

1 Crane 8 Swivel 9 Boom 32a Workable range setting unit 32b Node generation unit 32c Route generation unit 32d Transport route determination unit 32e Transport control unit Ar Workable range As Specific area Ps Lifting position Pe Suspended position P (n) Node R (n) Route Pp (n) Passing node CR Transport route W Luggage Wg Luggage weight

Claims (4)

A crane with a undulating and telescopic boom on the swivel.
A workable range setting unit that sets the workable range in which the load can be transported from the weight of the load to be transported,
A node generation unit that generates a plurality of nodes through which the luggage can pass within the workable range,
A route generation unit that generates a plurality of routes connecting adjacent nodes for each node generated by the node generation unit, and a route generation unit.
It is provided with a transport route determining unit that determines a transport route of the load satisfying a predetermined condition based on the priority of operating the plurality of actuators of the crane from the generated plurality of nodes and the plurality of paths. ,
The node generation unit generates a passing node at a specific position set within the workable range, and generates a plurality of nodes within the workable range with the passing node as a reference.
A crane in which the transport route determining unit determines a transport route via the passing node. The node generation unit sets a specific region including the passing node so that the distance between the passing node and the node adjacent to the passing node and the distance between the adjacent nodes in the specific region are within a predetermined range. The crane according to claim 1, wherein the node in the specific area is generated. Claim 1 or claim that the specific position is a lifting completion position that is vertically above the transport start position and the transport start position, or a suspension start position that is vertically above the transport end position and the transport end position. Item 2. The crane according to item 2. A crane path generation system in which a undulating and telescopic boom is provided on the swivel.
An information and communication unit that acquires the position information of the crane, the aircraft body information of the crane, the weight of the load and a specific position, and transmits the transport route of the load.
A workable range setting unit that sets a workable range in which the baggage can be transported from the weight of the baggage,
A node generation unit that generates a plurality of nodes through which the luggage can pass within the workable range,
A route generation unit that generates a plurality of routes connecting adjacent nodes for each node generated by the node generation unit, and a route generation unit.
It is provided with a transport route determining unit that determines a transport route of the load satisfying a predetermined condition based on the priority of operating the plurality of actuators of the crane from the generated plurality of nodes and the plurality of paths. ,
The node generation unit generates a passing node at a specific position set within the workable range, and generates a plurality of nodes within the workable range with the passing node as a reference.
The transport route determination unit is a route generation system for a crane that determines a transport route via the passing node.

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