JP2020200173A - crane - Google Patents

Abstract

To provide a crane capable of accurately receiving sound oscillated from a sound source provided on a hanging tool by a microphone unit provided on an undulation body and accurately calculating a position of the hanging tool.SOLUTION: A crane 10 comprises a plurality of microphone units 80 arranged on a boom 16, a speaker unit 60 arranged on a hook 55, a first hook position acquisition unit 701, a speaker angle calculation unit 702, and a second hook position acquisition unit 703. The speaker angle calculation unit 702 adjusts the relative postures of the speaker unit 60 and the microphone units 80 so that receiving units M of the microphone units 80 are included in the audible area of the speaker unit 60 according to a turning angle (reference position information) obtained by the first hook position acquisition unit 701. The second hook position acquisition unit 703 calculates the position of the hook 55 according to a time difference of the sounds received by the plurality of microphone units 80.SELECTED DRAWING: Figure 3

Description

The present invention relates to a crane.

Various types of cranes are used to transport goods at construction sites, factories, ports, etc. When cargo handling is performed using a crane, operations such as hoisting, hoisting, and turning are performed, but at that time, swing (hereinafter referred to as load swing) may occur in the suspended load. The occurrence of such load swings often makes it difficult to operate and operate the crane. For this reason, various techniques for accurately grasping the position of the suspended load have been conventionally proposed.

Non-Patent Document 1 describes a technique in which a sound source is provided on a hook or a hanging tool in order to measure a load swing angle for an overhead crane, while two microphone units are provided on the crane body at intervals from each other. It is disclosed.

In this technology, two microphone units provided in the crane body receive the acoustic signals of the sound source, and after obtaining the arrival time difference between the two acoustic signals, the relationship between the arrival time difference and the load swing angle is non-linear. A method of expressing the load swing angle by an equation and calculating the load swing angle has been proposed.

Journal of Robotics, Networking and Artificial Life, Vol.4, No. 4, March 2018, p.322-325

When the technique described in Non-Patent Document 1 is applied to a mobile crane, the sound generated from the sound source arranged on the hanging tool is received by two microphone units provided on the boom. In this case, there is a problem that the relative position between the sound source and the microphone unit tends to shift due to the undulation of the boom, the hoisting and lowering operation of the hanging tool, and the microphone unit cannot accurately receive the sound generated from the sound source.

The present invention has been made in view of the above problems, and the sound oscillated from the sound source provided in the hanging portion is accurately received by the microphone unit provided in the undulating body, and the position of the hanging portion is calculated accurately. The purpose is to provide a crane that can be used.

The speaker according to one aspect of the present invention is opposite to the machine body, the undulating body base end portion rotatably supported in the undulating direction around the rotation center axis horizontal to the machine body, and the undulating body base end portion. An undulating body having a undulating body tip portion arranged on the side, a rope hanging from the undulating body tip portion, a hanging portion attached to the lower end portion of the rope and capable of lifting a suspended load, and the undulating body. A plurality of microphone units, each of which has a receiving unit capable of receiving sound waves, and an audible region mounted on the hanging portion and formed in a specific directivity direction. The oscillating directional speaker, the reference position information acquisition unit that acquires the reference position information for adjusting the relative postures of the plurality of microphone units and the directional speaker, and the reference position information acquisition unit acquired by the reference position information acquisition unit. Relative adjustment of the relative postures of the plurality of microphone units and the directional speaker so that the receiving portions of the plurality of microphone units are included in the audible region of the directional speaker based on the reference position information. Relative to the aircraft based on the time difference between the posture adjusting unit and the sound waves oscillated from the directional speaker with the relative posture adjusted to reach the receiving units of the plurality of microphone units. It is provided with a position calculation unit for calculating a position.

According to this configuration, the position calculation unit calculates the relative position of the suspension unit with respect to the machine body based on the time difference in which the sound waves oscillated from the directional speaker reach the reception units of the plurality of microphone units. Prior to the calculation, the relative posture adjusting unit is described so that the receiving units of the plurality of microphone units are included in the audible region of the directional speaker based on the reference position information acquired by the reference position information acquisition unit. The relative postures of the plurality of microphone units and the directional speaker are adjusted. As a result, the sound oscillated from the directional speaker provided in the hanging portion can be accurately received by the microphone unit provided in the undulating body, and the position of the hanging portion can be calculated accurately.

In the above configuration, the relative posture adjusting unit is among the plurality of microphone units and the directional speaker so that the receiving units of the plurality of microphone units are included in the audible region of the directional speaker. It is desirable to change at least one posture.

According to this configuration, by changing the posture of at least one of the plurality of microphone units and the directional speaker, the receiving portions of the plurality of microphone units can be reliably arranged in the audible region of the directional speaker.

In the above configuration, the directional speaker has an oscillating unit capable of oscillating the sound wave and a speaker supporting portion oscillating the oscillating unit around the horizontal first speaker rotation center axis. The relative posture adjusting unit includes a first speaker driving unit that generates a driving force that causes the oscillating unit to swing around the rotation center axis of the first speaker, and the audible speaker of the directional speaker based on the reference position information. A speaker that controls the first speaker drive unit to swing the oscillating unit of the directional speaker around the rotation center axis of the first speaker so that the receiving unit of the plurality of microphone units is included in the region. It is desirable to have a drive control unit.

According to this configuration, the speaker drive control unit controls the first speaker drive unit to swing the oscillating unit of the directional speaker around the horizontal center axis of rotation, and the audible region of the directional speaker is moved in the front-rear direction. And can be moved up and down. As a result, the receiving units of the plurality of microphone units can be reliably arranged in the audible region of the directional speaker.

In the above configuration, the plurality of microphone units each have a microphone support portion that swingably supports the receiving unit around the horizontal first microphone rotation center axis, and the relative posture adjusting unit includes the plurality of microphone units. The first microphone drive unit that generates a driving force that swings the microphone unit around the rotation center axis of the first microphone, and the plurality of microphone units in the audible region of the directional speaker based on the reference position information. A microphone drive control unit that controls the first microphone drive unit to swing the receiver units of the plurality of microphone units around the first microphone rotation center axis so as to include the respective reception units. It is desirable to have.

According to this configuration, the microphone drive control unit controls the first microphone drive unit to swing the microphone unit around the horizontal center axis of rotation, and move the reception unit of the microphone unit in the front-rear direction and the up-down direction. Can be made to. As a result, the receiving units of the plurality of microphone units can be reliably arranged in the audible region of the directional speaker.

In the above configuration, a hanging winch capable of raising and lowering the hanging portion by hoisting and feeding the rope is further provided, and the reference position information acquisition unit raises and lowers the hanging portion as the reference position information. The height information, which is information on the ground altitude of the suspended portion, which changes depending on the above, is acquired, and the relative posture adjusting unit obtains the height information acquired by the reference position information acquiring unit, and the directional speaker It is desirable to change the posture of at least one of the plurality of microphone units and the directional speaker so that the receiving portion of the plurality of microphone units is included in the audible region.

According to this configuration, the posture of at least one of the microphone unit and the directional speaker is changed according to the raising and lowering of the hanging portion by the hanging winch, and the receiving portion of the microphone unit is securely arranged in the audible area of the directional speaker. can do.

In the above configuration, the undulating body driving unit capable of rotating the undulating body in the undulating direction is further provided, and the reference position information acquisition unit is rotated by the undulating body driving unit as the reference position information. The undulation angle of the undulating body is acquired, and the relative posture adjusting unit obtains the undulation angle acquired by the reference position information acquisition unit, and the plurality of microphone units are placed in the audible region of the directional speaker. It is desirable to change the posture of at least one of the plurality of microphone units and the directional speaker so that the receiving units of the above are included.

According to this configuration, the posture of at least one of the microphone unit and the directional speaker is changed according to the raising and lowering and the front-back movement of the hanging portion due to the undulating motion of the undulating body, and the microphone unit is placed in the audible region of the directional speaker. The receiving unit can be reliably arranged.

In the above configuration, the reference position information acquisition unit acquires, as the reference position information, runout information which is information on the amount of runout of the suspension portion in the front-rear direction with the tip of the undulating body as a fulcrum, and the relative posture. The adjusting unit has the plurality of microphones so that the receiving units of the plurality of microphone units are included in the audible region of the directional speaker according to the deflection information acquired by the reference position information acquisition unit. It is desirable to change the posture of at least one of the unit and the directional speaker.

According to this configuration, the posture of at least one of the microphone unit and the directional speaker is changed according to the swing of the hanging portion in the front-rear direction, and the receiving portion of the microphone unit is arranged in the audible region of the directional speaker. Can be done.

In the above configuration, the directional speaker includes an oscillating unit capable of oscillating the sound wave and a speaker supporting portion oscillating the oscillating unit around a second speaker rotation center axis extending at least in the vertical direction. The relative posture adjusting unit has a second speaker driving unit that generates a driving force that causes the oscillating unit to swing around the rotation center axis of the second speaker, and the directional speaker based on the reference position information. The second speaker driving unit is controlled so that the receiving unit of the plurality of microphone units is included in the audible region, and the oscillating unit of the directional speaker is shaken around the rotation center axis of the second speaker. It is desirable to have a speaker drive control unit to move.

According to this configuration, the speaker drive control unit controls the second speaker drive unit to swing the oscillation unit of the directional speaker at least around the rotation center axis extending in the vertical direction, and the audible region of the directional speaker. Can be moved left and right. As a result, the receiving units of the plurality of microphone units can be reliably arranged in the audible region of the directional speaker.

In the above configuration, the plurality of microphone units each have a microphone support portion that swingably supports the receiving portion around the second microphone rotation center axis extending in the vertical direction, and the relative posture adjusting portion A second microphone driving unit that generates a driving force for swinging the plurality of microphone units around the center axis of rotation of the second microphone, and the plurality of microphone units in the audible region of the directional speaker based on the reference position information. Microphone drive control that controls the second microphone drive unit to swing the receiver units of the plurality of microphone units around the second microphone rotation center axis so that the receiver units of the microphone units are included. It is desirable to have a part.

According to this configuration, the microphone drive control unit controls the second microphone drive unit to swing the microphone unit at least around the rotation center axis extending in the vertical direction, and move the receiving unit of the microphone unit in the horizontal direction. Can be made to. As a result, the receiving units of the plurality of microphone units can be reliably arranged in the audible region of the directional speaker.

In the above configuration, the reference position information acquisition unit acquires, as the reference position information, vibration information which is information on the amount of vibration of the suspension portion in the left-right direction with the tip of the undulating body as a fulcrum, and the relative posture. The adjusting unit has the plurality of microphones so that the receiving units of the plurality of microphone units are included in the audible region of the directional speaker according to the deflection information acquired by the reference position information acquisition unit. It is desirable to change the posture of at least one of the unit and the directional speaker.

According to this configuration, the posture of at least one of the microphone unit and the directional speaker is changed according to the swing of the hanging portion in the left-right direction, and the receiving portion of the microphone unit is reliably arranged in the audible region of the directional speaker. can do.

In the above configuration, the aircraft is supported by a lower traveling body capable of traveling on the ground and an upper turning body rotatably supported by the lower traveling body around a turning center axis extending in the vertical direction and undulatingly supporting the undulating body. The reference position information acquisition unit acquires the turning angle of the upper swivel body with respect to the lower traveling body as the reference position information, and the relative posture adjusting unit acquires the reference position information acquisition unit. At least one of the plurality of microphone units and the directional speaker so that the audible region of the directional speaker includes the receiving portion of the plurality of microphone units according to the turning angle acquired by. It is desirable to change one posture.

According to this configuration, the posture of at least one of the microphone unit and the directional speaker is changed according to the turning motion of the upper swinging body with respect to the lower traveling body, and the receiving portion of the microphone unit is placed in the audible region of the directional speaker. It can be reliably placed.

In the above configuration, the plurality of microphone units are a plurality of sets of microphone units each including the plurality of microphone units, and the length of the undulating body is the direction connecting the base end portion of the undulating body and the tip end portion of the undulating body. A plurality of sets of microphone units arranged so as to be spaced apart from each other along the direction are included, and the relative posture adjusting unit identifies at least one set from the plurality of sets of microphone units according to the audible region of the directional speaker. By selecting the microphone unit, the relative postures of the plurality of microphone units and the directional speaker are adjusted, and the position calculation unit uses the sound wave oscillated from the directional speaker with the specific microphone unit selected. It is desirable to calculate the relative position of the hanging portion with respect to the machine body based on the time difference in which the specific microphone unit reaches the receiving portion of the plurality of microphone units.

According to this configuration, the relative posture adjusting unit selects a specific microphone unit from a plurality of sets of microphone units, so that the receiving unit of the microphone unit can be easily arranged in the audible region of the directional speaker.

According to the present invention, there is provided a crane capable of accurately receiving the sound oscillated from the sound source provided on the hanging tool by the microphone unit provided on the undulating body and accurately calculating the position of the hanging tool. To.

It is a side view of the crane which concerns on one Embodiment of this invention. It is a side view of the crane which concerns on other embodiment of this invention. It is a side view which shows the arrangement of a plurality of microphone units in the crane which concerns on 1st Embodiment of this invention. It is an enlarged side view which shows the directional speaker provided in the suspension part of the crane which concerns on 1st Embodiment of this invention. It is an enlarged side view which shows the microphone unit provided on the undulating body in the crane which concerns on 1st Embodiment of this invention. It is a top view which shows the state that the upper swing body of the crane which concerns on 1st Embodiment of this invention turns. It is a block diagram of the control part of the crane which concerns on 1st Embodiment of this invention. It is a schematic diagram which shows a mode that the posture of a directional speaker is changed with the rise of the suspension part in the crane which concerns on 1st Embodiment of this invention. It is a block diagram of the control part of the crane which concerns on 2nd Embodiment of this invention. It is an enlarged side view which shows the microphone unit provided in the boom in the crane which concerns on 2nd Embodiment of this invention. It is a schematic diagram which shows a mode that the posture of a directional speaker and a microphone unit is changed with the rise of the suspension part in the crane which concerns on 2nd Embodiment of this invention. It is a side view which shows the arrangement of a plurality of microphone units in the crane which concerns on 3rd Embodiment of this invention. It is a schematic diagram which shows the state which the posture of the microphone unit is changed with the rise of the suspension part in the crane which concerns on 3rd Embodiment of this invention. It is a schematic diagram which shows the state which the posture of the microphone unit is changed with the rise of the suspension part in the crane which concerns on 3rd Embodiment of this invention. It is a block diagram of the control part of the crane which concerns on 4th Embodiment of this invention. It is a schematic diagram which shows how the specific microphone unit is selected with the rise of the suspension part in the crane which concerns on 4th Embodiment of this invention. It is a schematic diagram which shows how the specific microphone unit is selected with the rise of the suspension part in the crane which concerns on 4th Embodiment of this invention. It is a schematic diagram which shows the position of the specific microphone unit selected with the rise of the suspension part in the crane which concerns on 4th Embodiment of this invention. It is an enlarged side view which shows the microphone unit provided in the boom in the crane which concerns on 5th Embodiment of this invention. It is a block diagram of the control part of the crane which concerns on 5th Embodiment of this invention. It is a schematic diagram which shows the state which the posture of the microphone unit is changed with the rise of the suspension part in the crane which concerns on 5th Embodiment of this invention. It is a schematic diagram which shows the state which the posture of the microphone unit is changed with the rise of the suspension part in the crane which concerns on 5th Embodiment of this invention. It is a schematic diagram which shows a mode that the posture of a microphone unit is changed with the back-and-forth swing of a suspension part in the crane which concerns on 5th Embodiment of this invention. It is a schematic plan view which shows the state which the posture of the microphone unit is changed with the left-right swing of the suspension part in the crane which concerns on 5th Embodiment of this invention. It is a schematic front view which shows the state which the posture of the microphone unit is changed with the left-right swing of the suspension part in the crane which concerns on 5th Embodiment of this invention. It is a schematic diagram which shows how the position calculation part calculates the position of the suspension part in the plane including the front-rear direction and the up-down direction in each embodiment of this invention. It is a schematic diagram which shows how the position calculation part calculates the position of the suspension part in the plane including the front-rear direction and the left-right direction in each embodiment of this invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the present invention, each of the detailed embodiments described below applies to the crane 10A of FIG. 1 or the crane 10B of FIG. FIG. 1 is a side view of the crane 10A (10) according to the embodiment of the present invention. In the following, the directions of "up", "down", "front" and "rear" are shown in each figure, and the directions explain the structure and assembly method of the crane according to each embodiment. This is shown for convenience only, and does not limit the moving direction and usage mode of the crane according to the present invention. In addition, the ground G is shown in some of the subsequent drawings.

The crane 10A includes an upper swing body 12 corresponding to the airframe, a lower traveling body 14 that rotatably supports the upper swing body 12, a boom 16 that functions as an undulating body, and a lattice mast 17 and a mast 20 that are boom undulating members. , Equipped with. A cab 15 on which an operator is boarded is arranged at the front end of the upper swivel body 12.

The boom 16 is supported by a boom base end portion 16S (undulating body base end portion) rotatably supported in an undulating direction around a rotation center axis horizontal to the machine body (see FIG. 3), and the boom base end portion 16S. It has a boom tip portion 16T (undulating body tip portion) arranged on the opposite side. The boom 16 shown in FIG. 1 is a so-called lattice type, and is composed of a base end side member, one or more (two in the example) intermediate members, and a tip end side member. The base end side member is connected to the front portion of the upper swing body 12 so as to be rotatable in the undulating direction. The intermediate member is detachably added to the tip end side of the proximal end side member. The tip side member is detachably added to the tip side of the intermediate member.

However, the specific structure of the boom is not limited in the present invention. For example, the number of intermediate members of the boom may be different from the above. Further, the boom may be composed of a single member. Further, the boom may be of a telescopic form.

The lattice mast 17 includes a mast base end portion and a mast tip end portion. The mast base end portion is rotatably supported by the upper swing body 12 around a rotation shaft parallel to the rotation shaft of the boom 16 at a position on the rear side of the boom 16. That is, the lattice mast 17 can also rotate in the same direction as the undulating direction of the boom 16. The mast tip is the tip of the lattice mast 17 arranged on the side opposite to the mast base end in the longitudinal direction. The lattice mast 17 serves as a support for the rotation of the boom 16.

Further, the crane 10 includes a lower spreader 19A, an upper spreader 19B, a guy line 28, an undulating rope 44, and an undulating winch 32.

The lower spreader 19A is rotatably supported by the mast tip of the lattice mast 17. The lower spreader 19A includes a sheave block 191. A plurality of sheaves are arranged in the width direction (horizontal direction) in the sheave block 191.

The upper spreader 19B is arranged in front of the lower spreader 19A at predetermined intervals. The upper spreader 19B is detachably connected to the boom tip portion 16T of the boom 16 via a guy line 28. The upper spreader 19B includes a sheave block 192. A plurality of sheaves are arranged in the width direction (horizontal direction) in the sheave block 192.

A pair of guy lines 28 are arranged in the left-right direction orthogonal to the paper surface of FIG. The rear end of the guy line 28 is connected to the upper spreader 19B, and the front end of the guy line 28 is detachably connected to the boom tip 16T. The guy line 28 includes a guy link (metal plate), a guy rope, a guy wire (metal wire) and the like.

The undulating rope 44 is pulled out from the undulating winch 32, hung on the sheave at the tip of the lattice mast 17, and then hung a plurality of times between the sheave block 191 and the sheave block 192.

The undulating winch 32 is for undulating the boom 16 and is arranged at the base end portion of the lattice mast 17. The undulating winch 32 changes the distance between the sheave block 191 of the lower spreader 19A and the sheave block 192 of the upper spreader 19B by winding up and feeding out the undulating rope 44, and causes the boom 16 to the lattice mast 17. The boom 16 is raised and lowered while being relatively rotated.

The mast 20 has a base end and a rotating end (tip), and is rotatably connected to the upper swivel body 12 on the rear side of the lattice mast 17. The mast 20 has a rectangular shape in cross-sectional view. The rotation shaft of the mast 20 is arranged parallel to the rotation shaft of the boom 16 and at substantially the same position as the rotation shaft of the lattice mast 17. That is, the mast 20 can also rotate in the same direction as the undulating direction of the boom 16.

Further, the crane 10 includes a guy line 24, an undulating rope 38, and an undulating winch 30.

A pair of guy lines 24 are arranged in the left-right direction orthogonal to the paper surface of FIG. The guy line 24 connects the tip of the lattice mast 17 to the rotating end of the mast 20. This connection links the rotation of the lattice mast 17 with the rotation of the mast 20.

The undulating rope 38 includes a sheave block 42 arranged on the upper swivel body 12 and having a plurality of sheaves arranged in the width direction, and a sheave arranged at the rotating end of the mast 20 and having a plurality of sheaves arranged in the width direction. It is hung multiple times with the block 40.

The undulating winch 30 is arranged on the base end side of the mast 20. The undulating winch 30 winds up and unwinds the undulating rope 38. The winding and unwinding operation of the undulating winch 30 changes the distance between the sheave block 40 at the tip of the mast 20 and the sheave block 42 at the rear end of the upper swing body 12, and the distance between the sheave block 42 and the upper swing body 12 changes. The lattice mast 17 undulates while the mast 20 and the lattice mast 17 rotate integrally. The rotation of the lattice mast 17 and the mast 20 is mainly performed during the assembly and disassembly of the crane 10A, and the positions (ground angle) of the lattice mast 17 and the mast 20 are substantially fixed when the crane 10A is used.

In addition to the undulating winch 30 and the undulating winch 32 described above, the crane 10A is equipped with a main winding winch 34 and an auxiliary winding winch 36 for hoisting and lowering the suspended load. In the crane 10A according to the present embodiment, both the main winding winch 34 and the auxiliary winding winch 36 are installed on the base end side member of the boom 16. The winches 34 and 36 of the crane 10A may be mounted on the upper swing body 12.

The main winding winch 34 (suspended winch) winds up and lowers the suspended load by the main winding rope 51 (FIG. 1). Regarding this main winding, a guide sheave for main winding (not shown) is rotatably provided on the boom tip portion 16T of the boom 16, and a plurality of point sheaves for main winding are rotatably provided at positions adjacent to the guide sheave for main winding in the width direction. Sheave blocks 54 arranged in the above are provided. A hook 55 (hanging portion) capable of lifting a suspended load is connected to a main winding rope 51 hanging from a sheave block 54 at the boom tip portion 16T. Then, the main winding rope 51 drawn out from the main winding winch 34 is hung on the main winding guide sheave in order, and between the sheave of the sheave block 54 and the sheave of the sheave block 56 provided on the hook 55. It is handed over. Therefore, when the main winding winch 34 winds up or unwinds the main winding rope 51, the hook 55 is wound up and down (elevated and lowered).

Similarly, the auxiliary winding winch 36 winds up and lowers the suspended load by the auxiliary winding rope 52. This supplementary winding has the same structure (not shown) as the main winding described above. Then, when the auxiliary winding winch 36 winds up or unwinds the auxiliary winding rope 52, the auxiliary hook for hanging load connected to the end of the auxiliary winding rope 52 is wound up or unwound.

In the crane 10A, the lattice mast 17, the lower spreader 19A, the upper spreader 19B, the mast 20, the guy line 24, the guy line 28, the undulating winch 30, the undulating rope 38, the sheave block 40 and the sheave block 42 undulate the boom 16. It functions as a boom drive unit (undulating body drive unit).

FIG. 2 is a side view of the crane 10B (10) according to another embodiment of the present invention. The differences between the crane 10B and the above-mentioned crane 10A will be described below. In the crane 10B, the mast 20, the guy line 24, the undulating winch 30, the undulating rope 38, the sheave block 40, and the sheave block 42 function as a boom driving unit (undulating body driving unit) for undulating the boom 16.

On the other hand, the crane 10B includes a jib 18. The jib 18 is rotatably supported in an undulating direction around a rotation center axis horizontal to the tip of the boom 16. Further, the crane 10B includes an undulating winch 32, an undulating rope 44, a rear strut 21, a front strut 22, and a guy line 28. These members function as a jib driving unit (undulating body driving unit) for undulating the jib 18.

The rear strut 21 and the front strut 22 are rotatably supported by the tip of the boom 16. The undulating rope 44 pulled out from the undulating winch 32 is hung via the sheave 46 between the sheave blocks arranged at the tips of the rear strut 21 and the front strut 22, respectively. The tip of the front strut 22 is connected to the tip of the jib 18 by a guy line 28.

The distance between the sheave block at the tip of the rear strut 21 and the sheave block at the tip of the front strut 22 changes due to the winding and unwinding operation of the undulating rope 44 by the undulating winch 32, with respect to the boom 16. The jib 18 undulates while the front strut 22 and the jib 18 rotate integrally.

Further, in the present embodiment, the main winding rope 51 and the auxiliary winding rope 52 drawn out from the main winding winch 34 and the auxiliary winding winch 36 are hung from the tip end portion of the jib 18 having a structure similar to that of the crane 10A, and hooks are provided. It is connected to 55 and an auxiliary hook (not shown).

FIG. 3 is a side view showing the arrangement of a plurality of microphone receiving units M (microphone units 80) in the crane 10A according to the first embodiment of the present invention. FIG. 3 schematically shows a part of the crane 10A of FIG. FIG. 4 is an enlarged side view showing the speaker unit 60 (directional speaker) including the speaker oscillation unit 603 provided on the hook 55 (suspended portion) of the crane according to the present embodiment. FIG. 5 is an enlarged side view showing a microphone unit 80 including a microphone receiving unit M provided on the boom 16 in the crane 10A according to the present embodiment. FIG. 6 is a plan view showing how the upper swing body 12 of the crane 10A according to the present embodiment turns. FIG. 7 is a block diagram of the control unit 70 of the crane 10A according to the present embodiment. FIG. 8 is a schematic view showing how the posture of the speaker oscillator 603 is changed as the hook 55 rises in the crane according to the present embodiment.

With reference to FIGS. 3 and 4, in the present embodiment, the crane 10A has a microphone receiving unit M (a pair of left and right first microphone receiving units M1, a pair of left and right second microphone receiving units M2, and a pair of left and right microphone receiving units M2, respectively. It has a plurality of microphone units 80 and a speaker unit 60 including a microphone receiving unit M3). In the following description, in consideration of ease of explanation, the position and the like will be described by the microphone unit 80 or the microphone receiving unit M of the microphone unit 80.

A pair of left and right microphone receiving units M1, second microphone receiving unit M2, and third microphone receiving unit M3 are attached (fixed) to a main pipe 161 arranged on the front side of the boom 16. In addition, in FIGS. 3 and 5, only each microphone receiving unit M in front of the paper surface appears, but another microphone receiving unit M is mounted at intervals in the direction orthogonal to the paper surface (left-right direction). There is. In the present embodiment, each microphone receiving unit M is composed of a microphone unit 80 (FIG. 5) having the same structure, and is capable of receiving sound waves. In the present embodiment, as shown in FIG. 5, the microphone receiving unit M of each microphone unit 80 has a fixed sound receiving direction on the boom 16.

With reference to FIG. 4, the speaker unit 60 having the speaker oscillation unit 603 is composed of a directional speaker which is attached to the hook 55 and can oscillate a sound wave in an audible region formed in a specific direction direction. Specifically, the hook 55 has a hook support portion 551 and a hook main body 552. The hook body 552 is attached to the lower end of the hook support portion 551 and is connected to a suspended load. The hook support portion 551 has a sheave block 56 inside. A speaker unit 60 is attached to the upper end of the hook support portion 551. The speaker unit 60 includes a first support unit 601, a second support unit 602, and the speaker oscillation unit 603 (oscillation unit) described above.

The first support portion 601 (speaker support portion) is a member for supporting the speaker oscillation portion 603, and is fixed to the upper surface portion of the hook support portion 551. The second support portion 602 is supported by the first support portion 601. Specifically, the second support portion 602 (speaker support portion) can rotate (swing) around the speaker first shaft portion 60S (speaker first rotation center axis) extending the speaker oscillation unit 603 in the left-right direction (horizontal direction). ), And is supported by the first support portion 601 so as to be rotatable (swingable) around the speaker second shaft portion 60T (speaker second rotation center axis) extending in the vertical direction. The speaker oscillation unit 603 is capable of oscillating sound waves in the directivity direction.

Further, referring to FIG. 7, the crane 10A according to the present embodiment includes a control unit 70, a turning angle meter 711 (reference position information acquisition unit), a feeding amount detection unit 712 (reference position information acquisition unit), and the like. It has a speaker first motor 713, a speaker second motor 714, and a display unit 715.

The turning angle meter 711 is provided in a turning motor (not shown) for the upper turning body 12 to perform a turning operation with respect to the lower traveling body 14. The turning angle meter 711 detects the turning angle of the upper turning body 12 with respect to the lower traveling body 14, and inputs a signal corresponding to the detected angle to the control unit 70. In other words, the turning angle meter 711 acquires the turning angle of the upper turning body 12 with respect to the lower traveling body 14 as the reference position information.

The feeding amount detection unit 712 is provided in a speed reducer (not shown) of the main winding winch 34, detects the feeding amount and the winding amount (length) of the main winding rope 51 by the main winding winch 34, and the said A signal corresponding to the feeding amount and the winding amount is input to the control unit 70. By this signal, the vertical position (lift) of the hook 55 can be calculated. In other words, the feeding amount detection unit 712 acquires height information, which is information on the ground altitude of the hook 55, which changes as the hook 55 moves up and down, as reference position information.

The speaker first motor 713 (first speaker drive unit) is arranged in the second support unit 602, and generates a driving force capable of swinging the speaker oscillation unit 603 around the first speaker rotation center axis. ..

The speaker second motor 714 (second speaker drive unit) is arranged in the first support unit 601 and generates a driving force capable of swinging the speaker oscillation unit 603 around the second speaker rotation center axis. ..

The display unit 715 is arranged in the cab 15 and displays the detection results of the turning angle meter 711 and the feeding amount detection unit 712 as numerical values or images, and is a speaker driven by the speaker first motor 713 and the speaker second motor 714. The posture of the oscillating unit 603 is displayed numerically or as an image.

The control unit 70 controls a plurality of microphone units 80 (microphone receiving unit M) and a speaker unit 60 (speaker oscillator unit 603) according to the operation of the crane 10A.

The control unit 70 is composed of a CPU (Central Processing Unit), a ROM (Read Only Memory) for storing a control program, a RAM (Random Access Memory) used as a work area of the CPU, and the like. The control unit 70 includes a swivel angle meter 711 (reference position information acquisition unit), a feeding amount detection unit 712 (reference position information acquisition unit), a plurality of microphone reception units M, a speaker oscillation unit 603, a speaker first motor 713, and a speaker. The second motor 714, the display unit 715, and the like are electrically connected.

The control unit 70 executes a control program stored in the ROM by the CPU to execute a drive control unit 700 (relative posture adjustment unit, speaker drive control unit, microphone drive control unit), and a first hook position acquisition unit 701 ( It functions to include a reference position information acquisition unit), a speaker angle calculation unit 702 (relative posture adjustment unit), a second hook position acquisition unit 703 (position calculation unit), and a storage unit 704.

The drive control unit 700 outputs a drive command signal to the speaker first motor 713 and the speaker second motor 714. The drive control unit 700 drives the speaker first motor 713 and the speaker second motor 714 to rotate for a predetermined time, respectively, and the postures of the speaker oscillation unit 603 around the first speaker rotation center axis and around the second speaker rotation center axis. Are set respectively.

The first hook position acquisition unit 701 (reference position information acquisition unit) acquires the information (swivel angle) input from the swivel angle meter 711, and inputs the information to the speaker angle calculation unit 702. The information acquired by the first hook position acquisition unit 701 from the swivel angle meter 711 is information for adjusting the relative postures of the microphone reception unit M of the microphone unit 80 and the speaker oscillation unit 603 of the speaker unit 60, and is the upper part. It corresponds to the reference position information which is the information about the relative position of the hook 55 with respect to the swivel body 12.

Further, the first hook position acquisition unit 701 receives the information input from the feeding amount detecting unit 712 (the feeding amount and the winding amount of the main winding rope 51), and inputs the information to the speaker angle calculation unit 702. These information acquired by the first hook position acquisition unit 701 also correspond to reference position information (height information) which is information regarding the relative position of the hook 55 with respect to the upper swing body 12.

The speaker angle calculation unit 702 sets the angle (posture) of the speaker oscillation unit 603 for controlling the speaker first motor 713 and the speaker second motor 714 according to the reference position information acquired by the first hook position acquisition unit 701. Calculate as described below. At this time, the speaker angle calculation unit 702 so that each microphone receiving unit M is included in the audible region of the speaker oscillation unit 603 based on the reference position information acquired by the first hook position acquisition unit 701. The angle of the speaker oscillator 603 is calculated. The speaker angle calculation unit 702, the speaker first motor 713, and the speaker second motor 714 constitute the relative posture adjusting unit of the present invention. The relative posture adjusting unit changes the posture of the speaker oscillation unit 603 so that the reception unit of each microphone receiving unit M is included in the audible region of the speaker oscillation unit 603.

The second hook position acquisition unit 703 (position calculation unit) is based on the time difference in which the sound waves oscillated from the speaker oscillation unit 603 reach each microphone receiving unit M in a state where the posture of the speaker oscillation unit 603 is adjusted. , The relative position of the microphone receiving unit M with respect to the upper speaker 12 is calculated. The method of calculating the position by the second hook position acquisition unit 703 will be described later.

The storage unit 704 stores various constants, variables, mathematical formulas, and the like referred to in the calculation of the speaker angle calculation unit 702 and the second hook position acquisition unit 703.

Next, the posture change control of the speaker oscillation unit 603 of the speaker unit 60 in the present embodiment will be described. With reference to FIG. 6, when a suspended load (not shown) is connected to and lifted from the hook 55 hung from the tip of the boom 16, the speaker oscillating unit 603 on the hook 55 is directed in the turning central axis 12C. It is arranged so as to face (arrow D61). Further, as shown in FIG. 3, the directivity direction CS of the speaker oscillation unit 603 is the central portion (second microphone reception unit M2) of the first microphone reception unit M1, the second microphone reception unit M2, and the third microphone reception unit M3. The initial posture of the speaker oscillator 603 is set so as to face it. Therefore, even when the hook 55 (suspended load) swings in the front-rear direction, one of the microphone receiving units M (a pair of left and right microphone units) can receive the sound wave of the speaker oscillation unit 603.

In such a state, when the upper swivel body 12 swivels by an angle θS with respect to the lower traveling body 14 (FIG. 1), the speaker oscillator on the hook 55 is due to the heavy weight of the hook 55 and the suspended load. The 603 is arranged so that its direction is parallel to the above-mentioned arrow D61 (arrow D62). In this case, since the plurality of microphone receiving units M are not arranged in the directivity direction of the speaker oscillating unit 603, the plurality of microphone receiving units M cannot accurately receive the sound waves oscillated by the speaker oscillating unit 603. Therefore, in the present embodiment, when the first hook position acquisition unit 701 acquires the rotation angle θS output from the rotation angle meter 711, the speaker angle calculation unit 702 sets the swing angle of the speaker oscillation unit 603 to θS. Then, the drive control unit 700 controls the speaker second motor 714 to swing the speaker oscillation unit 603 around the speaker second shaft unit 60T by an angle θS. At this time, the speaker oscillator 603 is swung in the direction opposite to the turning direction of the upper swing body 12. As a result, the directivity direction of the speaker oscillation unit 603 is adjusted so as to face the turning center axis 12C (arrow D63). The plurality of microphone receiving units M can accurately receive the sound waves oscillated by the speaker oscillating unit 603.

As described above, in the present embodiment, since the speaker unit 60 including the speaker oscillation unit 603 is composed of directional speakers, sound waves are oscillated in the minimum necessary range, and noise at the work site of the crane 10A is reduced. be able to. On the other hand, in such a directional speaker, since the audible range is limited, it becomes difficult for the plurality of microphone receiving units M to accurately receive sound waves depending on the posture of the crane 10A. As described above, the speaker angle calculation unit 702 sets the swing angle of the speaker oscillation unit 603 to an angle equal to the swing angle of the upper swing body 12 according to the swing operation of the crane 10A. Therefore, the plurality of microphone receiving units M can accurately receive the sound waves of the speaker oscillation unit 603, and the second hook position acquisition unit 703 can accurately calculate the position of the hook 55 as described later. Become.

In other words, in the present embodiment, the drive control unit 700 and the speaker angle calculation unit 702 (relative posture adjustment unit) are in the audible region of the speaker oscillation unit 603 according to the rotation angle acquired by the rotation angle meter 711. The posture of the speaker oscillation unit 603 is changed so that a plurality of microphone reception units M are included in the speaker.

Further, referring to FIG. 8, the straight line connecting the boom base end portion 16S and the boom tip portion 16T of the boom 16 is defined as the boom center line CB, and the hook 55 located at the same height as the boom base end portion 16S It is assumed that the head is lifted to the height of the lift H. In this case, the lift H can be detected by the feeding amount detection unit 712. For explanation, the position of the boom base end portion 16S is indicated by a point S, the position of the boom tip portion 16T is indicated by a point T, the position of the hook 55 is indicated by a point F, and the position of the second microphone receiving portion M2 is indicated by a point B. .. Further, the length of the boom 16 is LB, the distance from the boom base end portion 16S to the second microphone receiving portion M2 is L2, the undulation angle of the boom 16 detected by the boom angle meter 721 described later is θB, and the speaker in the vertical direction. The angle of the oscillating unit 603 is defined by the elevation angle β. Hereinafter, the elevation angle β of the speaker oscillation unit 603 calculated by the speaker angle calculation unit 702 will be described.

First, the following equations 1 and 2 are derived from the cosine theorem for the distance FB.
^{FB 2 = (LB × cosθB)} 2 -2 × LB × cosθB × L2 × cosθB ··· ( Equation 1)
^{FB = ((LB 2 -2 ×} LB × L2) × (cosθB) 2 + L2 2) 1/2 ··· ( Equation 2)
The initial elevation angle β is represented by the following equation 3.
β = cos ^-1 (L2 × sinθB / FB) ・ ・ ・ (Equation 3)
Further, the elevation angle β'when the lift is increased by the height H is calculated by the following equation 4.
β'= tan ^-1 (FB × cosβ / (L2 × sinθB−H)) ・ ・ ・ (Equation 4)
That is, when the lift H rises, the drive control unit 700 (speaker) changes the elevation angle of the speaker oscillation unit 603 from β to β'according to the calculation result of the speaker angle calculation unit 702 (speaker drive control unit). The drive control unit) controls the speaker first motor 713 to swing the speaker oscillation unit 603 around the first speaker rotation center axis, so that the speaker oscillation unit 603 maintains a state of facing the second microphone receiver M2. can do. Even if the undulation angle θB of the boom 16 changes in FIG. 8, the above calculation can be performed each time.

As described above, in the present embodiment, even when the height of the hook 55 changes according to the undulation of the boom 16, the winding of the main winding rope 51 by the undulating winch 32, and the unwinding operation, the hook 55 Since the direction (elevation angle) of the speaker oscillator 603 can be adjusted according to the ascent and descent, the second microphone receiver M2 and a plurality of microphone receivers M around the second microphone receiver M accurately transmit the sound waves of the speaker oscillator 603. It becomes possible to receive, and the position of the hook 55 can be accurately calculated by the second hook position acquisition unit 703 as described later.

In other words, in the present embodiment, the speaker first motor is such that the speaker angle calculation unit 702 and the drive control unit 700 include the microphone reception units M of the plurality of microphone units 80 in the audible region of the speaker oscillation unit 603. The 713 is controlled to swing the speaker oscillator 603 around the first speaker rotation center axis.

Next, the second embodiment of the present invention will be described. FIG. 9 is a block diagram of the control unit 70 of the crane 10A according to the present embodiment. FIG. 10 is an enlarged side view showing the microphone receiving unit M of the microphone unit 80 provided on the boom 16 in the crane 10A according to the present embodiment. FIG. 11 is a schematic view showing how the postures of the speaker oscillating unit 603 and the microphone receiving unit M are changed as the hook 55 rises in the crane 10A according to the present embodiment. Hereinafter, the differences between the present embodiment and the first embodiment will be mainly described.

In this embodiment, as shown in FIG. 9, the crane 10A further includes a microphone first motor 716 (first microphone driving unit). Further, as shown in FIG. 10, the microphone unit 80 has a microphone support portion 800 that swingably supports the microphone receiving portion M around the microphone first axis portion 801 (first microphone rotation center axis). The microphone support portion 800 is fixed to the main pipe 161 of the boom 16. The microphone first motor 716 generates a rotational driving force capable of independently swinging each microphone receiving unit M around the microphone first shaft portion 801. The microphone first motor 716 is controlled by the drive control unit 700.

Further, the control unit 70 functions to have a microphone angle calculation unit 705 (relative posture adjusting unit). The microphone angle calculation unit 705 controls the microphone first motor 716 so that the microphone receiving units M of the plurality of microphone units 80 are included in the audible region of the speaker oscillation unit 603, and the microphone receiving unit M is used as the first microphone. Swing around the center axis of rotation.

With reference to FIG. 11, it is assumed that the hook 55 is raised by the lift H, as in FIG. 8 in the first embodiment above. In this case, the elevation angle β'of the hook 55 is calculated by the above equations 1 to 4. Here, the depression angle α of the microphone receiving unit M (second microphone receiving unit M2) is derived by the following equation 5.
α = 90 ° -β ... (Equation 5)
Therefore, when the hook 55 is lifted by H, the depression angle α'of the microphone receiving unit M is calculated by replacing β in Equation 5 with β'. Therefore, when the microphone angle calculation unit 705 calculates α'and inputs it to the drive control unit 700, the microphone first motor 716 swings the microphone reception unit M around the first microphone rotation center axis, so that the microphone reception unit M M can be directed to the speaker oscillator 603 of the hook 55. As a result, the plurality of microphone receiving units M can accurately receive the sound waves of the speaker oscillating unit 603, and the second hook position acquiring unit 703 accurately calculates the position of the hook 55 (suspended load) as described later. It becomes possible to do. It should be noted that the mode may be such that only the depression angle α of the microphone receiving unit M is adjusted without adjusting the elevation angle β of the speaker oscillation unit 603 of the hook 55.

As described above, in the present embodiment, the drive control unit 700 sets the microphone first so that each microphone receiving unit M is included in the audible region of the speaker oscillation unit 603 according to the calculation result of the microphone angle calculation unit 705. One motor 716 is controlled to swing each microphone receiving unit M around the microphone first shaft unit 801.

Next, a third embodiment of the present invention will be described. FIG. 12 is a side view showing the arrangement of a plurality of microphone receiving units M in the crane 10B according to the third embodiment of the present invention. 13 and 14 are schematic views showing how the posture of each microphone receiving unit M is changed as the hook 55 rises in the crane 10B according to the present embodiment. Hereinafter, the differences between the present embodiment and the second embodiment will be mainly described.

As shown in FIG. 12, in the present embodiment, the jib 18 is rotatably supported at the tip of the boom 16 in the undulating direction (crane 10B in FIG. 2). In the crane 10B, the main winding rope 51 may be hung from the tip of the boom 16 or the main winding rope 51 may be hung from the tip of the jib 18. Therefore, as shown in FIG. 12, in addition to the first microphone receiving unit M1, the second microphone receiving unit M2, and the third microphone receiving unit M3 being arranged on the boom 16 in pairs on the left and right, the jib 18 is used. The fifth microphone receiving unit M5, the sixth microphone receiving unit M6, the seventh microphone receiving unit M7, and the eighth microphone receiving unit M8 are arranged in pairs on each side. For example, by setting the angles of the sixth microphone receiving unit M6, the seventh microphone receiving unit M7, and the eighth microphone receiving unit M8 to the boom 16 side, the first microphone receiving unit M1 and the second microphone receiving unit M2 are set. In addition to the third microphone receiver M3, the sixth microphone receiver M6, the seventh microphone receiver M7, and the eighth microphone receiver M8 are speaker oscillators on the hook 55 hanging from the tip of the boom 16. The sound of 603 may be received.

In such a configuration, by directing each microphone receiving unit M toward the speaker oscillation unit 603 on the hook 55, the second hook position acquisition unit 703 can accurately calculate the position of the hook 55 as described later. It will be possible. In particular, since the direction of each microphone receiving unit M follows the speaker oscillating unit 603 as the hook 55 moves up and down, the sound of the speaker oscillating unit 603 can be accurately received by the plurality of microphone receiving units M. The posture change of each microphone receiving unit M in the present embodiment will be described in more detail below.

In FIG. 13, when the lift (position) of the hook 55 is lower than that of the first microphone receiving unit M1 and the second microphone receiving unit M2, the depression angles θ1 and θ2 of each microphone receiving unit M will be described. On the other hand, in FIG. 14, when the lift of the hook 55 is higher than that of the first microphone receiving unit M1 and the second microphone receiving unit M2, the depression angles θ1 and θ2 of each microphone receiving unit M will be described. In either case, the microphone angle calculation unit 705 (FIG. 8) performs the following calculation to calculate the depression angles θ1 and 2 of each microphone reception unit M.

In the present embodiment, as an initial setting, the directions of the first microphone receiving unit M1 and the second microphone receiving unit M2 are arranged so as to be orthogonal to the boom center line CB (see the arrow in FIG. 13). The positions of the first microphone receiving unit M1 and the second microphone receiving unit M2 are set to points A and B, respectively, and the distances from the boom base end portion 16S (point S) to the first microphone receiving unit M1 are L1 (AS) and the boom. The distance from the base end portion 16S to the second microphone receiving portion M2 is defined as L2 (BS).

In the present embodiment, the microphone angle calculation unit 705 always calculates the distance TF. The distance TF is calculated by subtracting the lift of the hook 55 from the height (point height) of the boom tip 16T. Further, the microphone angle calculation unit 705 calculates the distance TS and the distance SF by the following equations 6 and 7.
TS = TF / sinθB ・ ・ ・ (Equation 6)
SF = TS × cosθB ・ ・ ・ (Equation 7)

Further, regarding the calculation of the depression angle θ1 of the first microphone receiving unit M1, first, the following equations 8, 9 and 10 are calculated. The distance TA is stored in the storage unit 704 in advance.
AS = TS-TA ... (Equation 8)
^{AF 2 = AS 2 + SF 2} -2 × AS × SF × cosθB ··· ( Equation 9)
AF = (AF ² ) ^1/2 ... (Equation 10)
Further, the following equations 11 and 12 are satisfied for the angle θ1'of FIGS. 13 and 14.
cos θ1'= (AS ² + AF ^2- SF ² ) / (2 x AS x AF) ... (Equation 11)
θ1'= acos (cosθ1') ... (Equation 12)
The depression angle θ1 is calculated from Equation 13 using the above θ1'.
θ1 = 90 ° -θ1'... (Equation 13)

On the other hand, regarding the calculation of the depression angle θ2 of the second microphone receiving unit M2, the following equations 14, 15 and 16 are calculated. The distance TB is stored in the storage unit 704 in advance.
BS = TS-TB ... (Equation 14)
BF ² = BS ² + SF ² -2 x BS x SF x cos θB ... (Equation 15)
BF = (BF ² ) ^1/2 ... (Equation 16)
Further, equations 17 and 18 are satisfied below for the angle θ2'of FIGS. 13 and 14.
cos θ2'= (BS ² + BF ^2- SF ² ) / (2 × BS × AF) ・ ・ ・ (Equation 17)
θ2'= acos (cosθ2') ... (Equation 18)
The depression angle θ2 is calculated from Equation 19 using the above θ2'.
θ2 = 90 ° -θ2'... (Equation 19)

Therefore, as the hook 55 moves up and down, the microphone angle calculation unit 705 determines the depression angles θ1 and θ2 of each microphone reception unit M based on the above calculation, and the drive control unit 700 controls the microphone first motor 716. Then, each microphone receiving unit M can be directed to the speaker oscillating unit 603 on the hook 55.

As shown in FIG. 12, the posture change of the fourth microphone receiving unit M4 to the eighth microphone receiving unit M8 arranged on the jib 18 is the same as described above. In this case, the crane 10B has the jib angle meter 722 (FIG. 15) described later, and by detecting the jib undulation angle θJ in FIG. 12, the above undulation angle θB can be replaced and each depression angle can be calculated. .. Also in this embodiment, as in the embodiment described later, a part of microphone reception desirable for receiving the sound from the speaker oscillation unit 603 from the first microphone receiving unit M1 to the eighth microphone receiving unit M8 is received. The mode in which the part M is selected may be used. In the present embodiment, when the second hook position acquisition unit 703 calculates the swing angle (position of the hook 55) of the hook 55 in the plane including the vertical direction and the front-rear direction as described later, FIG. Each of the indicated microphone receiving units M (M1 to M8) may be arranged one by one.

Next, a fourth embodiment of the present invention will be described. FIG. 15 is a block diagram of the control unit 70 of the crane 10B according to the present embodiment. 16 and 17 are schematic views showing how a part of the microphone receiving units M are selected as the hook 55 rises in the crane 10B according to the present embodiment. FIG. 18 is a schematic view showing the position of the microphone receiving unit M selected as the hook 55 rises in the crane according to the present embodiment. Hereinafter, the differences between the present embodiment and the first embodiment will be mainly described.

With reference to FIG. 15, in the present embodiment, the crane 10B further includes a boom angle meter 721 (reference position information acquisition unit) and a jib angle meter 722 (reference position information acquisition unit). The boom angle meter 721 detects the ground angle of the boom 16, and the jib angle meter 722 detects the ground angle of the jib 18. In other words, the boom angle meter 721 and the jib angle meter 722 acquire the undulation angles of the boom 16 and the jib 18 rotated by the boom drive unit and the jib drive unit as reference position information.

In the present embodiment, as shown in FIG. 16, the first microphone receiving unit M1, the second microphone receiving unit M2, the third microphone receiving unit M3, the ninth microphone receiving unit M9, and the tenth microphone receiving unit M10 are placed on the boom 16. , The 11th microphone receiving unit M11 and the 12th microphone receiving unit M12 are provided, and the 4th microphone receiving unit M4, the 5th microphone receiving unit M5, the 6th microphone receiving unit M6, and the 7th microphone receiving unit are provided on the jib 18. An M7 and an eighth microphone receiver M8 are provided. A pair of left and right microphone receiving units M are arranged. In other words, a plurality of sets of microphone units 80 (microphone receiving units M) arranged in pairs on the left and right are arranged on the boom 16 and the jib 18. Further, a main winding rope 51 is hung from the tip of the jib 18, and a hook 55 is arranged at the tip of the main winding rope 51. The directivity direction of the speaker oscillator 603 provided on the hook 55 is preset so as to face rearward. As in the other embodiments, the speaker oscillator 603 may be swingably supported so that the directivity direction of the speaker oscillator 603 changes.

Further, the control unit 70 functions to have a microphone selection unit 706 (relative posture adjusting unit). The microphone selection unit 706 adjusts the relative postures of the plurality of sets of microphone units 80 and the speaker oscillation unit 603 by selecting at least one set of specific microphone units 80 from the plurality of sets of microphone units 80.

In the present embodiment, when the main winding rope 51 is wound and unwound by the main winding winch 34, the hook 55 moves up and down. The amount of lifting and lowering of the hook 55 is detected by the feeding amount detecting unit 712. Further, when the boom 16 and the jib 18 undulate, the hook 55 moves up and down and back and forth. The amount of movement of the hook 55 is determined by the first hook position acquisition unit 701 from the lengths of the boom 16 and jib 18 stored in the storage unit 704 in advance, in addition to the angles detected by the boom angle meter 721 and the jib angle meter 722. Can be calculated.

As shown in FIG. 16, when the height of the hook 55 with respect to the ground G is included between the upper and lower broken lines, the microphone selection unit 706 receives the sound wave oscillated from the speaker oscillation unit 603 as the reception destination of the ninth microphone. M9, the tenth microphone receiving unit M10, and the eleventh microphone receiving unit M11 are selected. On the other hand, as shown in FIG. 17, when the height of the hook 55 with respect to the ground G is included between the upper and lower broken lines, the microphone selection unit 706 receives the sound wave oscillated from the speaker oscillation unit 603 as the first microphone. The receiving unit M1, the second microphone receiving unit M2, and the third microphone receiving unit M3 are selected.

As described above, in the present embodiment, the microphone selection unit 706 (relative posture adjusting unit) is composed of at least a pair of left and right microphone units 80, and is arranged at intervals along the longitudinal direction of the boom 16 or jib 18. By selecting at least one set of specific microphone units 80 from the plurality of sets of microphone units 80 according to the audible region of the speaker oscillation unit 603, the microphone receiving unit M and the speaker unit 60 of the plurality of microphone units 80 can be selected. The relative posture of the speaker oscillation unit 603 is adjusted. Then, the second hook position acquisition unit 703 described later has a time difference in which the sound waves oscillated from the speaker oscillation unit 603 with the specific microphone unit 80 selected reach the microphone reception unit M of the specific microphone unit 80, respectively. Based on this, the relative position of the hook 55 with respect to the upper swing body 12 is calculated.

In addition, referring to FIG. 18, the microphone selection unit 706 (FIG. 15) selects a specific microphone reception unit M arranged at a position closer to the hook 55 than the other microphone reception unit M. In order to specifically explain how the microphone receiving unit M on the boom 16 is selected, the first microphone receiving unit M1, the second microphone receiving unit M2, the third microphone receiving unit M3, and the fourth microphone receiving unit M1 from the boom tip 16T. The distances to the microphone receiver M4 are defined as X1, X2, X3 and X4, respectively. Here, the distance LN between the shortest position N on the boom 16 from the hook 55 and the boom tip portion 16T is calculated by the following equation 20. H is the distance between the boom tip 16T and the hook 55.
LN = H × sinθB ・ ・ ・ (Equation 20)
Therefore, the distances X1, X2, X3 and X4 of the first microphone receiving unit M1, the second microphone receiving unit M2, the third microphone receiving unit M3 and the fourth microphone receiving unit M4 with respect to the boom tip 16T and the above LN are large and small. By comparing the relationships, the second microphone receiving unit M2 and the third microphone receiving unit M3 can be selected as the microphone receiving unit M arranged at the position closest to the hook 55.

As described above, in the present embodiment, by selecting the microphone unit 80 (microphone receiving unit M) suitable for collecting the sound oscillated from the speaker oscillating unit 603, the above sound is collected with high accuracy, which will be described later. As described above, the second hook position acquisition unit 703 can accurately calculate the position of the hook 55. In particular, the influence of noise can be suppressed by stopping the sound collection of the microphone unit 80 arranged at a position where the sound is difficult to reach or by removing the sound data. In the present embodiment, when the second hook position acquisition unit 703 calculates the swing angle (position of the hook 55) of the hook 55 in the plane including the vertical direction and the front-rear direction as described later, FIG. Each of the indicated microphone receiving units M (M1 to M12) may be arranged one by one.

Next, a fifth embodiment of the present invention will be described. FIG. 19 is an enlarged side view showing a microphone unit 80 provided on the boom in the crane according to the present embodiment. FIG. 20 is a block diagram of the control unit 70 of the crane 10A according to the present embodiment. 21 and 22 are schematic views showing how the posture of the microphone receiving unit M is changed as the hook 55 rises in the crane 10A according to the present embodiment. FIG. 23 is a schematic view showing how the posture of the microphone receiving unit M is changed due to the forward / backward swing of the hook 55 in the crane 10A according to the present embodiment. 24 and 25 are a schematic plan view and a front view showing how the posture of the microphone receiving unit M is changed with the left-right swing of the hook 55 in the crane 10A according to the present embodiment.

With reference to FIG. 19, in the present embodiment, the microphone unit 80 has a microphone receiving unit M, a microphone support unit 800, and a base unit 802 (microphone support unit). The microphone support unit 800 supports the microphone reception unit M so as to be swingable around the horizontal microphone first axis portion 801 (first microphone rotation center axis). Further, the base portion 802 supports the microphone receiving portion M via the microphone supporting portion 800 so as to be swingable around the microphone second shaft portion 803 (second microphone rotation center axis). In the present embodiment, the microphone second shaft portion 803 extends parallel to the main pipe 161 (boom center line CB) of the boom 16. Therefore, in the normal use state of the crane 10A, when the boom 16 is upright, the microphone second shaft portion 803 extends at least in the vertical direction.

With reference to FIG. 20, the crane 10A further has a wire angle meter 723 (reference position information acquisition unit) and a microphone second motor 717 (second microphone drive unit).

The wire angle meter 723 (runout information detection unit) is provided at the boom tip portion 16T of the boom 16 and detects the runout amount (runout angle) of the main winding rope 51 in the vertical direction. In particular, in the present embodiment, the wire angle meter 723 is used in the front-rear direction (parallel and horizontal to the upright surface of the boom 16) and the left-right direction (parallel to the rotation center axis of the boom 16) of the main winding rope 51, respectively. The amount of runout in is detected. In other words, the wire angle meter 723 acquires runout information as reference position information regarding the amount of runout in the front-rear direction and the left-right direction of the hook 55 with the boom tip portion 16T as a fulcrum.

The microphone second motor 717 generates a rotational driving force capable of swinging the microphone receiving unit M around the second microphone rotation center axis. The microphone second motor 717 is arranged in the base portion 802. The microphone first motor 716 is arranged in the microphone support portion 800 as described above, and generates a rotational driving force capable of swinging the microphone receiving portion M around the rotation center axis of the first microphone. ..

In the present embodiment, the microphone angle calculation unit 705 and the drive control unit 700 are provided so that the audible region of the speaker oscillation unit 603 includes the reception units of the microphone reception units M (a pair of left and right second microphone reception units M2). , The microphone first motor 716 is controlled to swing the microphone receiving unit M around the first microphone rotation center axis according to the runout information acquired by the wire angle meter 723, while the microphone second motor 717. Is controlled to swing the microphone receiving unit M around the second microphone rotation center axis.

Hereinafter, the procedure for adjusting the angle (posture) of the second microphone receiving unit M2 among the plurality of microphone receiving units M on the boom 16 in the present embodiment will be described. With reference to FIG. 21, the angle of the microphone receiving unit M is adjusted in advance (reference adjustment) prior to the start of the work of the crane 10A. Specifically, the hook 55 is moved directly below the boom tip portion 16T (boom point) so that the hook 55 is in contact with the ground G. In this state, the postures of the second microphone receiving unit M2 and the speaker oscillating unit 603 are adjusted so that the second microphone receiving unit M2 and the speaker oscillating unit 603 on the hook 55 face each other. Hereinafter, the angle θM of the second microphone receiving unit M2 in this state with respect to the horizontal direction is defined as a reference angle.

Normally, in the crane 10A, the ground G is often used as a reference (zero point) in the vertical direction. Therefore, by grounding the hook 55 to the ground G as shown in FIG. 21, the reference setting of the second microphone receiving unit M2 and the speaker oscillation unit 603 can be easily performed. In another embodiment, if the distance between the hook 55 and the ground G can be accurately measured by using a known laser displacement meter or the like, the hook 55 is arranged at a predetermined height from the ground G. The reference angle θM of the second microphone receiving unit M2 may be set in this state.

In the state shown in FIG. 21, the length LW of the main winding rope 51 hanging from the boom tip portion 16T is calculated by the following equation 21.
Rope length LW = height of boom tip 16T (boom point height) -height of hook 55 K ... (Equation 21)
Here, the boom point height may be stored in the storage unit 704 in advance according to the undulation angle θB of the boom, or may be calculated by the following equation 22.
Boom point height = Boom length LB x sinθB + Boom foot height J ... (Equation 22)
The boom length LB, hook height K, and boom foot height J are stored in the storage unit 704 in advance.

As shown in FIGS. 21 to 22, it is assumed that the lift of the hook 55 changes by ΔH. In this case, the depression angle of the second microphone receiving unit M2 is adjusted as in each of the above embodiments. Specifically, the corrected depression angle of the second microphone receiving unit M2 is defined as θN, the distance between the boom tip portion 16T and the second microphone receiving unit M2 is defined as LM, and the distance between the second microphone receiving unit M2 and the hook 55 If the distance is defined as LX, the following equation 23 is satisfied from the cosine theorem in the state of FIG.
LX ² = LM ² + LW ² -2 x LM x LW x cos (90-θB) ... (Equation 23)
Next, in the state of FIG. 22, the distance between the second microphone receiving unit M2 and the hook 55 is defined as LX', and the distance from the boom tip 16T to the hook 55 is defined as LW'. 25 is satisfied.
^{LX '2 = LM 2 + LW} ' 2 -2 × LM × LW '× cos (90-θB) ··· ( Formula 24)
LW'= LW-ΔH ... (Equation 25)
ΔH is a known calculation from the rotation amount of the main winding winch 34, the winding amount per rotation of the main winding winch 34, and the number of times the main winding rope 51 is hung between the boom tip portion 16T and the hook 55. It can be calculated based on the method.
The following equation 26 is derived from equations 23, 24 and 25 and the law of cosines.
cosθN = (LX ² + LX ' ^2- ΔH ² ) / (2 x LX x LX') ... (Equation 26)
Therefore, by calculating the above θN by the microphone angle calculation unit 705, the drive control unit 700 can control the speaker first motor 713 to adjust the depression angle of the microphone receiving unit M from θM to θM−θN. ..

Here, the hook 55 has a pendulum structure because it is connected to the main winding rope 51 hanging from the boom tip portion 16T. Therefore, the hook 55 may swing when the suspended load is lifted. In the present embodiment, the depression angle of the second microphone receiving unit M2 is further corrected in consideration of the deflection.

A case where the main winding rope 51 is shaken in the front-rear direction in the state of FIG. 22 will be described. As described above, the wire angle meter 723 can detect the deflection angle θF (FIG. 23) in the front-rear direction of the main winding rope 51 (hook 55). Further, although the wire angle meter 723 is composed of a known angle sensor, it may be composed of an IMU (Inertial Measurement Unit) or a gyro sensor known in other embodiments. Assuming that the lateral runout of the main winding rope 51 is zero and the distance between the second microphone receiving unit M2 and the hook 55 in FIG. 23 is defined as LY, the following equation 27 is satisfied.
^{LY 2 = LM 2 + LW '} 2 -2 × LM × LW' × cos (90-θB + θF) ··· ( Formula 27)
Further, if the amount of movement of the hook 55 due to the runout in the front-rear direction is defined as LT, the following equation 28 is satisfied from the cosine theorem.
^{LT 2 = LW '2 + LW} ' 2 -2 × LW '× LW' × cosθF
^{= 2 × LW '2 × (} 1-cosθF) ··· ( Formula 28)
Therefore, equation 29 is derived for the angle θG from equations 27, 28 and the law of cosines.
^{cosθG = (LX '2 + LY} 2 -LT 2) / (2 × LX' × LY) ··· ( Equation 29)
Therefore, by further changing the posture of the second microphone receiving unit M2 by the correction angle θG with respect to the state of FIG. 22, the second microphone receiving unit M2 can be made to follow the hook 55. Since the amount of runout of the hook 55 changes at any time, it is desirable to adjust the angle of the second microphone receiving unit M2 while repeating the above calculation.

Next, in the state of FIG. 22, a case where the main winding rope 51 is shaken in the left-right direction will be described. With reference to FIG. 25, the wire angle meter 723 can detect the lateral runout angle θQ of the main winding rope 51 (hook 55). At this time, when the crane 10A is viewed from above, as shown in FIG. 24, the straight line connecting the hook 55 and the second microphone receiving unit M2 and the boom center line CB form an angle θP. Further, the distance between the boom tip portion 16T and the hook 55 in the left-right direction is defined as LZ, and the distance between the second microphone receiving portion M2 and the boom tip portion 16T in the front-rear direction is defined as LP. Further, as shown in FIG. 23, the distance between the boom tip portion 16T and the second microphone receiving portion M2 is indicated by LM.

In this case, the following equations 30 and 31 are satisfied.
LP = LM × cosθB ・ ・ ・ (Equation 30)
LZ = LW'× sinθQ ・ ・ ・ (Equation 31)
Equation 32 holds from FIG. 24.
tanθP = LZ / LP ... (Equation 32)
Therefore, the microphone angle calculation unit 705 (FIG. 20) calculates the above angle θP from the equations 30, 31 and 32, and controls the microphone second motor 717 to swing the microphone reception unit M by the angle θP. Then, as shown in FIGS. 24 and 25, the posture of the second microphone receiving unit M2 can be changed toward the hook 55.

Further, by simultaneously controlling the above-mentioned deflection in the front-rear direction and the left-right direction, even if the hook 55 swings in the front-rear direction and the left-right direction at the same time, the second microphone receiving unit M2 is directed toward the hook 55 and the speaker oscillation unit is used. The sound oscillated from the 603 can be received by the second microphone receiving unit M2. Therefore, the need to oscillate a sound wave with a large output from the speaker oscillation unit 603 is reduced. Similar control is possible for the other microphone receiving unit M.

Next, in each of the above embodiments, the position detection operation of the hook 55 by the second hook position acquisition unit 703 will be described. FIG. 26 is a schematic diagram showing how the second hook position acquisition unit 703 (position calculation unit) calculates the position of the hook 55 (suspended load) in the plane including the front-rear direction and the vertical direction in each embodiment of the present invention. It is a figure. In the above description, the reference microphone receiving unit M0 is provided at the tip of the boom 16, but a third microphone receiving unit M3 may be used instead of the reference microphone receiving unit M0, and three microphone reception units adjacent to each other may be used. If it is part M, the position of the hook 55 can be calculated in the same manner.

The second hook position acquisition unit 703 shifts the timing at which each of the reference microphone receiving unit M0, the first microphone receiving unit M1 and the second microphone receiving unit M2 receives the sound wave oscillated by the speaker oscillating unit 603 on the hook 55. Based on the above, the difference in the distances from the speaker oscillation unit 603 to the reference microphone reception unit M0, the first microphone reception unit M1 and the second microphone reception unit M2 is calculated. Specifically, assuming that the speaker oscillation unit 603 is located at the center of gravity position F of the hook 55, assuming that the distance from the center of gravity position F of the hook 55 to the reference microphone receiving unit M0 is α (unknown), the second hook position acquisition unit Reference numeral 703 is a difference d1 between the distance d1 from the center of gravity position F of the hook 55 to the first microphone receiving unit M1 and the distance α, and the distance α between the center of gravity position F of the hook 55 and the second microphone receiving unit M2. The difference d2 is calculated. The difference between these distances may be calculated, for example, by calculating the difference in reception timing (time difference) based on the correlation function of the reception signals of the two target microphones, and multiplying the time difference by the speed of sound.

The second hook position acquisition unit 703 uses the position information of each of the reference microphone receiving unit M0, the first microphone receiving unit M1 and the second microphone receiving unit M2 (distance X1 between the reference microphone receiving unit M0 and the first microphone receiving unit M1). , The distance X2) between the first microphone receiving unit M1 and the second microphone receiving unit M2), and the hook 55 in the plane including the vertical direction and the front-back direction based on the differences d1 and d2 calculated as described above. The runout angle θR is calculated.

Hereinafter, a method of calculating the runout angle θR will be described on the assumption that the distances X1, X2, the differences d1, d2, and the undulation angle θB of the boom 16 are known or already detected.

A triangle including an angle formed by a line segment connecting the first microphone receiving portion M1 and the boom tip portion 16T and a line segment connecting the boom tip portion 16T and the hook 55, and the second microphone receiving portion M2 and the boom tip portion. Using the cosine theorem triangularly including the angle formed by the line segment connecting the 16T and the line segment connecting the boom tip 16T and the hook 55, the following equations 33 and 34 are derived.
(Α + d1) ² = α ² + X1 ² -2 × α × X1 × cos (π / 2 + θR-θB)
= Α ² + X1 ² + 2 × α × X1 × sin (θR−θB) ・ ・ ・ (Equation 33)
^{(Α + d2) 2 = α} 2 + (X1 + X2) 2 -2 × α × (X1 + X2) × cos (π / 2 + θR-θB)
= Α ² + (X1 + X2) ² + 2 × α × (X1 + X2) × sin (θR−θB) ・ ・ ・ (Equation 34)
From these, the following equations 35 and 36 are derived with respect to the distance α.
α = (X1 ^2- d1 ² ) / (2 × d1-2 × X1 × sin (θR-θB)) ... (Equation 35)
α = ((X1 + X2) ^2- d2 ² ) / (2 × d2-2 × (X1 + X2) × sin (θR−θB)) ・ ・ ・ (Equation 36)
Therefore, if the distance α is eliminated from the above equations 35 and 36, the following equation 37 is derived with respect to the runout angle θR.
sin (θR-θB) = ((X1 + X2) ² x d1 + d1 x d2 x (d1-d2) -X1 ² x d2) / (X1 x X2 x (X1 + X2) -X1 x d2 ² + (X1 + X2) x d1 ² ) ... (Equation 37)
Therefore, by applying the inverse trigonometric function to Equation 37 and then adding the angle θB, the runout angle θR (where −π / 2 <θR <π / 2) can be calculated.

If the runout angle θR is obtained, the undulation angle θB of the boom 16 is controlled based on the runout angle θR, so that the boom tip portion 16T of the boom 16 and the center of gravity position F of the hook 55 (suspended load) are vertically aligned. Since the alignment can be performed, it is possible to prevent the occurrence of load runout. In addition, as shown in FIG. 26, in order to calculate the swing angle θR (position of the hook 55) of the hook 55 in the plane including the vertical direction and the front-back direction, a plurality of microphone receiving units M are used in the side view shown in FIG. (Microphone unit 80) may be arranged.

On the other hand, FIG. 27 shows how the second hook position acquisition unit 703 (position calculation unit) calculates the position of the hook 55 (suspended load) in the plane including the front-rear direction and the left-right direction in each embodiment of the present invention. It is a schematic diagram which shows. As shown in FIG. 27, the three microphone receiving units M2A, the microphone receiving unit M2B, and the microphone receiving unit M2C are orthogonal to the direction in which the boom 16 extends (front-rear direction in FIG. 27) when the crane 10A is viewed from above (FIG. 27). They are arranged so as to be spaced apart from each other along the left-right direction of 27). Specifically, the microphone receiving unit M2A is arranged at the center of the boom 16 in the width direction, the microphone receiving unit M2B is arranged at the left end of the boom 16 in the width direction, and the microphone receiving unit M2C is arranged at the right end of the boom 16 in the width direction. .. Here, the distances from the microphone receiving unit M2A to the microphone receiving unit M2B and the microphone receiving unit M2C are both the same distance x.

That is, the difference between FIG. 27 and FIG. 26 is the calculation formula of the mounting positions of the three microphone receiving units M and the load swing angle θX described later referred to by the second hook position acquisition unit 703. As shown in FIG. 27, the load swing angle θX is the angle of the hook 55 with respect to the direction in which the boom 16 extends (the front-rear direction in FIG. 27) when the crane 10A is viewed from above. In other words, in FIG. 27, the load swing angle θX is such that the line connecting the center of gravity position F of the hook 55 (suspended load) and the position B of the microphone receiving portion M2A on the boom 16 extends in the direction in which the boom 16 extends (straight line SB). It is expressed as an angle to make.

Hereinafter, as in the case of FIG. 26, a method of calculating the load swing angle θX will be described assuming that the distance x and the differences d1 and d2 are known.

A triangle including an angle formed by a line segment connecting the microphone receiving unit M2B and the microphone receiving unit M2A and a line segment connecting the microphone receiving unit M2A and the hook 55, and connecting the microphone receiving unit M2A and the microphone receiving unit M2C. Using the cosine theorem triangularly including the angle formed by the line segment and the line segment connecting the microphone receiving unit M2C and the hook 55, the following equations 38 and 39 are derived.
(Α + d1) ² = α ² + x ² -2 x α x x x cos (π / 2-θX)
= Α ² + x ² -2 x α x x x sin (θX) ... (Equation 38)

(Α + d2) ² = α ² + x ² -2 x α x x x cos (π / 2 + θX)
= Α ² + x ² + 2 × α × x × sin (θX) ・ ・ ・ (Equation 39)
From equations 38 and 39, the following equation 40 is derived with respect to the distance α.
^{α = (2 × x 2 -d1} 2 -d2 2) / 2 × (d1 + d2) ··· ( Equation 40)

On the other hand, the following equation 41 can be derived from equations 38 and 39.
sin (θX) = (-d1 ² + d2 ² -2 x α (d1-d2))) / (4α x x) ... (Equation 41)
By substituting Equation 41 into Equation 40 and applying the inverse trigonometric function, it is possible to calculate the load swing angle θX (where −π / 2 <θX <π / 2).

If the load swing angle θX is obtained, the boom 16 extends in the direction in which the boom 16 is extended when the crane 10A is viewed from above by controlling the turning angle of the upper swing body 12 of the crane 10A based on the load swing angle θX (FIG. 27). It is possible to prevent the occurrence of load runout in a direction perpendicular to (front-back direction) (left-right direction in FIG. 27). In addition, as shown in FIG. 27, in order to calculate the swing angle θX (position of the hook 55) of the hook 55 in the plane including the left-right direction and the front-back direction, a plurality of microphone receivers M in the plan view shown in FIG. 27 (Microphone unit 80) may be arranged.

The position information of the hook 55 acquired by the second hook position acquisition unit 703 as described above includes the above-mentioned turning angle meter 711, extension amount detection unit 712, boom angle meter 721, jib angle meter 722, and wire angle meter 723. It is detected with higher accuracy than the position information of the hook 55 obtained from the above. As an example, the deflection of the boom 16 and the jib 18 is not added to the position of the hook 55 calculated from the undulation angle detected by the boom angle meter 721 and the jib angle meter 722 and the lengths of the boom 16 and the jib 18. .. On the other hand, since the position information calculated by the second hook position acquisition unit 703 is based on the time difference of the sound waves oscillated from the speaker oscillation unit 603, the influence of the deflection of the boom 16 and the jib 18 as described above should be excluded. Can be done.

Further, since the second hook position acquisition unit 703 calculates the position of the hook 55 based on the time difference of the sound reaching each microphone receiving unit M, even if the position of the hook 55 changes momentarily due to load swing, the hook It is possible to calculate the position of the hook 55 so as to follow the movement of the 55.

Further, the position information of the hook 55 (suspended load) acquired by the second hook position acquisition unit 703 is not limited to the load runout control as described above. Even in work such as aligning the bolt holes opened in the first member (not shown) lifted by the hook 55 with the bolt holes opened in the second member (not shown) placed on the ground, the hook By accurately calculating the position of 55, the bolt holes can be accurately aligned with each other.

The crane 10 (10A, 10B) according to the embodiment of the present invention has been described above. The present invention is not limited to these forms. In the present invention, the following modified embodiments are possible.

(1) In each of the above embodiments, at least one of the posture change of the microphone receiving unit M of the microphone unit 80 and the posture change of the speaker oscillation unit 603 of the speaker unit 60 may be executed. When the posture of the microphone receiving unit M of the plurality of microphone units 80 is changed, it is desirable that the posture of each microphone receiving unit M is adjusted according to the position of the hook 55. In this case, each microphone receiving unit M may be individually changed in posture around at least one of the above-mentioned microphone first shaft portion 801 and the microphone second shaft portion 803, or extends in another direction. The posture of the microphone receiving unit M may be changed around the shaft portion.

(2) In each of the above embodiments, the number of microphone receiving units M (microphone unit 80) is not particularly limited. In order for the second hook position acquisition unit 703 to calculate the position of the hook 55 using the time difference of sound waves, at least two microphone reception units M may be arranged.

(3) Further, the method in which the second hook position acquisition unit 703 calculates the position of the hook 55 is not limited to the above. As disclosed in the Journal of Robotics, Networking and Artificial Life, Vol.4, No. 4, March 2018, p.322-325, two microphone units each receive the acoustic signal of the sound source, and the two A method may be applied in which the arrival time difference of the acoustic signal is obtained, the relationship between the arrival time difference and the load deflection angle is expressed by a non-linear equation, and the load deflection angle is calculated by a calculation process. Also in this case, in order to calculate the swing angle (position of the hook 55) of the hook 55 in the plane including the vertical direction and the front-back direction, a plurality of microphone receiving units M (microphone units) are viewed from the side as shown in FIG. 80) may be arranged. Further, in order to calculate the swing angle (position of the hook 55) of the hook 55 in the plane including the left-right direction and the front-back direction, a plurality of microphone receiving units M (microphone unit 80) in a plan view as shown in FIG. 27. Should be placed.

(4) Further, the crane according to the present invention is not limited to the above-mentioned crane 10 (10A, 10B), and may be a crane having another structure including an airframe and an undulating body.

10, 10A, 10B Crane 12 Upper swivel body (airframe)
14 Lower traveling body (airframe)
15 Cab 16 Boom (undulating body)
16S Boom base end 16T Boom tip 18 Jib (undulating body)
34 Main winding winch (winch)
36 Winch for auxiliary winding 51 Main winding rope (rope)
55 hook (hanging part)
551 Hook support 552 Hook body 60 Speaker unit (directional speaker)
601 First support (speaker support)
602 Second support (speaker support)
603 Speaker oscillator (oscillator)
60S Speaker 1st axis 60T Speaker 2nd axis 70 Control 700 Drive control (relative posture adjustment, speaker drive control, microphone drive control)
701 First hook position acquisition unit (reference position information acquisition unit)
702 Speaker angle calculation unit (relative posture adjustment unit)
703 2nd hook position acquisition unit (position calculation unit)
704 Storage unit 705 Microphone angle calculation unit (relative posture adjustment unit)
706 Microphone selection section (relative posture adjustment section)
711 Swing angle meter (reference position information acquisition unit)
712 Feed amount detection unit (reference position information acquisition unit)
713 Speaker 1st motor (1st speaker drive unit)
714 Speaker 2nd motor (2nd speaker drive unit)
715 Display unit 716 Microphone 1st motor (1st microphone drive unit)
717 Microphone 2nd motor (2nd microphone drive unit)
721 Boom angle meter (reference position information acquisition unit)
722 Jib angle meter (reference position information acquisition unit)
723 Wire angle meter (reference position information acquisition unit)
80 Microphone unit 800 Microphone support 801 Microphone 1st axis 802 Base 803 Microphone 2nd axis M Microphone receiver (receiver)

Claims (12)

With the aircraft
An undulating body having a undulating body base end portion rotatably supported in an undulating direction around a rotation center axis horizontal to the machine body and a undulating body tip portion arranged on the side opposite to the undulating body base end portion. When,
A rope hanging from the tip of the undulating body and
A hanging part that is attached to the lower end of the rope and can lift the suspended load,
A plurality of microphone units mounted on the undulating body, each having a receiving unit capable of receiving sound waves, and a plurality of microphone units.
A directional speaker that is attached to the suspension and can oscillate sound waves in an audible region formed in a specific direction direction.
A reference position information acquisition unit that acquires reference position information for adjusting the relative postures of the plurality of microphone units and the directional speaker, and
Based on the reference position information acquired by the reference position information acquisition unit, the plurality of microphone units and the said receivers of the plurality of microphone units are included in the audible region of the directional speaker. A relative posture adjusting unit that adjusts the relative posture of the directional speaker,
A position for calculating the relative position of the hanging portion with respect to the aircraft based on the time difference in which the sound wave oscillated from the directional speaker reaches the receiving portion of the plurality of microphone units in the state where the relative posture is adjusted. Calculation part and
Equipped with a crane. The relative posture adjusting unit adjusts the posture of at least one of the plurality of microphone units and the directional speaker so that the receiving unit of the plurality of microphone units is included in the audible region of the directional speaker. The crane according to claim 1, which is modified. The directional speaker is
An oscillator that can oscillate the sound wave and
A speaker support unit that swingably supports the oscillation unit around the horizontal first speaker rotation center axis,
Have,
The relative posture adjusting unit
A first speaker drive unit that generates a driving force that causes the oscillator unit to swing around the rotation center axis of the first speaker.
Based on the reference position information, the first speaker drive unit is controlled so that the audible region of the directional speaker includes the receiving unit of the plurality of microphone units, and the oscillation of the directional speaker is performed. A speaker drive control unit that oscillates the unit around the first speaker rotation center axis,
2. The crane according to claim 2. Each of the plurality of microphone units has a microphone support portion that swingably supports the receiving portion around the horizontal first microphone rotation center axis.
The relative posture adjusting unit
A first microphone driving unit that generates a driving force that swings the oscillating unit of the plurality of microphone units around the rotation center axis of the first microphone.
Based on the reference position information, the first microphone drive unit is controlled so that the audible region of the directional speaker includes the receiving units of the plurality of microphone units, respectively, and the plurality of microphone units are said to be described. A microphone drive control unit that swings the receiving unit around the center axis of rotation of the first microphone, and
The crane according to claim 2 or 3. Further provided with a hanging winch capable of raising and lowering the hanging portion by winding and feeding the rope.
The reference position information acquisition unit acquires height information as the reference position information, which is information on the ground altitude of the suspension portion that changes as the suspension portion moves up and down.
The relative posture adjusting unit includes the receiving units of the plurality of microphone units in the audible region of the directional speaker according to the height information acquired by the reference position information acquiring unit. The crane according to claim 3 or 4, which changes the posture of at least one of the plurality of microphone units and the directional speaker. A undulating body driving unit capable of rotating the undulating body in the undulating direction is further provided.
The reference position information acquisition unit acquires the undulation angle of the undulating body rotated by the undulating body driving unit as the reference position information.
The relative posture adjusting unit is said to include the receiving units of the plurality of microphone units in the audible region of the directional speaker according to the undulation angle acquired by the reference position information acquisition unit. The crane according to claim 3 or 4, which changes the posture of at least one of the plurality of microphone units and the directional speaker. The reference position information acquisition unit acquires, as the reference position information, runout information which is information on the amount of runout of the suspension portion in the front-rear direction with the tip of the undulating body as a fulcrum.
The relative posture adjusting unit is said to include the receiving units of the plurality of microphone units in the audible region of the directional speaker according to the deflection information acquired by the reference position information acquiring unit. The crane according to claim 3 or 4, which changes the posture of at least one of the plurality of microphone units and the directional speaker. The directional speaker is
An oscillator that can oscillate the sound wave and
A speaker support portion that swingably supports the oscillation portion around the second speaker rotation center axis extending at least in the vertical direction, and a speaker support portion.
Have,
The relative posture adjusting unit
A second speaker drive unit that generates a driving force that causes the oscillator unit to swing around the second speaker rotation center axis.
Based on the reference position information, the second speaker drive unit is controlled so that the audible region of the directional speaker includes the receiving unit of the plurality of microphone units, and the oscillation of the directional speaker is performed. A speaker drive control unit that oscillates the unit around the second speaker rotation center axis,
2. The crane according to claim 2. Each of the plurality of microphone units has a microphone support portion that swingably supports the receiving portion around a second microphone rotation center axis extending in the vertical direction.
The relative posture adjusting unit
A second microphone drive unit that generates a driving force that causes the plurality of microphone units to swing around the second microphone rotation center axis, respectively.
Based on the reference position information, the second microphone drive unit is controlled so that the audible region of the directional speaker includes the receiving units of the plurality of microphone units, respectively, and the plurality of microphone units are said to be described. A microphone drive control unit that swings the receiving unit around the second microphone rotation center axis, and
The crane according to claim 2 or 8. The reference position information acquisition unit acquires, as the reference position information, runout information which is information on the amount of runout of the hanging portion in the left-right direction with the tip of the undulating body as a fulcrum.
The relative posture adjusting unit is said to include the receiving units of the plurality of microphone units in the audible region of the directional speaker according to the deflection information acquired by the reference position information acquiring unit. The crane according to claim 8 or 9, which changes the posture of at least one of a plurality of microphone units and the directional speaker. The aircraft
A lower traveling body that can run on the ground and
An upper swivel body that is rotatably supported by the lower traveling body around a turning center axis extending in the vertical direction and that undulatingly supports the undulating body.
Have,
The reference position information acquisition unit acquires the turning angle of the upper turning body with respect to the lower traveling body as the reference position information.
The relative posture adjusting unit is said to include the receiving units of the plurality of microphone units in the audible region of the directional speaker according to the turning angle acquired by the reference position information acquisition unit. The crane according to claim 8 or 9, which changes the posture of at least one of a plurality of microphone units and the directional speaker. The plurality of microphone units are a plurality of sets of microphone units, each of which includes a plurality of microphone units, and are connected to each other along the longitudinal direction of the undulating body, which is the direction connecting the base end portion of the undulating body and the tip end portion of the undulating body. Including multiple sets of microphone units arranged at intervals, including
The relative posture adjusting unit selects at least one set of specific microphone units from the plurality of sets of microphone units according to the audible region of the directional speaker, so that the plurality of microphone units and the directional speaker are relative to each other. Adjust your posture
The position calculation unit is based on the time difference in which the sound waves oscillated from the directional speaker with the specific microphone unit selected reach the receiving units of the plurality of microphone units of the specific microphone unit. The crane according to claim 1, wherein the relative position of the suspension portion with respect to the airframe is calculated.

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