JP2021054639A - Automatic operation device and method of crane - Google Patents

Abstract

To enable continuous automatic operation of a crane.SOLUTION: There is provided an automatic operation device of crane 1 which raises a bucket 26 from a start point A, moves it toward an end point B, and lowers it toward the end point B, and then drives drive devices 20, 22, and 24 to carry the concrete C down from the bucket 26, comprising: an automatic operation control unit 130 that automatically controls the drive devices 20, 22, 24; a position information acquisition unit 53 that can acquire the position information of the bucket 26; and a correction control unit 150 that corrects the relative position of the bucket 26 with respect to the end point B by driving the drive devices 20, 22, 24 based on the deviation between the position information of the bucket 26 and the position information of the end point B when the bucket 26 descends toward the end point B by automatic control.SELECTED DRAWING: Figure 8

Description

The present disclosure relates to an automatic operation device for a crane and an automatic operation method, and more particularly to a technique suitable for the automatic operation of a tower crane.

Tower cranes are widely used mainly for dam construction, high-rise construction construction, plant construction construction, and the like. This type of tower crane transports the load from a predetermined unloading point (starting point) to an unloading point (ending point) by appropriately turning and undulating the jib and hoisting and lowering the wire rope. If the load is transported for a long time by the manual operation of the operator, the load on the operator increases due to the long time, and human error is induced due to lack of concentration due to repeated simple operations. there is a possibility.

Therefore, it is desired to reduce the burden on the operator and prevent human error by automatically operating the tower crane according to a preset transfer path. For example, Patent Documents 1 and 2 disclose a technique for automatically transporting a load by automatically operating a crane by a teaching playback method.

Japanese Unexamined Patent Publication No. 64-060595 Japanese Unexamined Patent Publication No. 61-162491

By the way, when the load is repeatedly and automatically transported by the teaching playback method, it is set by teaching due to the influence of the attitude change of the crane due to the release of the load (load release), the load change due to the change of the load type, and the disturbance such as wind. An error may occur between the carried-out path and the carried-back track due to playback. If such an error is accumulated along with the round trip, there is a problem that the transport track deviates greatly from the originally set path and the automatic operation cannot be continued.

The technology of the present disclosure is intended to enable continuous automatic operation of the crane.

The apparatus of the present disclosure raises at least a holding portion holding a load from a predetermined start point, moves the holding portion toward a predetermined end point, and lowers the holding portion toward the end point, and unloads the load from the holding portion to the end point. An automatic operation device for a crane that performs a transfer operation by driving a drive device. An automatic operation control means for causing the crane to automatically perform the transfer operation by automatically controlling the drive of the drive device, and a holding unit. The position information acquisition means capable of acquiring the position information of the above, and the position information of the holding unit acquired by the position information acquisition means when the holding unit descends toward the end point by the automatic control, are stored in advance. It is characterized by including a descent correction control means for correcting the relative position of the holding unit with respect to the end point by driving the driving device based on the deviation from the position information of the end point.

Further, in the transport operation, the holding portion that has released the load is raised from the end point and moved toward the start point, and is lowered toward the start point to land the holding portion at the start point. The descent correction control means further stores the position information of the holding unit acquired by the position information acquisition means when the holding unit descends toward the start point by the automatic control. It is preferable to correct the relative position of the holding portion with respect to the starting point by driving the driving device based on the deviation from the position information of the starting point.

Further, when the holding portion rises from the start point or the ending point by the automatic control, the holding portion stored in advance is moved in the lateral direction, which is necessary for linearly raising the holding portion upward. It is preferable to further include an ascending correction control means for correcting the ascending trajectory of the holding portion by driving the driving device based on the amount.

In the method of the present disclosure, at least a holding portion holding a load is raised from a predetermined start point, moved toward a predetermined end point, and lowered toward the end point, and the load is unloaded from the holding portion to the end point. This is an automatic operation method of a crane in which a transfer operation is performed by driving a drive device. By automatically controlling the drive of the drive device, the crane is made to automatically perform the transfer operation, and the holding unit is subjected to the automatic control. When descending toward the end point, the drive device is driven based on the deviation between the position information of the holding portion and the position information of the end point, thereby correcting the relative position of the holding portion with respect to the end point. It is characterized by.

Further, in the transport operation, the holding portion that has released the load is raised from the end point and moved toward the start point, and is lowered toward the start point to land the holding portion at the start point. When the holding portion descends toward the starting point by the automatic control, the driving device is driven based on the deviation between the position information of the holding portion and the position information of the starting point. It is preferable to correct the relative position of the holding portion with respect to the starting point.

Further, it is based on the lateral movement amount of the holding portion required to linearly raise the holding portion upward when the holding portion rises from the start point or the end point by the automatic control. It is preferable to correct the ascending trajectory of the holding portion by driving the driving device.

According to the technique of the present disclosure, the crane can be continuously automatically operated.

It is a schematic overall block diagram which shows the crane which concerns on this embodiment. It is a schematic diagram explaining the outbound road cutting process by the automatic operation of the crane which concerns on this embodiment. It is a schematic diagram explaining the outbound turning process by the automatic operation of the crane which concerns on this embodiment. It is a schematic diagram explaining the unloading process by the automatic operation of the crane which concerns on this embodiment. It is a schematic diagram explaining the return road ground cutting process by the automatic operation of the crane which concerns on this embodiment. It is a schematic diagram explaining the return path turning process by the automatic operation of the crane which concerns on this embodiment. It is a schematic diagram explaining the landing process by the automatic operation of the crane which concerns on this embodiment. It is a schematic functional block diagram which shows the control device mounted on the crane which concerns on this embodiment, and the related peripheral configuration. It is a flowchart explaining the process flow of the automatic operation (outward route) by the crane which concerns on this embodiment. It is a flowchart explaining the process flow of the automatic operation (return path) by the crane which concerns on this embodiment. It is a figure explaining the operation of the automatic operation apparatus and the automatic operation method of the crane which concerns on this embodiment.

Hereinafter, the automatic crane operation device and the automatic operation method according to the present embodiment will be described with reference to the attached drawings. The same parts have the same reference numerals, and their names and functions are also the same. Therefore, detailed explanations about them will not be repeated.

[crane]
FIG. 1 is a schematic overall configuration diagram showing a crane 1 according to the present embodiment.

As shown in FIG. 1, the crane 1 is a fixed tower crane, and has a mast (tower) 10 fixed to a base frame 2, an elevating device 11 provided on the mast 10 so as to be able to elevate, and an elevating device. A swivel body 12 provided on the swivel body 12 so as to be swivel, and a jib (boom) 14 provided on the swivel body 12 so as to be undulating are provided. The crane 1 is not limited to the fixed type, and may be a mobile wheel crane or the like. Further, the crane 1 may be, for example, an overhead crane or the like as long as it can transport a predetermined load from a start point to an end point.

The swivel body 12 is rotationally driven around the mast 10 by driving the swivel device 24. The swivel body 12 is provided with a hoisting winch 20 around which the hoisting wire rope 21 is wound and an undulating winch 22 around which the undulating wire rope 23 is wound. Further, the swivel body 12 is provided with a support frame 25 for supporting the jib 14. The hoisting winch 20, the undulating winch 22, and the swivel device 24 are examples of the driving device of the present disclosure.

A bucket 26 (an example of the holding portion of the present disclosure) for holding a predetermined load is attached to the tip of the hoisting wire rope 21. When the hoisting winch 20 is driven, the hoisting wire rope 21 is wound up or sent out, so that the bucket 26 moves up and down in the vertical direction.

The tip of the undulating wire rope 23 is attached to the tip side of the jib 14. When the undulating winch 22 is driven, the undulating wire rope 23 is wound up or sent out, so that the jib 14 undulates with the base end side as a fulcrum.

[Transport operation]
2 to 7 are schematic views illustrating each operation process of the crane 1 according to the present embodiment by automatic operation. In the following, the transportation of concrete in dam construction will be described as an example.

The X and Y directions shown in FIGS. 2 to 7 are horizontal (horizontal) axes that are orthogonal to each other, and the Z direction is a vertical direction (vertical direction) that is orthogonal to the X and Y axes. Is the axis of. Further, the start point A is a bunker line (pick-up point) where the concrete C to be transported is carried by a transfer car or the like (not shown), and the end point B is a placement provided with a ground hopper GH for discharging the transported concrete C. Each place (unloading point) is shown.

As shown in FIG. 2, at the start point A, concrete C is put into the bucket 26, and the bucket 26 is raised to a predetermined outward turning start position A1 above the start point A while driving the hoisting winch 20 and the undulating winch 22. (Hereinafter, referred to as the outbound land cutting process). Here, the outbound turning start position A1 is the XYZ position of the bucket 26 where the crane 1 starts the outbound turning operation, which is set by teaching described later.

In the outbound route cutting step, the drive of the hoisting winch 20 that raises the bucket 26 in the Z direction is executed by the playback control described later. Further, the drive of the undulating winch 22 that adjusts and moves the bucket 26 in the XY directions is executed by the correction control at the time of lifting the load, which will be described later. The correction control at the time of lifting the load omits the bucket 26 in the Z direction in response to a change in the attitude of the crane 1 due to the load of the concrete C (for example, the mast 10 falls down toward the bucket 26 or the jib 14 bends downward). It is a correction control for raising linearly. The details of the correction control at the time of lifting the load will be described later.

As shown in FIG. 3, when the bucket 26 is raised to the outward turning start position A1, the turning device 24 and the undulating winch 22 are driven to turn and undulate the jib 14 to avoid obstacles such as the dam body D. While turning the bucket 26 to a predetermined outbound turning stop position B1 above the end point B (hereinafter, referred to as an outbound turning step). Here, the outward turning stop position B1 is an XYZ position of the bucket 26 at which the crane 1 stops the outward turning operation, which is set by teaching described later. In the outward turning process, the turning device 24 and the undulating winch 22 are driven by the playback control described later.

As shown in FIG. 4, when the bucket 26 is moved to the outward turning stop position B1, the hoisting winch 20, the undulating winch 22, and the turning device 24 are driven, and the bucket 26 is installed at the end point B. It is lowered toward the GH (hereinafter referred to as the unloading process). At this time, the bucket 26 may be stopped at a predetermined height position from the bottom portion in the ground hopper GH, or may be landed on the bottom portion of the ground hopper GH.

In the unloading step, the drive of the hoisting winch 20 that lowers the bucket 26 in the Z direction is executed by the playback control described later. Further, the driving of the undulating winch 22 for adjusting and moving the bucket 26 in the XY directions and the swivel device 24 is executed by the unloading correction control described later. The unloading correction control is a correction control for correcting the relative position of the bucket 26 with respect to the ground hopper GH in the XY directions to ensure that the bucket 26 is contained within the frame of the ground hopper GH. The details of the unloading correction control will be described later.

As shown in FIG. 5, when the concrete C is discharged from the bucket 26, the bucket 26 is raised to a predetermined return turn start position B2 above the end point B while driving the hoisting winch 20 and the undulating winch 22 (. Hereinafter referred to as the return route cutting process). Here, the return path turning start position B2 is the XYZ position of the bucket 26 where the crane 1 starts the return path turning operation, which is set by teaching described later.

In the return route cutting step, the drive of the hoisting winch 20 that raises the bucket 26 in the Z direction is executed by the playback control described later. Further, the drive of the undulating winch 22 that adjusts and moves the bucket 26 in the XY directions is executed by the load release correction control described later. The load release correction control is for the attitude change of the crane 1 due to the release of concrete C (load release) (for example, the warp of the mast 10 to the opposite side of the bucket 26 and the warp of the jib 14 upward). This is a correction control for raising the bucket 26 substantially linearly in the Z direction. The details of the load release correction control will be described later.

As shown in FIG. 6, when the bucket 26 is raised to the return turning start position B2, the turning device 24 and the undulating winch 22 are driven to turn and undulate the jib 14 to avoid obstacles such as the dam body D. While turning the bucket 26 to a predetermined return turn stop position A2 above the start point A (hereinafter, referred to as a return turn step). Here, the return path turning stop position A2 is an XYZ position of the bucket 26 at which the crane 1 stops the return path turning operation, which is set by teaching described later. In the return turning process, the turning device 24 and the undulating winch 22 are driven by the playback control described later.

As shown in FIG. 7, when the bucket 26 is moved to the return turning stop position A2, the hoisting winch 20, the undulating winch 22, and the turning device 24 are driven, and the bucket 26 is installed at the starting point A. The bucket 26 is landed on the pedestal P (hereinafter referred to as a landing process).

In the landing step, the drive of the hoisting winch 20 that lowers the bucket 26 in the Z direction is executed by the playback control described later. Further, the driving of the undulating winch 22 for adjusting and moving the bucket 26 in the XY directions and the swivel device 24 is executed by the landing correction control described later. The landing correction control is a correction control for correcting the relative position of the bucket 26 with respect to the pedestal P in the XY directions to ensure that the bucket 26 is landed on the upper surface of the pedestal P. The details of the correction control at the time of landing will be described later.

After that, by continuously executing each of the operation steps shown in FIGS. 2 to 7 above, the concrete C is repeatedly and automatically transported from the start point A to the end point B.

[Control device]
FIG. 8 is a schematic functional block diagram showing a control device 100 mounted on the crane 1 according to the present embodiment and related peripheral configurations.

As shown in FIG. 8, the crane 1 is equipped with sensors and devices 50 to 53 for acquiring various state quantities of the crane 1.

The swivel angle acquisition encoder 50 acquires the swivel angle of the swivel body 12 by the swivel device 24, that is, the swivel angle of the jib 14. The undulation angle acquisition encoder 51 acquires the undulation angle of the jib 14 from the rotation speed of the undulation winch 22. The elevating position acquisition encoder 52 acquires the elevating position of the bucket 26 from the rotation speed of the hoisting winch 20. The bucket position acquisition device 53 (position acquisition means) is, for example, GNSS (Global Navigation Satellite System) or GPS (Global Positioning System), and is attached to the tip of the jib 14 in the vertical direction of the tip. The position information (XY position) of the lower bucket 26 is acquired. Various state quantities acquired by these sensors and devices 50 to 53 are transmitted to the control device 100.

The control device 100 is, for example, a device that performs calculations such as a computer, and is a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), an input port, and an output port connected to each other by a bus or the like. Etc., and execute the program.

Further, the control device 100 executes a program to execute a manual operation control unit 110, a teaching storage unit 120, a playback control unit 130, a load lifting correction control unit 140, an unloading correction control unit 150, and a load release correction control. It functions as a device including a unit 160 and a landing correction control unit 170. Each of these functional elements will be described as being included in the control device 100, which is integrated hardware in the present embodiment, but any part of these may be provided in separate hardware.

The manual operation control unit 110 transmits an operation instruction signal according to the amount of operation of the operation device 200 by the operator to the hoisting winch 20, the undulating winch 22, and the turning device 24, and drives them to turn the crane 1.・ Implement manual operation control to operate undulation, hoisting, and hoisting.

When the operator operates the operation device 200 while the teaching execution button 210 is turned on, the teaching storage unit 120 has a hoisting winch 20, an undulating winch 22, and a swivel device from the manual operation control unit 110 in response to the operation. The operation instruction signal transmitted to 24 is stored. Specifically, the teaching storage unit 120 determines the path (XYZ positions) and speed of each operation of turning, undulating, hoisting, and hoisting of the crane 1 according to the amount of operation of the operating device 200 by the operator. Store at predetermined time intervals. The storage of these paths and speeds by the teaching storage unit 120 ends when the teaching execution button 210 is turned off.

The playback control unit 130 is an example of the automatic operation control means of the present disclosure, and when the playback execution button 220 is turned on, the turning, undulation, hoisting, and hoisting that are stored in the teaching storage unit 120 are performed. A playback control for automatically operating the crane 1 is performed by transmitting an instruction signal according to the route and speed to the hoisting winch 20, the undulating winch 22, and the turning device 24 and driving them. The playback control is stopped when the playback execution button 220 is turned off or the emergency stop button (not shown) is turned on.

In the present embodiment, the playback control includes driving the hoisting winch 20 in the outbound ground cutting step (see FIG. 2), driving the turning device 24 and the undulating winch 22 in the outbound turning process (see FIG. 3), and unloading step (see FIG. 3). Drive of the hoisting winch 20 in the return path turning process (see FIG. 4), driving of the hoisting winch 20 in the return path ground cutting process (see FIG. 5), driving of the turning device 24 and the undulating winch 22 in the return path turning process (see FIG. 6), and landing. It is applied to drive the hoisting winch 20 in the process (see FIG. 7).

The load lifting correction control unit 140 is an example of the ascending correction control means of the present disclosure, and the bucket 26 is subjected to the collapse of the mast 10 and the bending of the jib 14 due to the load of the concrete C in the outbound road cutting process. The jib 14 is appropriately raised and lowered so as to rise substantially linearly from the starting point A in the vertical direction (Z direction) without swinging significantly in the horizontal direction (XY direction) (basically, the jib 14 is raised). ) Therefore, the load lifting correction control for correcting the ascending trajectory of the bucket 26 is performed.

Specifically, in the memory of the control device 100, the ascending position of the bucket 26, which is prepared in advance by experiment or simulation, and the undulation of the jib 14 necessary for raising the bucket 26 substantially linearly in the vertical direction. A map M1 (graph or numerical data) that defines the relationship with the corner is stored. When the drive (winding) of the hoisting winch 20 by the playback control is started in the outbound route cutting process, the load lifting correction control unit 140 raises and lowers the jib 14 according to the ascending position of the bucket 26 from the map M1. Is read, and feedforward control for sequentially driving the undulation winch 22 based on the read undulation angle is executed. The current ascending position of the bucket 26 may be acquired by the ascending / descending position acquisition encoder 52.

In this way, in the outbound road cutting process, the bucket 26 is moved in the vertical direction from the start point A toward the outbound turning start position A1 by performing the correction control at the time of lifting the load in consideration of the attitude change of the crane 1 due to the load of the concrete C. It will rise almost linearly.

The number of maps M1 is not limited to one, and a plurality of maps M1 may be provided for each load of the suspended load. In this case, the optimum map may be appropriately selected from the plurality of maps M1 according to the load of the load acquired by the load sensor (not shown) of the crane 1. Further, the load lifting correction control is not limited to the feedforward control, and drives the undulating winch 22 based on the deviation between the outbound turning start position A1 and the current position of the bucket 26 acquired by the bucket position acquisition device 53. It may be performed in combination with the feedback control.

The unloading correction control unit 150 is an example of the unloading correction control means of the present disclosure, and the horizontal direction (XY direction) position of the bucket 26 is out of the frame of the ground hopper GH in the unloading step. If so, the bucket 26 is framed by the ground hopper GH by driving the undulating winch 22 and / or the swivel device 24 to correct the position of the bucket 26 relative to the ground hopper GH in the horizontal direction (XY directions). Performs correction control when unloading to be stored inside.

Specifically, in the memory of the control device 100, the position in the frame of the ground hopper GH in the horizontal direction (XY directions) is stored in advance as the target unloading position. When the bucket 26 reaches the outbound turning stop position B1, the unloading correction control unit 150 sets the current horizontal position (XY position) of the bucket 26 and the target unloading position input from the bucket position acquisition device 53. To find these deviations. Then, when the unloading correction control unit 150 exceeds a predetermined threshold value (a value in which the bucket 26 fits within the frame of the ground hopper GH), the unloading correction control unit 150 undulates so that the deviation becomes equal to or less than the threshold value. Feedback control (for example, PID control) for sequentially driving the winch 22 and / or the swivel device 24 is executed.

In this way, in the unloading process, the unloading correction control for appropriately adjusting the horizontal position of the bucket 26 based on the deviation between the horizontal position of the bucket 26 and the frame position of the ground hopper GH is performed. The bucket 26 will be securely housed in the frame of the ground hopper GH provided at the end point B.

The unloading correction control may be executed before the playback control is interrupted and the hoisting winch 20 is driven (wound down) by the playback control, or the playback control is interrupted. It may be executed in parallel with the driving (winding down) of the hoisting winch 20 by the playback control without doing so. Further, the bucket position acquisition device 53 is not limited to GNSS, and other known sensors capable of acquiring the tip position of the jib 14 may be used, or the predetermined reference position of the crane 1 set in advance may be used. The position of the bucket 26 corresponding to the tip of the jib 14 in the XY direction may be estimated from the current turning angle and the undulation angle of the jib 14.

The load release correction control unit 160 is an example of the ascending correction control means of the present disclosure, and in the return route cutting step, the bucket 26 responds to the warp of the mast 10 and the warp of the jib 14 due to the release of the concrete C. The jib 14 is appropriately undulated so as to rise substantially linearly from the end point B in the vertical direction (Z direction) without swinging significantly in the horizontal direction (XY direction) (basically, the jib 14 is tilted). ) Therefore, the load release correction control for correcting the ascending trajectory of the bucket 26 is performed.

Specifically, in the memory of the control device 100, the ascending position of the bucket 26, which is prepared in advance by an experiment or simulation, and the undulation of the jib 14 necessary for raising the bucket 26 substantially linearly in the vertical direction. A map M2 (graph or numerical data) that defines the relationship with the corner is stored. When the drive (winding) of the hoisting winch 20 by the playback control is started in the return route cutting process, the load release correction control unit 160 raises and lowers the jib 14 according to the ascending position of the bucket 26 from the map M2. Is read, and feedforward control for sequentially driving the undulation winch 22 based on the read undulation angle is executed. The current ascending position of the bucket 26 may be acquired by the ascending / descending position acquisition encoder 52.

In this way, in the return route cutting process, the bucket 26 is moved vertically from the end point B toward the return route turning start position B2 by performing the load release correction control in consideration of the attitude change of the crane 1 due to the release of the concrete C. It will rise almost linearly.

The number of maps M2 is not limited to one, and a plurality of maps M2 may be provided for each load of the suspended load. In this case, the optimum map may be appropriately selected from the plurality of maps M2 according to the load of the load acquired by the load sensor (not shown) of the crane 1. Further, the load release correction control is not limited to the feedforward control, and drives the undulating winch 22 based on the deviation between the return turn start position B2 and the current position of the bucket 26 acquired by the bucket position acquisition device 53. It may be performed in combination with the feedback control.

The landing correction control unit 170 is an example of the descent correction control means of the present disclosure, and the horizontal direction (XY directions) of the bucket 26 is deviated from the seat surface of the pedestal P in the landing step. In this case, by driving the undulating winch 22 and / or the swivel device 24 to correct the position of the bucket 26 relative to the pedestal P in the horizontal direction (XY directions), the bucket 26 is surely placed on the seat surface of the pedestal P. The correction control at the time of landing is carried out.

Specifically, in the memory of the control device 100, the seating surface position of the pedestal P in the horizontal direction (XY directions) is stored in advance as the target landing position. When the bucket 26 reaches the return turn stop position A2, the landing correction control unit 170 sets the current horizontal (XY position) position of the bucket 26 and the target landing position input from the bucket position acquisition device 53. To find these deviations. Then, when the obtained deviation exceeds a predetermined threshold value (value at which the bucket 26 can land on the seat surface of the pedestal P), the landing correction control unit 170 sets the deviation to be equal to or less than the threshold value. Feedback control (for example, PID control) for sequentially driving the undulating winch 22 and / or the swivel device 24 is executed.

In this way, in the landing process, the landing correction control for appropriately adjusting the horizontal position of the bucket 26 based on the deviation between the horizontal position of the bucket 26 and the seating surface position of the pedestal P is performed. The bucket 26 will surely land on the seating surface of the pedestal P provided at the starting point A.

The landing correction control may be executed before the playback control is interrupted and the hoisting winch 20 is driven (wound down) by the playback control, or the playback control is interrupted. It may be executed in parallel with the driving (winding down) of the hoisting winch 20 by the playback control without doing so. Further, the bucket position acquisition device 53 is not limited to GNSS, and other known sensors capable of acquiring the tip position of the jib 14 may be used, or the predetermined reference position of the crane 1 set in advance may be used. The position of the bucket 26 corresponding to the tip of the jib 14 in the XY direction may be estimated from the current turning angle and the undulation angle of the jib 14.

[Processing flow for automatic operation]
Next, the processing flow by the automatic operation of the crane 1 according to the present embodiment will be described with reference to FIGS. 9 and 10.

As shown in FIG. 9, in step S100, it is determined whether or not the playback execution button 220 is turned on. When the playback execution button 220 is turned ON (Yes), the control proceeds to the process of step S110, while when the playback execution button 220 is not turned ON (No), the control ends.

In step S110, the hoisting winch 20 is driven by the playback control (the bucket 26 is lifted in the Z direction by hoisting), and the undulating winch 22 is driven by the load lifting correction control (the X- of the bucket 26 is driven by the undulation of the jib 14). (Adjustment movement in the Y direction) is executed (outward route cutting step).

In step S120, it is determined whether or not the bucket 26 has reached the outward turning start position A1. Whether or not the bucket 26 has reached the outward turning start position A1 may be determined based on the state quantity of the crane 1 acquired by the various encoders 50, 51, 52. When the bucket 26 has reached the outward turning start position A1 (Yes), this control proceeds to the process of step S130. On the other hand, when the bucket 26 has not reached the outward turning start position A1 (No), this control is returned to the process of step S110.

In step S130, the swivel device 24 and the undulating winch 22 are driven by playback control, and the bucket 26 is swiveled and moved toward the outward swivel stop position B1 (outward swivel step).

In step S140, it is determined whether or not the bucket 26 has reached the outward turning stop position B1. Whether or not the bucket 26 has reached the outward turning stop position B1 may be determined based on the state quantity of the crane 1 acquired by the various encoders 50, 51, 52. When the bucket 26 has reached the outward turning stop position B1 (Yes), this control proceeds to the process (unloading step) of step S150. On the other hand, when the bucket 26 has not reached the outward turning stop position B1 (No), this control is returned to the process of step S130.

In step S150, the deviation between the current horizontal position (XY position) of the bucket 26 input from the bucket position acquisition device 53 and the target unloading position, which is the position within the frame of the ground hopper GH, is a predetermined threshold value. It is determined whether or not (the value at which the bucket 26 fits within the frame of the ground hopper GH) is exceeded.

When the deviation exceeds the threshold value (Yes), this control proceeds to step S160, and the hoisting winch 20 is driven by the playback control (the bucket 26 is lowered in the Z direction by hoisting), and the unloading correction control is performed. The undulating winch 22 and the swivel device 24 are driven by the undulating winch 22 (adjustment movement of the bucket 26 in the XY directions by undulating / swiveling the jib 14). On the other hand, when the deviation does not exceed the threshold value (No), the present control proceeds to step S170, and only the hoisting winch 20 is driven by the playback control (the bucket 26 is lowered in the Z direction by hoisting).

In step S180, it is determined whether or not the concrete C has been discharged from the bucket 26 to the ground hopper GH. Whether or not the concrete C has been released may be determined based on a load sensor (not shown) provided on the crane 1. When the concrete C is released (Yes), this control proceeds to step S200 shown in FIG.

As shown in FIG. 10, in step S200, the hoisting winch 20 is driven by the playback control (the bucket 26 is raised in the Z direction by hoisting), and the undulating winch 22 is driven by the load release correction control (of the jib 14). (Adjustment movement of the bucket 26 in the XY directions due to undulations) is executed (return road cutting step).

In step S210, it is determined whether or not the bucket 26 has reached the return turn start position B2. Whether or not the bucket 26 has reached the return turning start position B2 may be determined based on the state quantity of the crane 1 acquired by the various encoders 50, 51, 52. When the bucket 26 has reached the return turn start position B2 (Yes), this control proceeds to the process of step S220. On the other hand, when the bucket 26 has not reached the return playback playback turn start position B2 (No), this control is returned to the process of step S200.

In step S220, the turning device 24 and the undulating winch 22 are driven by playback control, and the bucket 26 is swiveled and moved toward the return turning stop position A2 (return turning step).

In step S230, it is determined whether or not the bucket 26 has reached the return turn stop position A2. Whether or not the bucket 26 has reached the return turn stop position A2 may be determined based on the state quantity of the crane 1 acquired by the various encoders 50, 51, 52. When the bucket 26 has reached the return turn stop position A2 (Yes), this control proceeds to the process of step S240 (landing step). On the other hand, when the bucket 26 has not reached the return turn stop position A2 (No), this control is returned to the process of step S220.

In step S240, the deviation between the current horizontal position (XY position) of the bucket 26 input from the bucket position acquisition device 53 and the target landing position, which is the seating surface position of the pedestal P, is a predetermined threshold value ( It is determined whether or not the bucket 26 exceeds the value that can be landed on the seat surface of the pedestal P).

If the deviation exceeds the threshold value (Yes), this control proceeds to step S250, and the hoisting winch 20 is driven by the playback control (the bucket 26 is lowered in the Z direction by hoisting), and the landing correction control is performed. The undulating winch 22 and the swivel device 24 are driven by the undulating winch 22 (adjustment movement of the bucket 26 in the XY directions by the undulation / turning of the jib 14). On the other hand, when the deviation does not exceed the threshold value (No), the present control proceeds to step S260, and only the hoisting winch 20 is driven by the playback control (the bucket 26 is lowered in the Z direction by hoisting).

In step S270, it is determined whether or not the bucket 26 has landed on the seat surface of the pedestal P. Whether or not the bucket 26 has landed on the seat surface of the pedestal P may be determined based on a load sensor (not shown) provided on the crane 1. When the bucket 26 lands on the seat surface of the pedestal P (Yes), this control is returned to the process of step S100 shown in FIG. 9, and thereafter, this control is described above until the playback execution button 220 is turned off. Each process of is repeatedly executed.

[Action effect]
Next, based on FIG. 11, the operation and effect of the automatic operation device and the automatic operation method of the crane 1 according to the present embodiment will be described with reference to comparative examples.

FIG. 11A is a diagram for explaining the present embodiment, and FIG. 11B is a diagram for explaining a comparative example. In these figures, the symbols α ₁ , α ₂ , and α _n indicate an example of the landing position of the bucket 26 with respect to the start point A due to the repetition of automatic transfer by playback control. Further, the symbols β ₁ , β ₂ , and β _n indicate an example of the unloading position with respect to the end point B of the bucket 26 due to the repetition of automatic transportation by the playback control. In each figure, the transport trajectory of the turning process is shown linearly by a broken line for simplification.

In the comparative example shown in FIG. 11B, the unloading correction control and the landing correction control are not performed at the start point A, and the unloading correction control and the load release correction control are performed at the end point B. This is an example of automatic operation that is not performed. In this case, when the automatic transfer by playback is continuously repeated, the attitude change of the crane 1 due to the load of the concrete C at the time of lifting the load and the attitude change of the crane 1 due to the release (release of the load) of the concrete C at the time of unloading. Due to changes in load due to changes in the type of concrete C, or changes in disturbances such as wind during teaching and playback, landing positions α ₁ , α ₂ , α _n and unloading positions β ₁ , β _{2. An} error will occur in β _n. When such errors are accumulated, the transport trajectory due to playback gradually deviates greatly from the initially set trajectory, and there is a problem that automatic transport cannot be continued.

On the other hand, according to the automatic driving device and the automatic driving method of the present embodiment shown in FIG. 11A, the load lifting correction control and the landing correction control are executed at the start point A, and at the end point B. Is executed when unloading correction control and load release correction control. That is, when the concrete C is lifted integrally with the bucket 26 from the start point A, the bucket 26 rises substantially linearly without being affected by the attitude change of the crane 1 by the correction control at the time of lifting the load, and the bucket 26 is lifted to the end point B. When unloading, the bucket 26 is securely housed in the frame of the ground hopper GH by the unloading correction control, and when the bucket 26 that has released the concrete C is lifted from the end point B, the bucket 26 is craned by the load release correction control. When the bucket 26 is landed on the starting point A, the bucket 26 is surely landed on the upper surface of the pedestal P by the correction control at the time of landing. It is configured.

As a result, even if the automatic transfer by the playback control is repeated, the landing positions α ₁ , α ₂ , and α _n can be maintained at the desired fixed positions of the start point A (on the seat surface of the pedestal P), and further, unloading can be performed. The positions β ₁ , β ₂ , and β _n can be maintained at the desired fixed positions (within the frame of the ground hopper GH) at the end point B, and the deviation of the transport trajectory due to the error can be effectively suppressed. .. In addition, by suppressing the deviation of the transport track by playback control, the automatic operation of the crane 1 can be continued, the cycle time can be shortened, and the construction period of the dam construction can be shortened. Become. Further, by enabling the automatic operation of the crane 1, it is possible to prevent an increase in the burden on the operator and the induction of human error due to manual operation, and it is possible to cope with a shortage of skilled operators.

[Other]
The present disclosure is not limited to the above-described embodiment, and can be appropriately modified and implemented without departing from the spirit of the present disclosure.

For example, the control device 100 of the above embodiment is further configured with a load swing suppressing function that suppresses lateral swing (load swing) of the bucket 26 in the outward turning process and the returning turning process by, for example, feedforward control. May be good.

Further, although the bucket position acquisition device 53 has been described as being provided at the tip end portion of the jib 14, the bucket position acquisition device 53 may be attached to the bucket 26 so as to directly acquire the position in the XY direction of the bucket 26. ..

Further, the automatic operation control of the crane 1 is not limited to the teaching playback method, and the bucket 26 is set in advance as a predetermined transfer path by automatically controlling the drive of the hoisting winch 20, the undulating winch 22, and the turning device 24. Another type of automatic operation control that can be moved by is used.

Further, the application of the present disclosure is not limited to the transportation of concrete C in dam construction, but may be widely applied to other sites such as plant construction work or the automatic transportation of other transported objects other than concrete C. It is possible.

1 Crane 2 Foundation frame 10 Mast 11 Lifting device 12 Swing body 14 Jib 20 Winding winch (drive device)
21 Winding wire rope 22 Undulating winch (driving device)
23 Undulating wire rope 24 Swivel device (driving device)
26 bucket (holding part)
50 Turning angle acquisition encoder 51 Undulating angle acquisition encoder 52 Elevating position acquisition encoder 53 Bucket position acquisition device (position acquisition means)
100 Control device 130 Playback control unit (automatic operation control means)
140 Lifting correction control unit (ascending correction control means)
150 Unloading correction control unit (Descent correction control means)
160 Compensation control unit when the load is released (correction control means when ascending)
170 Implantation correction control unit (descent correction control means)

Claims (6)

At least the holding unit that holds the load is raised from a predetermined start point, moved toward a predetermined end point, and lowered toward the end point, and the transport operation of unloading the load from the holding part to the end point is performed by the driving device. It is an automatic operation device for cranes that is driven.
An automatic operation control means for causing the crane to automatically perform the transfer operation by automatically controlling the drive of the drive device.
A position information acquisition means capable of acquiring the position information of the holding unit, and
When the holding unit descends toward the end point by the automatic control, the position information of the holding unit acquired by the position information acquisition means and the position information of the end point stored in advance are used as the basis for the deviation. An automatic crane operating device comprising: a descent correction control means for correcting the relative position of the holding portion with respect to the end point by driving the driving device. The transport operation further includes an operation of raising the holding portion from which the load has been released, moving the holding portion toward the starting point, and lowering the holding portion toward the starting point to land the holding portion at the starting point. Including
When the holding unit descends toward the starting point by the automatic control, the descending correction control means obtains the position information of the holding unit acquired by the position information acquisition means and the position of the starting point stored in advance. The automatic crane operating device according to claim 1, wherein the driving device is driven based on a deviation from the information to correct the relative position of the holding unit with respect to the starting point. When the holding portion rises from the start point or the ending point by the automatic control, the amount of lateral movement of the holding portion required to linearly raise the holding portion stored in advance upward. The automatic operation device for a crane according to claim 2, further comprising an ascending correction control means for correcting the ascending trajectory of the holding portion by driving the driving device based on the above. At least the holding unit that holds the load is raised from a predetermined start point, moved toward a predetermined end point, and lowered toward the end point, and the transport operation of unloading the load from the holding part to the end point is performed by the driving device. It is an automatic operation method of a crane that is driven by driving.
By automatically controlling the drive of the drive device, the crane is made to automatically perform the transfer operation, and when the holding unit descends toward the end point by the automatic control, the position information of the holding unit and the said An automatic operation method of a crane, characterized in that the relative position of the holding portion with respect to the end point is corrected by driving the drive device based on a deviation from the position information of the end point. The transport operation further includes an operation of raising the holding portion from which the load has been released, moving the holding portion toward the starting point, and lowering the holding portion toward the starting point to land the holding portion at the starting point. Including
When the holding unit descends toward the starting point by the automatic control, the driving device is driven based on the deviation between the position information of the holding unit and the position information of the starting point, thereby driving the holding unit. The method for automatically operating a crane according to claim 4, wherein the position relative to the starting point is corrected. When the holding portion rises from the start point or the ending point by the automatic control, the holding portion is moved upward in a linear manner based on the amount of lateral movement of the holding portion. The method for automatically operating a crane according to claim 5, wherein the ascending trajectory of the holding portion is corrected by driving the driving device.

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