JP2021123464A - Automatic operation unit and crane apparatus with the automatic operation unit - Google Patents

Abstract

To facilitate the automatic operation of a crane apparatus.SOLUTION: An automatic operation unit for a crane apparatus 10 comprises: a pair of first and second rails 11, 12 extending in parallel with each other in a first direction; a first moving body 13 extending in a second direction orthogonal to the first direction and movable in the first direction along the first and second rails 11, 12; a second moving body 14 movable in the second direction along the first moving body 13; a conveying unit 15 provided on the second moving body 14 so as to be integrally movable; and drive sources 20A, 20B, 21 applying a moving force to the first and second moving bodies 13, 14. The automatic operation unit comprises: position information acquiring units 30, 31, 41, 42, 43, 44 acquiring information about a position of the conveying unit 15 in the first and second directions relative to a predetermined reference position; and control units 46, 47 automatically operating the crane apparatus 10, based on the acquired information about the position and a preset target position of the conveying unit 15.SELECTED DRAWING: Figure 1

Description

The present disclosure relates to an automatic operation unit and a crane device provided with the automatic operation unit, and more particularly to a technique suitable for automatic operation of an existing overhead crane.

Generally, a concrete plant (batcher plant) installed at a civil engineering construction site such as a mountain tunnel is equipped with a cement silo, a water tank, a mixer, a measuring unit, a hopper, an overhead crane, etc., and cement supplied from the cement silo. The water supplied from the water tank and the aggregate to be put into the hopper by the overhead tunnel are weighed by the measuring unit, and these are kneaded with a mixer to produce the desired concrete. Overhead cranes used in this type of batcher plant are disclosed, for example, in Patent Documents 1 and 2.

Patent No. 5604015 Japanese Unexamined Patent Publication No. 11-256867

In order to save labor and improve efficiency of the batcher plant, it is desired to automate the operation of the overhead crane instead of the manual operation by the operator. For the automatic operation of such an overhead crane, positioning control for accurately moving the clam bucket to a desired target position such as above the hopper is important.

In order to improve the accuracy of positioning control, it is conceivable to use a servomotor or the like having excellent responsiveness and controllability as the drive source of the overhead crane. However, when replacing the drive source of an existing overhead crane, there is a problem that the structure of the crane itself needs to be reviewed, the design is changed, and a large-scale modification is required, which increases the cost.

The technique of the present disclosure has been made in view of the above circumstances, and an object of the present disclosure is to facilitate automatic operation of a crane device with a simple configuration.

The automatic operation unit of the present disclosure includes a pair of first and second rails extending in parallel with each other in the first direction, extending in a second direction orthogonal to the first direction, and along the first and second rails. A first moving body that can move in the first direction, a second moving body that can move in the second direction along the first moving body, and a second moving body that can move integrally with the second moving body are provided. An automatic operation unit of a crane device including a transport unit capable of transporting a predetermined load and a drive source for applying a moving force to the first and second moving bodies, and the transport unit of the transport unit with respect to a predetermined reference position. The position information acquisition means for acquiring the position information in the first and second directions, the acquired position information, and the target position in the first and second directions with respect to the reference position of the transport unit set in advance. It is characterized by including a control means for automatically operating the crane device by controlling the drive of the drive source based on the above.

Further, the position information acquisition means is provided at one end of the first moving body in the second direction, and is a relative distance from one end of the first rail and a relative distance from the other end of the first rail. A first sensor capable of detecting a relative distance from the second moving body and a relative distance from one end of the second rail provided at the other end of the first moving body in the second direction. A second sensor capable of detecting a relative distance from the other end of the second rail and a relative distance from the second moving body, and the second sensor detected by the first and second sensors. It is preferable to acquire the position information of the transport unit with respect to the reference position based on the relative distance.

Further, the control means defines a difference between the relative distance from one end of the first rail detected by the first sensor and the relative distance from one end of the second rail detected by the second sensor. When the threshold value is exceeded, or the relative distance from the other end of the first rail detected by the first sensor, and the relative distance from the other end of the second rail detected by the second sensor. When the difference between the above exceeds a predetermined threshold value, it is preferable to stop the automatic operation.

Further, the control means includes an added value of a relative distance from the second moving body detected by the first sensor, a relative distance from the second moving body detected by the second sensor, and the first. When the difference between the distance between the first and second sensors exceeds a predetermined threshold value, it is preferable to stop the automatic operation.

Further, as the target position, a position above the hopper for loading the load transported by the transport unit is set, and a depth camera provided above the hopper and capable of photographing the inside of the hopper is further provided. When the transport unit reaches the target position above the hopper, the control means acquires the remaining amount of the input material in the hopper based on the image data of the depth camera, and the remaining amount. When the amount decreases to a predetermined threshold amount, it is preferable to load the hopper from the transport unit.

The crane device of the present disclosure is characterized by including the automatic operation unit.

According to the technique of the present disclosure, it is possible to facilitate the automatic operation of the crane device with a simple configuration.

It is a schematic top view of the overhead crane which concerns on this embodiment. It is a schematic side view of the overhead crane which concerns on this embodiment. It is a schematic functional block diagram which shows the control device which concerns on this embodiment, and the related peripheral configuration. It is a schematic timing chart diagram explaining an example of the traveling control which concerns on this embodiment. It is a schematic timing chart diagram explaining an example of traverse control which concerns on this embodiment. It is a schematic diagram explaining an example of the gripping control which concerns on this embodiment. It is a schematic diagram explaining an example of the closing control which concerns on this embodiment.

Hereinafter, the automatic operation unit according to the present embodiment and the crane device provided with the automatic operation unit 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.

[overall structure]
FIG. 1 is a schematic top view of the overhead crane 10 according to the present embodiment, and FIG. 2 is a schematic side view of the overhead crane 10 according to the present embodiment.

As shown in FIGS. 1 and 2, the overhead crane 10 (an example of the crane device of the present disclosure) is installed in an aggregate storage facility 60 such as a batcher plant. The aggregate storage facility 60 receives and temporarily stores the aggregate mixed with cement, and mainly includes a coarse aggregate storage tank 61, a fine aggregate storage tank 62, a coarse aggregate hopper 63, and fine particles. It is provided with an aggregate hopper 64 and belt conveyors 65 and 66.

The coarse aggregate storage tank 61 and the fine aggregate storage tank 62 are recessed in the ground G in the aggregate storage facility 60, and receive and store the aggregate carried in by a truck or the like. Specifically, the coarse aggregate storage tank 61 stores the coarse aggregate A1 having a relatively large particle size such as gravel, and the fine aggregate storage tank 62 stores the fine aggregate A2 having a small particle size such as sand. Store. The number of aggregate storage portions 61 and 62 is not limited to one in each of the illustrated examples, and may be plural. The types of aggregates A1 and A2 are not limited to sand and gravel, and may be other aggregates that can be mixed with cement.

The coarse aggregate hopper 63 and the fine aggregate hopper 64 are provided above the ground G in the aggregate storage facility 60, and are supported by columns 69 (see FIG. 2) and the like. Each of the hoppers 63 and 64 is formed in a substantially pyramidal trapezoidal shape in which the upper end opening is expanded from the lower end opening, and belt conveyors 65 and 66 are provided below the hoppers 63 and 64, respectively.

In the aggregate storage facility 60, the aggregates A1 and A2 taken out from the aggregate storage portions 61 and 62 by the overhead crane 10 are put into the corresponding hoppers 63 and 64, and the aggregates A1 and A1 fall from the hoppers 63 and 64. A2 is conveyed by belt conveyors 65 and 66 to a measuring unit and a mixer (not shown).

[Overhead traveling crane]
The overhead crane 10 is provided above the hoppers 63 and 64, and is supported by a support column 67 (see FIG. 2) erected from the ground G or the like.

Specifically, the overhead crane 10 includes a pair of first traveling rails 11 and second traveling rails 12 extending substantially in parallel with each other, and a girder 13 capable of traveling on the traveling rails 11 and 12 (the first moving body of the present disclosure). ), The trolley 14 (the second moving body of the present disclosure) capable of traveling on the rail 13, the hoisting machine 15 provided on the trolley 14, and the hoisting machine 15 are suspended via wires 16 (see FIG. 2). A crane bucket 17 (an example of a transport unit of the present disclosure), traveling drive sources 20A and 20B (see FIG. 1) for traveling the girder 13, and a traversing drive source 21 (see FIG. 1) for traversing the trolley 14. , The distance detection sensors 30 and 31 (first and second sensors of the present disclosure), the depth cameras 32 and 33, and the control device 40 (the control means of the present disclosure) are provided.

The distance detection sensors 30, 31, the depth cameras 32, 33, and the control device 40 are preferable as components of the automatic operation unit of the present disclosure. In the following description, among the horizontal directions, the traveling direction of the girder 13 is simply the X direction (first direction of the present disclosure), and the transverse direction of the trolley 14 orthogonal to the X direction is simply the Y direction (second of the present disclosure). Direction). Further, the vertical direction (the elevating direction of the bucket 17) orthogonal to the X and Y directions is simply referred to as the Z direction.

The traveling rails 11 and 12 are extended in parallel in the X direction, and are separated from each other in the Y direction with a predetermined interval. Each of the traveling rails 11 and 12 is provided with a first saddle 13A and a second saddle 13B capable of traveling in the X direction along the traveling rails 11 and 12, respectively. Further, X position targets 11A, 11B, 12A, 12B (see FIG. 1) for detecting the position in the X direction, which are formed of a reflector or the like, are provided at both ends of the traveling rails 11 and 12, respectively.

Specifically, a first reference X position target 11A is provided at one end of the first traveling rail 11, and a first maximum X position target 11B is provided at the other end of the first traveling rail 11. Further, a second reference X position target 12A is provided at one end of the second traveling rail 12, and a second maximum X position target 12B is provided at the other end of the second traveling rail 12.

The girder 13 is fixed to the first saddle 13A on one end side and to the second saddle 13B on the other end side, and is bridged between the traveling rails 11 and 12 in the Y direction. When the traveling drive sources 20A and 20B are driven in response to a command from the control device 40, the girder 13 appropriately travels in the X direction by moving the saddles 13A and 13B along the traveling rails 11 and 12. ..

The trolley 14 is provided on the girder 13 so as to be able to travel, and when the traversing drive source 21 is driven in response to a command from the control device 40, the trolley 14 appropriately travels in the Y direction along the girder 13. The trolley 14 is provided with a Y position target 18 for detecting a position in the Y direction, which is formed of a reflector or the like. The Y-position target 18 is preferably attached to the upper surface of the trolley 14 so as to be located directly above the bucket 17 in the Z direction.

The hoisting machine 15 is provided so as to be integrally movable with the trolley 14, and is driven in response to a command from the control device 40. A bucket 17 is suspended from the hoisting machine 15 via a wire 16. When the hoisting machine 15 winds up the wire 16, the bucket 17 rises in the Z direction, and when the hoisting machine 15 winds down the wire 16. The bucket 17 descends in the Z direction.

The hoisting machine 15 includes a Z position detection sensor 34 (see FIG. 2) such as a rotary encoder capable of detecting the elevating position (bucket Z position) of the bucket 17 in the Z direction, and aggregates A1 and A2 gripped by the bucket 17. A weight sensor 35 (see FIG. 2) such as a load cell capable of measuring the weight of the load cell is provided. The detection signals of the sensors 34 and 35 are transmitted to the control device 40 in real time by wire or wirelessly.

The distance detection sensors 30 and 31 (part of the position information acquisition means of the present disclosure) are, for example, sensors such as an ultrasonic sensor, a laser radar, and a millimeter wave radar, and detect a relative distance to an object around the sensor. .. Specifically, the first distance detection sensor 30 is integrally movable to the first saddle 13A (or one end of the girder 13) so as to move in the X direction on a straight line connecting the targets 11A and 11B. ing. The second distance detection sensor 31 is integrally movably attached to the second saddle 13B (or the other end of the girder 13) so as to move in the X direction on a straight line connecting the targets 12A and 12B. Further, these distance detection sensors 30 and 31 face each other in the Y direction with the Y position target 18 interposed therebetween.

_{The first distance detection sensor 30 detects the relative distance X1 _A} with the first reference X position target 11A by receiving the reflected wave from the first reference X position target 11A. _{Further, the first distance detection sensor 30 detects the relative distance X1 _B} with the first maximum X position target 11B by receiving the reflected wave from the first maximum X position target 11B. Further, the first distance detection sensor 30 detects the relative distance Y1 with the Y position target 18 by receiving the reflected wave from the Y position target 18. The detection signals of the first distance detection sensor 30 are transmitted to the control device 40 in real time by wire or wirelessly.

_{The second distance detection sensor 31 detects the relative distance X2 _A} with the second reference X position target 12A by receiving the reflected wave from the second reference X position target 12A. _{Further, the second distance detection sensor 31 detects the relative distance X2 _B} with the second maximum X position target 12B by receiving the reflected wave from the second maximum X position target 12B. Further, the second distance detection sensor 31 detects the relative distance Y2 from the Y position target 18 by receiving the reflected wave from the Y position target 18. The detection signals of the second distance detection sensor 31 are transmitted to the control device 40 in real time by wire or wirelessly.

Depth cameras 32 and 33 (see FIG. 2) are provided on the upper beam 68 and the like of the aggregate storage facility 60 so as to be located directly above the hoppers 63 and 64. Specifically, the first depth camera 32 is provided above the coarse aggregate hopper 63, and images the inside of the coarse aggregate hopper 63 to generate image data thereof. The second depth camera 33 is provided above the fine aggregate hopper 64, and images the inside of the fine aggregate hopper 64 to generate image data thereof. The image data generated by the depth cameras 32 and 33 is transmitted to the control device 40 by wire or wirelessly.

[Control device]
FIG. 3 is a schematic functional block diagram showing the control device 40 according to the present embodiment and related peripheral configurations.

The control device 40 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 automatic operation program.

Further, the control device 40 executes the automatic operation program to execute the first saddle X position acquisition unit 41 (a part of the position information acquisition means of the present disclosure) and the second saddle X position acquisition unit 42 (the position information acquisition of the present disclosure). (Part of the means), bucket X position estimation unit 43 (part of the position information acquisition means of the present disclosure), bucket Y position estimation unit 44 (part of the position information acquisition means of the present disclosure), abnormality determination unit 45, traveling. It functions as a device including a control unit 46, a traverse control unit 47, a grip control unit 48, and a closing control unit 49. Each of these functional elements will be described as being included in the control device 40, which is integrated hardware in the present embodiment, but any part of these may be provided in separate hardware.

The first saddle X position acquisition unit 41 is based on the sensor value of the first distance detection sensor 30, and is a relative position in the X direction of the first saddle 13A with respect to the first reference X position target 11A (hereinafter, simply, the first saddle X position). To get). Specifically, in the memory of the control device 40, the separation distances of the targets 11A and 11B are stored in _{advance as the first maximum distance X1 _Max.} The first saddle X position acquisition unit 41 first adds the _{relative distance X1 _A} and the relative distance X1 _{_B transmitted from the first distance detection sensor 30.} The first saddle X position acquisition unit 41, if the added value _{(= X1} _A + X1 _{_B)} and the absolute value is equal to or less than the predetermined threshold value of the difference between the first maximum distance _{X1 _MAX,} that there is no abnormality in the sensor value Then, the relative distance X1 _{_A} is acquired as the first saddle X position.

The second saddle X position acquisition unit 42 is a relative position in the X direction of the second saddle 13B with respect to the second reference X position target 12A based on the sensor value of the second distance detection sensor 31 (hereinafter, simply the second saddle X position). To get). Specifically, in the memory of the control device 40, the separation distances of the targets 12A and 12B are stored in _{advance as the second maximum distance X2_Max.} The second saddle X position acquisition unit 42 first adds the _{relative distance X2 _A} and the relative distance X2 _{_B transmitted from the second distance detection sensor 31.} The second saddle X position acquisition unit 42, if the absolute value of the difference between the sum value _{(= X2} _A + X2 _{_B)} and the second maximum distance _{X2 _MAX} is below a predetermined threshold value, that there is no abnormality in the sensor value Then, the relative distance X2 _{_A} is acquired as the second saddle X position.

The bucket X position estimation unit 43 obtains an average value of the first saddle X position transmitted from the first saddle X position acquisition unit 41 and the second saddle X position transmitted from the second saddle X position acquisition unit 42. At the same time, the obtained average value is estimated as the relative position of the bucket 17 with respect to the reference targets 11A and 12A in the X direction (hereinafter, simply referred to as the bucket X position).

The bucket Y position estimation unit 44 is based on the sensor values of the first distance detection sensor 30 and the second distance detection sensor 31 and is the first saddle 13A of the bucket 17 (or a straight line in the X direction connecting the targets 11A and 11B). The position relative to the Y direction (hereinafter, simply referred to as the bucket Y position) is estimated. Specifically, in the memory of the control device 40, the facing distances of the sensors 30 and 31 are stored in _{advance as the maximum distance Y_Max.} The bucket Y position estimation unit 44 first adds the relative distances Y1 and Y2 transmitted from the sensors 30 and 31. _{Then, the bucket Y position estimation unit 44 assumes} that there is no abnormality in the sensor value if the absolute value of the difference between the added value (= Y1 + Y2) and the maximum distance Y_Max is equal to or less than a predetermined threshold value, and sets the relative distance Y1 as the bucket. Estimated as the Y position.

The abnormality determination unit 45 determines the abnormality of the overhead crane 10 based on the sensor values of the first distance detection sensor 30, the second distance detection sensor 31, and the weight sensor 35. Specifically, the abnormality determination unit 45 determines that an abnormality has occurred in the overhead crane 10 when any of the following conditions (1) to (6) is satisfied, and automatically operates (travel control, traversal described later). (Control, input control, etc.) are stopped urgently.

Condition (1): the sum of the relative distance _{X1 _A} and relative distance _{X1 _B} transmitted from the first distance detecting sensor 30 and _{(= X1 _A + X1 _B)} , the absolute value of the difference between the first maximum distance _{X1 _MAX} predetermined When the threshold of is exceeded.

Condition (2): the sum of the second distance relative distance _{X2 _A} sent from the detection sensor 31 and the relative distance _{X2 _B} and _{(= X2 _A + X2 _B)} , the absolute value of the difference between the second maximum distance _{X2 _MAX} predetermined When the threshold of is exceeded.

Condition (3): When the absolute value of the difference between the added value (= Y1 + Y2) of the relative distances Y1 and Y2 transmitted from the distance detection sensors 30 and 31 and the maximum distance _{Y_Max exceeds a predetermined threshold value.}

Condition (4): The absolute value of the difference between the _{relative distance X1 _A} transmitted from the first distance detection sensor 30 _{and the relative distance X2 _A} transmitted from the second distance detection sensor 31 exceeds a predetermined upper limit value. If there is.

Condition (5): The absolute value of the difference between the _{relative distance X1 _B} transmitted from the first distance detection sensor 30 _{and the relative distance X2 _B} transmitted from the second distance detection sensor 31 exceeds a predetermined upper limit value. If there is.

Condition (6): When the sensor value of the weight sensor 35 does not change even if an open / close operation instruction is output to the bucket 17 during the closing control described later.

Regarding the conditions (1), (2), and (3), is there any failure in the distance detection sensors 30 and 31 itself, or the distance detection sensors 30 and 31 and the targets 11A, 11B, 12A, 12B, 18 This is because it is considered that some kind of obstacle or the like intervenes between the sensor value and the sensor value is out of order. Regarding conditions (4) and (5), it is considered that the girder 13 is tilted diagonally with respect to the traveling rails 11 and 12 due to the derailment of the saddles 13A and 13B, the failure of the drive sources 20A and 20B, and the like. Because. Regarding condition (6), it is considered that some kind of failure has occurred in the bucket 17 and the aggregates A1 and A2 have not been properly put into the hoppers 63 and 64. In such a case, by determining the overhead crane 10 as abnormal and urgently stopping the automatic operation, it becomes possible to prevent the occurrence of an accident or the like, and the safety can be improved.

The travel control unit 46 performs travel control for traveling the girder 13 in the X direction based on the bucket X position transmitted from the bucket X position estimation unit 43. Specifically, in the memory of the control device 40, the first target X position (X1) above the coarse aggregate storage tank 61, the second target X position (X2) above the fine aggregate storage tank 62, and the coarse aggregate The third target X position (X3) above the hopper 63 and the fourth target X position (X4) above the fine aggregate hopper 64 are stored in advance. The travel control unit 46 has drive sources 20A and 20B for travel based on the deviation ΔX between the first to fourth target X positions (X1 to X4) and the bucket X position transmitted from the bucket X position estimation unit 43. By controlling the drive of the girder 13, the girder 13 is moved toward the desired first to fourth target X positions.

FIG. 4 is a schematic timing chart diagram illustrating an example of traveling control according to the present embodiment. FIG. 4 is an example of traveling control in which the girder 13 is moved from the first target X position (X1) to the third target X position (X3) while the coarse aggregate A1 is held in the bucket 17. Since other travel controls for traveling the girder 13 from the second target X position (X2) to the fourth target X position (X4) have the same processing contents, detailed description thereof will be omitted.

The time t0 in FIG. 4 indicates a state in which the bucket X position is at the first target X position (X1). The travel control unit 46 controls the drive of the travel drive sources 20A and 20B so that the girder 13 gradually accelerates from the first target X position (X1) from the time t0 to the time t1. When the traveling speed of the girder 13 reaches a predetermined target speed at time t1, the traveling control unit 46 controls the driving of the traveling drive sources 20A and 20B so that the girder 13 travels at a constant speed at the target speed. .. In this way, by gradually accelerating the girder 13 and then switching to constant speed running, the periodic runout of the bucket 17 can be effectively suppressed. The acceleration distance and acceleration time of the girder 13 are determined by the distance between the first target X position (X1) and the third target X position (X3), the weight of the aggregate A1 held by the bucket 17, and the like. It may be set appropriately according to.

At time t2, when the bucket X position reaches a predetermined X position before the third target X position (X3), the traveling control unit 46 gradually decelerates the girder 13 toward the third target X position (X3). The drive of the traveling drive source 20 is controlled so as to travel. The deceleration distance and deceleration time of the girder 13 are held in the bucket 17 so that the deviation between the bucket X position and the third target X position (X3) falls within a predetermined allowable threshold value at time t3. It may be appropriately set according to the weight of the aggregate A1 and the speed at the time of traveling at a constant speed.

If the deviation between the bucket X position and the third target X position (X3) exceeds a predetermined allowable threshold value at time t3, the traveling control unit 46 thereafter keeps the bucket X position within the allowable threshold value. As described above, the X alignment control for finely moving the girder 13 is executed. Here, since the traveling control and the X alignment control are performed based on the bucket X position estimated from the detection signals of the two sensors 30 and 31, when the control is performed based on the detection signals of one sensor. In comparison, the positioning accuracy can be reliably improved.

Returning to FIG. 3, the traverse control unit 47 performs traverse control for traversing the trolley 14 in the Y direction based on the bucket Y position transmitted from the bucket Y position estimation unit 44. Specifically, in the memory of the control device 40, the first target Y position (Y1) above the coarse aggregate storage tank 61, the second target Y position (Y2) above the fine aggregate storage tank 62, and the coarse aggregate The third target Y position (Y3) above the hopper 63 and the fourth target Y position above the fine aggregate hopper 64 are stored in advance. The traverse control unit 47 drives the traverse drive source 21 based on the deviation ΔY between the first to fourth target Y positions (Y1 to Y4) and the bucket Y position transmitted from the bucket Y position estimation unit 44. By controlling the above, the trolley 14 is traversed toward the desired first to fourth target Y positions (Y1 to Y4).

FIG. 5 is a schematic timing chart diagram illustrating an example of traverse control according to the present embodiment. FIG. 5 is an example of traverse control in which the trolley 14 is moved from the first target Y position (Y1) to the third target Y position (Y3) while the coarse aggregate A1 is held in the bucket 17. Since other traverse controls for traveling the trolley 14 from the second target Y position (Y2) to the fourth target Y position (Y4) have the same processing contents, detailed description thereof will be omitted.

The time t0 in FIG. 5 indicates a state in which the bucket Y position is at the first target Y position (Y1). The traverse control unit 47 controls the drive of the traverse drive source 21 so that the trolley 14 gradually accelerates from the first target Y position (Y1) from the time t0 to the time t1. When the traveling speed of the trolley 14 reaches a predetermined target speed at time t1, the traversing control unit 47 controls the driving of the traversing drive source 21 so that the trolley 14 travels at a constant speed at the target speed. In this way, by gradually accelerating the trolley 14 and then switching to constant speed running, the periodic runout of the bucket 17 can be effectively suppressed. The acceleration distance and acceleration time of the trolley 14 are determined by the distance between the first target Y position (Y1) and the third target Y position (Y3), the weight of the aggregate A1 held by the bucket 17, and the like. It may be set appropriately according to.

At time t2, when the bucket Y position reaches a predetermined Y position before the third target Y position (Y3), the traverse control unit 47 gradually decelerates the trolley 14 toward the third target Y position (Y3). The drive of the traverse drive source 21 is controlled so as to travel. The deceleration distance and deceleration time of the trolley 14 are held in the bucket 17 so that the deviation between the bucket Y position and the third target X position (Y3) falls within a predetermined allowable threshold value at time t3. It may be appropriately set according to the weight of the aggregate A1 and the speed at the time of traveling at a constant speed.

If the deviation between the bucket Y position and the third target Y position (Y3) exceeds a predetermined allowable threshold value at time t3, the traverse control unit 47 thereafter keeps the bucket Y position within the allowable threshold value. As described above, the Y alignment control for finely moving the trolley 14 is executed. Here, since the traverse control and the Y alignment control are performed based on the bucket Y position estimated from the detection signals of the two sensors 30 and 31, when the control is performed based on the detection signals of one sensor. In comparison, the positioning accuracy can be reliably improved.

Returning to FIG. 3, in the gripping control unit 48, the bucket 17 is set to the first target X and Y positions above the coarse aggregate storage tank 61 or the second target above the fine aggregate storage tank 62 by the above-mentioned traveling control and traverse control. When the X and Y positions are reached, the bucket 17 is moved up and down in the Z direction to perform gripping control for the bucket 17 to grip the aggregates A1 and A2.

Specifically, in the memory of the control device 40, predetermined target Z positions shown in FIG. 6 below the hoppers 63 and 64 and above the aggregate storage tanks 61 and 62 are stored in advance. .. First, the gripping control unit 48 desires the bucket 17 by controlling the winding drive of the hoisting machine 15 based on the deviation ΔZ between the target Z position and the bucket Z position transmitted from the Z position detection sensor 34. It is lowered toward the target Z position of.

Next, when the bucket Z position reaches the target Z position, the gripping control unit 48 opens the bucket 17 and lands the bucket 17 on the aggregates A1 and A2 in the aggregate storage tanks 61 and 62. Whether or not the bucket 17 has landed may be grasped based on the detection signal of the weight sensor 35. When the bucket 17 lands on the floor, the gripping control unit 48 closes the bucket 17 to cause the bucket 17 to grip the aggregates A1 and A2.

Next, the gripping control unit 48 winds up the hoisting machine 15 to raise the bucket 17 in the Z direction. At this time, the grasping control unit 48 determines whether or not the bucket 17 is grasping a desired amount of aggregates A1 and A2 based on the sensor value of the weight sensor 35.

Specifically, if the value obtained by subtracting the own weight WB of the bucket 17 from the weight value WS acquired by the weight sensor 35 while the bucket 17 is rising is equal to or higher than a predetermined threshold value, the gripping control unit 48 moves the bucket 17 to the bucket 17. Continue the ascending movement of. On the other hand, if the value obtained by subtracting the own weight WB from the weight value WS is less than a predetermined threshold value, the grasping control unit 48 assumes that the bucket 17 has not sufficiently grasped the aggregates A1 and A2, and moves the bucket 17 upward. To interrupt. As a result, when an abnormality or the like occurs in the bucket 17 and the gripping of the aggregates A1 and A2 fails, it is possible to effectively stop the continuation of the useless automatic operation of the overhead traveling crane 10.

Returning to FIG. 3, in the closing control unit 49, the bucket 17 is placed at the third target X, Y position above the coarse aggregate hopper 63 or the fourth target X above the fine aggregate hopper 64 by the above-mentioned traveling control or traverse control. When the Y position is reached, the bucket 17 is opened to perform loading control for loading the aggregates A1 and A2 into the hoppers 63 and 64.

First, when the bucket 17 reaches above the hoppers 63 and 64 by traverse control, the input control unit 49 acquires the remaining amount of aggregate in the hoppers 63 and 64 based on the image data generated by the depth cameras 32 and 33. do. Here, as shown in FIG. 7, the hoppers 63 and 64 have a substantially pyramidal trapezoidal shape in which the upper end opening is expanded from the lower end opening, and when the aggregates A1 and A2 are discharged from the lower end opening, the hopper A substantially conical surface A3 made of aggregates A1 and A2 is formed in 63 and 64. Therefore, when an ultrasonic sensor, a millimeter wave radar, or the like is used, the reflected wave cannot be effectively received, and the remaining amount of aggregate in the hoppers 63 and 64 may not be accurately grasped. In the present embodiment, since the image data generated by the depth cameras 32 and 33 is used, the remaining amount of the aggregate remains accurately without being affected by the surfaces A3 of the aggregates A1 and A2 in the hoppers 63 and 64. It will be possible to obtain.

Next, the input control unit 49 determines whether or not the remaining amount of aggregate in the hoppers 63 and 64 has decreased to a predetermined threshold amount. If the remaining amount of aggregate has decreased to a predetermined threshold amount, the injection control unit 49 opens the bucket 17 to charge the aggregates A1 and A2 into the hoppers 63 and 64. On the other hand, if the remaining amount of aggregate exceeds a predetermined threshold amount, the input control unit 49 makes the bucket 17 stand by in a closed state, and when the remaining amount of aggregate decreases to a predetermined threshold amount, the bucket 17 is opened. Let me.

Next, the charging control unit 49 determines whether or not the aggregates A1 and A2 have been reliably charged into the hoppers 63 and 64 based on the sensor values of the weight sensor 35 after the bucket 17 is opened and operated. Specifically, if the weight value WS acquired by the weight sensor 35 does not change by a predetermined amount or more after transmitting the open operation signal to the bucket 17, the closing control unit 49 causes an operation abnormality in the bucket 17. Assuming that has occurred, the automatic operation is stopped. As a result, when an abnormality occurs in the bucket 17 and the aggregates A1 and A2 fail to be loaded, it is possible to effectively stop the continuation of the useless automatic operation of the overhead crane 10.

According to the present embodiment described in detail above, the overhead crane 10 is provided with distance detection sensors 30 and 31 capable of detecting the X-direction position and the Y-direction position of the bucket 17, and is based on the sensor values of the sensors 30 and 31. , The running of the girder 13 and the traversing of the trolley 14 are automatically controlled. This eliminates the need for the operator to operate the overhead crane 10, and makes it possible to save labor, improve efficiency, and improve safety in the batcher plant.

Even if the overhead crane 10 is a manual operation type, the overhead crane 10 can be easily automatically operated by adding sensors 30, 31, depth cameras 32, 33, and functional elements 41 to 49 of the control device 40. It is configured so that it can be done. This makes it possible to easily automate the existing crane device without reviewing the structure of the overhead crane 10 or making major modifications.

Further, by using two distance detection sensors 30 and 31 capable of detecting two directions in the X direction and at least three directions in the Y direction for the position measurement of the bucket 17, automatic operation control is performed using one sensor. It is also possible to surely improve the positioning accuracy of the bucket 17 as compared with the case where the bucket 17 is used.

[others]
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 number of distance detection sensors 30 and 31 is not limited to two in the illustrated example, and may be one or three or more. Further, the site where the overhead crane 10 is provided is not limited to the batcher plant, and may be another site. Further, the crane device is not limited to the overhead crane 10, and can be widely applied to other cranes that convey a predetermined load in the X direction or the Y direction.

10 Overhead crane (crane device)
11 1st running rail (1st rail)
12 2nd running rail (2nd rail)
13 Gurda (1st running body)
13A 1st saddle 13B 2nd saddle 14 trolley (2nd running body)
15 Hoisting machine 16 Rope 17 Bucket (conveyor)
20A 1st running drive source 20B 2nd running drive source 21 Traverse drive source 30 1st distance detection sensor (position information acquisition means)
31 Second distance detection sensor (position information acquisition means)
32 1st depth camera 33 2nd depth camera 34 Z position detection sensor 35 Total weight sensor 40 Control device (control means)
41 First saddle X position acquisition unit (position information acquisition means)
42 Second saddle X position acquisition unit (position information acquisition means)
43 Bucket X position estimation unit (position information acquisition means)
44 Bucket Y position estimation unit (position information acquisition means)
45 Abnormality judgment unit 46 Travel control unit 47 Traverse control unit 48 Grasp control unit 49 Input control unit

Claims (6)

A pair of first and second rails extending in parallel with each other in the first direction, extending in a second direction orthogonal to the first direction, and movable in the first direction along the first and second rails. A first moving body, a second moving body that can move in the second direction along the first moving body, and a second moving body that can be integrally moved to the second moving body and can carry a predetermined load. An automatic operation unit of a crane device including a unit and a drive source for applying a moving force to the first and second moving bodies.
A position information acquisition means for acquiring position information in the first and second directions of the transport unit with respect to a predetermined reference position, and
The crane device is automatically operated by controlling the drive of the drive source based on the acquired position information and the target positions in the first and second directions with respect to the reference position of the transport unit set in advance. An automatic operation unit characterized by having a control means for the crane. The location information acquisition means
Provided at one end of the first moving body in the second direction, the relative distance from one end of the first rail, the relative distance from the other end of the first rail, and the second moving body. The first sensor that can detect the relative distance and
It is provided at the other end of the first moving body in the second direction, and is provided from the relative distance from one end of the second rail, the relative distance from the other end of the second rail, and from the second moving body. Has a second sensor that can detect the relative distance of
The automatic operation unit according to claim 1, wherein the position information of the transport unit with respect to the reference position is acquired based on the relative distance detected by the first and second sensors. The control means
When the difference between the relative distance from one end of the first rail detected by the first sensor and the relative distance from one end of the second rail detected by the second sensor exceeds a predetermined threshold value. Alternatively, the difference between the relative distance from the other end of the first rail detected by the first sensor and the relative distance from the other end of the second rail detected by the second sensor sets a predetermined threshold value. The automatic operation unit according to claim 2, wherein the automatic operation is stopped when the distance is exceeded. The control means
The sum of the relative distance from the second moving body detected by the first sensor and the relative distance from the second moving body detected by the second sensor, and the distance between the first and second sensors. The automatic operation unit according to claim 2 or 3, wherein the automatic operation is stopped when the difference from the distance exceeds a predetermined threshold value. As the target position, an upper position of the hopper for loading the load transported by the transport unit is set.
A depth camera provided above the hopper and capable of photographing the inside of the hopper is further provided.
The control means
When the transport unit reaches the target position above the hopper, the remaining amount of the input material in the hopper is acquired based on the image data of the depth camera, and the remaining amount is reduced to a predetermined threshold amount. Then, the automatic operation unit according to any one of claims 1 to 4, which causes the load to be loaded into the hopper from the transport unit. A crane device including the automatic operation unit according to any one of claims 1 to 5.

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