JP2021147139A - Automatic route setting system for tower crane - Google Patents

Abstract

To provide an automatic route setting system for a tower crane that avoids a suspended cargo of the tower crane from entering a three-dimensional entry prohibited area set in a building under construction and prevents an obstacle on a conveyance path from approaching a preset three-dimensional approach prohibited area so as to automatically convey the suspended cargo quickly and safely.SOLUTION: An automatic route setting system for a tower crane includes a core control unit 3b, which is provided in the vicinity of a suspended cargo 5 of a tower crane 2 arranged at a construction site to determine the position and bearing of the suspended cargo 5 and measure a three-dimensional shape of the suspended cargo 5, a cargo taking position of the suspended cargo 5, and a cargo unloading position, and an automatic control unit for selecting an optimal three-dimensional conveyance route 6 from the taking to the unloading of the suspended cargo 5 based on the results of determining and measuring by the core control unit 3b.SELECTED DRAWING: Figure 2

Description

The present invention relates to an automatic route setting system for a tower crane, and in particular, sets a three-dimensional entry prohibited area and a three-dimensional approach prohibited area as a transport route for suspended loads by a tower crane used for a building under construction. It relates to a highly safe automatic route setting system for tower cranes, which can prevent suspended loads from colliding with obstacles.

Due to the rapid aging of tower crane operators and field workers and labor shortages, there is an increasing need for full automation of the transportation of suspended loads by tower cranes. Conventionally, in the operation of a tower crane, a skilled operator visually controls the tower crane in accordance with the guidance of a field worker such as a black kite. However, due to the rapid aging of the above-mentioned workers and field workers and the labor shortage, there is an increasing demand for fully automating the transportation of suspended loads of tower cranes. However, there are various problems that must be solved in the complete automation of the transportation of suspended loads by this tower crane.

First, on behalf of skilled drivers and field workers, automation must be used to control the suspended load from colliding with buildings and the like. Second, the load runout due to crane operation must be minimized. Third, the position of the suspended load, the position of loading the suspended load, and the position of unloading the suspended load must be accurately positioned. Furthermore, fourthly, it is necessary to accurately grasp the detailed shape of the suspended load itself, the detailed status of the loading position of the suspended load, the detailed status of the unloading position of the suspended load, and the like. Unless these operations are achieved with high reliability, full automation of crane operation cannot be expected.

Patent Document 1 discloses an automatic operation system for a tower crane that can efficiently perform work without deviating from a set transport track. Here, receivers capable of constant satellite positioning are provided at the top of the tower, the tip of the jib, and the hook block, and the control device is equipped with at least a three-dimensional drawing of the design drawing of the structure, time coordinates according to the rotation angle of the tower crane, and undulations of the jib. By reading and saving the time coordinates by angle, displaying the 3D drawing of the hierarchy to be constructed on the operation panel, and touching the position of the building member lifted in the loading area and the position to install it, It is described that the shortest transfer position is calculated based on the coordinates calculated from the lifted position to the installation position, and the transfer is automatically performed.

Japanese Unexamined Patent Publication No. 2019-12178

Regarding the position and direction of the suspended load, conventionally, on-site workers such as black kite workers wait at the loading position and unloading position of the suspended load of the tower crane and ask the operator of the tower crane about the attitude and direction of the suspended load. It was essential to direct the information. However, in order to fully automate the loading and unloading work of suspended loads by the tower crane, a control system that fully automates the above-mentioned operation functions that conventionally depended on the tower crane operator and field workers. Construction is essential.

In addition, in order to fully automate the unloading work and unloading work of the suspended load by the tower crane, not only the size and direction of the suspended load are detected, but also information such as the type, shape, number, and weight of the suspended load is transmitted by humans. A function to grasp with accuracy comparable to the information of is required. Further, in the unloading work and the unloading work of the suspended load, a function of grasping the information on the place where the suspended load is picked up and the place where the suspended load is unloaded is required with the accuracy comparable to that of human information.

In addition, the shape of the building under construction changes from moment to moment as the construction progresses, and when transporting the suspended load by a tower crane, the suspended load is safe in consideration of the dynamic shape change of the building under construction. Must be transported to. Furthermore, it is necessary to grasp and control the swaying condition of the suspended load floating in the air as a dynamic movement.

The purpose of the present application is to solve such a problem, to prevent the suspended load of the tower crane from entering the three-dimensional restricted area set in the building under construction, and to prevent the suspended load of the tower crane from entering the three-dimensional restricted area, and to set an obstacle on the transport path. Provided is an automatic route setting system for a tower crane that prevents access to a former no-access area and automatically transports suspended loads quickly and safely.

In order to achieve the above object, the automatic route setting system for the tower crane according to the present invention is provided in the vicinity of the suspended load of the tower crane arranged at the construction site, positions and directions of the suspended load, and determines the position and direction of the suspended load. From the unloading of the suspended load to the unloading based on the core control unit that measures the three-dimensional shape, the unloading position of the suspended load, and the unloading position of the suspended load, and the positioning result and measurement result by the core control unit. It is characterized by being equipped with an automatic control unit that selects the optimum three-dimensional transport path.

With the above configuration, the automatic route setting system for the tower crane is composed of an automatic control unit that selects a three-dimensional transport path for the suspended load of the tower crane and a core control unit that performs positioning and measurement related to the suspended load. Then, the automatic control unit determines the three-dimensional transport path based on the positioning or measurement result of the core control unit. This makes it possible to automatically set a three-dimensional transport path for suspended loads, which has been visually determined by a tower crane operator or a field worker in the past. Further, by setting the three-dimensional entry prohibited area, it is possible to secure the optimum three-dimensional transport route from the loading position of the suspended load to the unloading position.

In addition, in the automatic route setting system of the tower crane, the core control unit continuously positions the position and direction of the suspended load in real time by a plurality of satellite positioning antennas, and the automatic control unit is preset in relation to the building. It is preferable to select the three-dimensional transport route of the suspended load while avoiding the three-dimensional entry prohibited area. In this way, when the suspended load is transported by the tower crane, a three-dimensional entry prohibited area is set in advance, and a collision between the suspended load and the building can be automatically avoided.

In addition, in the tower crane automatic route setting system, the core control unit measures the suspended load height from the three-dimensional shape of the suspended load taken by multiple three-dimensional cameras attached to the tower crane, and the automatic control unit operates. , It is preferable to receive the suspended load height of the suspended load and set a three-dimensional entry prohibited area. As a result, the automatic control unit is prohibited from entering three-dimensionally by taking into account not only the dimensions of the suspended load measured by the core control unit but also the dimensions of the suspended load, for example, the beam material and the column material. The area can be set accurately and the safety of transporting suspended loads can be guaranteed.

In addition, in the tower crane's automatic route setting system, the core control unit grasps the three-dimensional shape of the building forming the three-dimensional entry prohibited area with a stereo camera, and the automatic control unit considers the predetermined clearance from the building. It is preferable to guide the suspended load. As a result, the suspended load can be quickly and safely installed at a predetermined position, and even if there is an obstacle at the installation position, it can be detected in advance.

In addition, in the tower crane's automatic route setting system, the core control unit grasps the three-dimensional shape of the suspended load with a stereo camera, and the automatic control unit sets a three-dimensional access prohibited area that secures a predetermined clearance from the suspended load. It is preferable to do so. In this way, by setting a three-dimensional access prohibited area in the area where a predetermined clearance is secured from the suspended load, for example, when the suspended load suspended by the tower crane is greatly shaken by wind, an earthquake, etc., or during construction. It is possible to deal with accidents caused by falling objects from the building and ensure the safety of construction.

In addition, in the tower crane automatic route setting system, the automatic control unit sets the three-dimensional exclusion zone at the time of transporting the suspended load of the tower crane based on the building drawing and the building construction plan input in advance. Is preferable. As a result, with respect to the building under construction, the shape of the building that changes daily can be grasped based on the drawing of the building and the construction plan, and the suspended load can be safely and quickly transported.

In addition, the automatic route setting system of the tower crane is the largest rectangle in which the automatic control unit surrounds the rectangle where the straight line connecting the loading position and the guidance position interferes when there are multiple three-dimensional exclusion zones. Is preferably a three-dimensional entry prohibited area. As a result, it is possible to prevent the suspended load from interfering with obstacles in the transport path, and to safely and efficiently transport the suspended load.

Further, in the automatic route setting system of the tower crane, it is preferable that the automatic control unit moves the suspended load to a pre-input guidance position offset from the unloading position and adjusts the position and direction of the suspended load. .. As a result, when the suspended load is attached, the suspended load can be temporarily placed at the guidance position to adjust the posture of the suspended load, and the suspended load can be quickly and safely installed at a predetermined position.

In addition, the tower crane's automatic routing system allows the automatic control unit to suspend a suspended load beyond the 3D exclusion zone or when the building is suspended beyond the 3D exclusion zone. It is preferable to issue an alarm when there is a risk of approaching the load. As a result, when the suspended load suspended by the tower crane shakes due to wind, earthquake, etc., or when it approaches other heavy machinery, the suspended load temporarily approaches the building beyond the three-dimensional entry prohibited area. Notify the tower crane operator that there is a risk or that an obstacle may approach the suspended load beyond the three-dimensional access prohibited area, and secure a predetermined clearance with the building to avoid a collision. Can be done.

As described above, according to the automatic route setting system for the tower crane according to the present invention, it is possible to prevent the suspended load of the tower crane from entering the three-dimensional entry prohibited area set in the building under construction, and to carry the load. It is possible to provide an automatic route setting system for a tower crane that automatically transports a suspended load quickly and safely by preventing obstacles on the road from approaching a set three-dimensional access prohibited area.

It is a block diagram which shows the schematic structure of one Embodiment of the automatic route setting system of the tower crane which concerns on this invention. FIG. 2A is an elevational view showing a procedure for unloading, transporting, and unloading steel frame members of a high-rise building using a tower crane, and FIG. 2B is a side view of a construction site. FIG. 2B is a plan view of the construction site as viewed from above. FIG. 3A is a perspective view showing a specific example of a steel frame construction method for a high-rise building using a tower crane, and FIG. 3B is a perspective view showing a procedure for unloading steel beams. , FIG. 3 (c) is an elevational view of FIG. 3 (b) as viewed from the side. FIG. 4A is a cross-sectional view showing a core control unit attached to a tower crane, and FIG. 4B is an explanatory view showing a state of a steel frame construction displayed on a monitor in an operator's room. FIG. 5A is a perspective view showing the arrangement of the satellite positioning antenna and the stereo camera of the core control unit, and FIG. 5B is a side view showing a method of lifting a suspended load by a tower crane. 6 (a) to 6 (f) are explanatory views showing a method of guiding a suspended load in a building in consideration of a three-dimensional exclusion zone of a tower crane. FIG. 7A is an explanatory view showing the “suspended load height (H1, H2)” and “lifting height” of the steel frame member in the steel frame construction, and FIG. 7B is the “lifting height (lifting height). It is explanatory drawing which shows "H3)" and "the maximum height of a building (H4)".

(Automatic route setting system for tower cranes)
Hereinafter, the automatic route setting system 1 of the tower crane 2 according to the present invention will be described in detail with reference to the drawings. The present invention relates to a tower crane 2 used at a construction site 10, and a case where the system is used for steel frame construction work will be described as an embodiment, but the present invention is not limited to this steel frame construction work, and any construction site. It is a system corresponding to the tower crane 2 used for the construction in.

(Automatic control unit and core control unit)
As shown in FIGS. 1 and 2, the automatic route setting system 1 of the tower crane 2 is provided with respect to the suspended load 5 of the tower crane 2 arranged at the construction site 10, and the position and direction of the suspended load 5 are positioned. Then, the core control unit 3b that measures the three-dimensional shape of the suspended load 5, the suspended load picking position 43a, and the suspended load unloading position 43f, and the suspension based on the positioning result and the measurement result by the core control unit 3b. It is provided with an automatic control unit 3a that selects the optimum three-dimensional transport path 6 from the unloading of the load 5 to the unloading. As shown in FIG. 1, the core control unit 3b provides positioning information and measurement information to the automatic control unit 3a. That is, the core control unit 3b is a unit that performs positioning and measurement by, for example, a satellite positioning antenna 4, a stereo camera 11, a three-dimensional object recognition sensor 16, and the like. Then, the automatic control unit 3a is a unit that searches for an optimum three-dimensional transport path 6 from unloading to unloading of the suspended load 5 based on the information positioned or measured by the core control unit 3b. As shown in FIG. 1, the core control unit 3b and the automatic control unit 3a may exchange information as independent units, and the automatic control unit 3a includes the core control unit 3b therein. You may.

As shown in FIG. 1, the automatic control unit 3a includes a three-dimensional entry prohibited area setting unit 25, a three-dimensional approach prohibited area determination unit 26, a suspended load information input unit 30, an automatic route setting unit 31, and an automatic route display unit 32. It is composed of an alarm issuing unit 33. Of these, the three-dimensional entry prohibited area setting unit 25 enters the suspended load 5 three-dimensionally so that the steel column beam or the like, which is the suspended load 5 of the tower crane 2, does not collide with the construction completed portion 23 during the lifting. Set a prohibited area 29. The three-dimensional access prohibition area determination unit 26 determines whether or not access is prohibited so that obstacles such as other tower cranes 2, heavy machinery, and construction equipment do not approach and collide with the suspended load 5. The suspended load information input unit 30 reads the suspended load information 28 input by the operator. As shown in FIG. 1, the suspended load information 28 includes information on the suspended load 5 such as the type 40 of the suspended load 5, the suspended load size 41, the suspended load quantity 42 of the suspended load 5, and unloading from the loading of the suspended load 5. Information on the transportation of the suspended load 5 such as the position information of each point up to, the height clearance 46a, and the lateral clearance 46b is included. In addition, the automatic route setting unit 31 sets the optimum route for the suspended load. Optimum here means the safest and shortest route. Then, the alarm issuing unit 33 issues an alarm when the suspended load 5 is likely to exceed the three-dimensional approach prohibited area 29, or when an obstacle approaches the three-dimensional approach prohibited area 20d, and alerts the user. do.

The core control unit 3b is equipped with a satellite positioning antenna 4, a three-dimensional object recognition sensor 16, a stereo camera 11, and the like. Information from these devices, sensors, etc. is collected in the core control unit 3b, and based on this information, the automatic control unit 3a searches for the optimum three-dimensional transport path 6 from the unloading of the suspended load 5 to the unloading. ..

The information necessary for the implementation of the automatic route setting system 1 of the tower crane 2 is the "construction information" of the building 13 and the "three-dimensional CAD information" of the building 13. Here, the “building 13” refers to a building 13 under construction using a tower crane 2, and refers to a building 13 to which the automatic route setting system 1 of the tower crane 2 of the present invention is applied. The "construction information" and "three-dimensional CAD information" of the building 13 are input to the automatic control unit 3a in advance by the builder.

(Hanging information)
The suspended load information 28 includes information on the suspended load 5 itself such as the type 40 of the suspended load 5, the suspended load size 41, and the suspended load quantity 42. The suspended load information 28 may be provided in the core control unit 3b by the installer or the like who manages the suspended load 5 of the tower crane 2 so that the conditions of the suspended load 5 may be set in advance for each type of the suspended load 5. It may be based on the measurement by the stereo camera 11, the three-dimensional object recognition sensor 16, and the like. Further, the suspended load size 41 changes depending on the suspended load quantity 42 to be lifted at one time. Further, the suspended load information 28 includes suspended loads such as a suspended load picking position 43a, a suspended load lifting position 43b, a suspended load upper position 43c, a suspended load guiding position 43d, a suspended load offset position 43e, and a suspended load unloading position 43f. The suspended load information 28 regarding the transport position of 5 is included. The suspended load information 28 includes the suspended load information 28 that is positioned by the artificial satellite 17 and received by the satellite positioning antenna 4. Further, the suspended load information 28 includes information set for the three-dimensional entry prohibited areas 29, 29a, 29b, 29c such as the height clearance 46a and the lateral clearance 46b, and the three-dimensional access prohibited area 20d. Is also good. This information can be set as a standard value by the builder in advance and set as an individual condition at the construction site 10.

(Building construction information)
"Building construction information" is information on steel frame construction, which is organized by the builder into the steel frame construction plan 20, and the steel frame construction plan contains data on the steel frame construction procedure 21 and the steel frame construction process chart 22. Have been described. However, the construction information of the building 13 is not limited to the steel frame construction plan 20 using the tower crane 2, and other plans related to the automatic route setting system 1 of the tower crane 2, for example, the outer wall mounting plan of the building 13. Related information such as books is also included.

In the steel frame construction using the tower crane 2, the steel frame construction procedure 21 and the steel frame construction process chart 22 become important problems when the tower crane 2 transports the main members such as columns and beams of the building 13. .. That is, if the steel frame construction procedure 21 is mistaken, when the tower crane 2 transports the main members such as the columns and beams of the building 13, the main members and the like of the building 13 whose construction has already been completed, etc. This is because it will collide with the crane and may lead to a serious accident. On the other hand, if a transport path is adopted in which the main members such as columns and beams of the building 13 are largely removed in order to avoid a collision, the construction will be delayed and the construction cost will increase. Therefore, it is preferable to adopt a more efficient transport path.

(3D CAD information of the building)
"Three-dimensional CAD information of the building" is based on the above-mentioned "building construction information", the construction completed part 23 that has been completed by the previous day regarding the steel frame construction, and the construction unfinished part that is the target of construction on the day. This is information in which 24 is displayed as three-dimensional CAD data. This information includes information on the steel frame construction procedure 21 and the steel frame construction process chart 22. By utilizing this information, it is possible to "adopt a more efficient transport path" as described above. The “construction completed portion 23” is information necessary for setting the three-dimensional entry prohibited area 29 at the time when members such as steel columns and beams are transported by the tower crane 2, and the construction has already been completed at that time. Information about the completed part. Further, the "construction incomplete portion 24" is information necessary for setting the three-dimensional entry prohibited area 29 at the time when members such as steel columns and beams are transported by the tower crane 2, and the construction is the information. Information about parts that have not yet been completed at the time. Then, these information are displayed on the CAD screen, and the operator is made to confirm the safety of the suspended load 5 by the monitor 12.

FIG. 2 is an explanatory view showing a procedure for unloading, transporting, and unloading a steel frame member of a high-rise building using a tower crane 2. FIG. 2A is a standing view of a construction site 10 from the side. FIG. 2B is a plan view of the construction site 10 in consideration of the above-mentioned three-dimensional entry prohibited area 29 based on the steel frame construction plan 20 of the building 13 in which the automatic route setting unit 31 has been input in advance. Formulate the original transport route 6 (see FIGS. 2 (a) and 2 (b)). The automatic route display unit 32 displays the automatic route established by the automatic route setting unit 31 on the three-dimensional CAD screen, and causes the operator to confirm the safe transportation of the suspended load 5. Then, when the alarm issuing unit 33 has a risk that the suspended load 5 crosses the three-dimensional entry prohibited area 29 and approaches the building 13 on the three-dimensional CAD screen, or the building 13 is in the three-dimensional access prohibited area 20d. If there is a risk of approaching the suspended load 5 beyond the above, an alarm is issued to stop the load 5.

The three-dimensional transport path 6 at the suspended load picking position 43a and the suspended load lifting position 43b will be described with reference to FIG. 2A. In FIG. 2A, the steel frame member of the suspended load 5 is a steel beam. The steel beam, which is the suspended load 5 for construction, is manufactured at the factory of the steel frame processing company, and is transported by the transport truck 15 to the suspended load picking position 43a of the construction site 10 according to the steel frame construction procedure 21, and is carried by a small crane. It is unloaded from the transport truck 15 by 2a. Then, it is lifted to the suspended load lifting position 43b by the tower crane 2 arranged at the construction site 10 (FIG. 2A). At this time, the height clearance 46a and the lateral clearance 46b are set so as not to collide with the building 13 under construction. The automatic control unit 3a strictly observes these clearances and presents a three-dimensional transport path 6 so that the tower crane 2 and the suspended load 5 do not collide with the building 13 or the like.

The three-dimensional transport path 6 at the suspended load upper position 43c, the suspended load guiding position 43d, the suspended load offset position 43e, and the suspended load unloading position 43f will be described with reference to FIG. 2 (b). FIG. 2B shows a plan view of a method of unloading members such as steel column members of a high-rise building by a tower crane 2. The automatic control unit 3a moves the suspended load 5 lifted up to the suspended load lifting position 43b to the suspended load upper position 43c. Then, it is moved from the suspended load guiding position 43d to the suspended load offset position 43e and set at a predetermined unloading position at the suspended load unloading position 43f. In this way, the automatic control unit 3a searches for the path of the suspended load 5 and presents the optimum three-dimensional transport path 6 of the tower crane 2.

(Transportation of suspended cargo by tower crane)
FIG. 3 shows a specific example of how to construct a steel frame of a high-rise building using a tower crane 2. FIG. 3A is a perspective view showing an example of how to construct a steel frame of a high-rise building using a tower crane 2, and FIG. 3B is, for example, from unloading to unloading of a steel beam by the tower crane 2. It is explanatory drawing which shows the procedure of. Regarding the steel frame construction, the steel frame construction of the main members such as the steel column and the steel beam of the building 13 is targeted. In FIGS. 3 (a) to 3 (c), the procedure for transporting the steel beam is shown by the circled numbers 1 to 6 in FIG. 3 (a). First, as shown in FIG. 3A, the suspended load 5 brought to the construction site 10 by the transport truck 15 is the suspended load picking position 43a for construction materials in the vicinity of the building 13 by a small crane (FIG. 3A). Temporarily placed in the circle character 1). Then, it is lifted by the tower crane 2 and lifted up to the suspended load lifting position 43b, which is a height position that does not contact the building 13 (shown in circle letters 2 in FIG. 3). Next, the suspended load 5 is moved to the suspended load upper position 43c (circular character 3 in FIG. 3) and lowered to the suspended load guiding position 43d (shown in the round character 4 in FIG. 3).

FIG. 3B describes the procedure of the suspended load 5 after the suspended load upper position 43c. FIG. 3 (c) is a side view of FIG. 3 (b). It passes through the suspended load upper position 43c shown in the circled letters 3 of FIGS. 3 (b) and 3 (c) and the suspended load guiding position 43d shown in the circled letters 4 of FIGS. 3 (b) and 3 (c). This is mainly to prevent the suspended load 5 and the like from coming into contact with the column stage 47 provided for the work of on-site welding of the steel frame column. Then, the suspended load 5 is laterally moved to the suspended load offset position 43e (shown by the circled characters 5 in FIGS. 3B and 3C). Then, bolted or welded to a predetermined steel frame assembly position of the building 13 in accordance with the suspended unloading position 43f (shown by the circle letters 6 in FIGS. 3B and 3C). FIG. 3C shows that the height clearance 46a between the suspended load 5 and the steel column beam is at least 1.5 m, and the lateral clearance 46b is at least 1 m.

(Core control unit)
FIG. 4A shows a cross-sectional view of the core control unit 3b attached to the tower crane 2. In FIG. 4B, the status of the steel frame construction of the building 13 is displayed on the monitor 12 in the operator room and can be monitored. The safety of the automatic route setting system 1 of the tower crane 2 according to the present invention is confirmed by the information from the core control unit 3b provided in the tower crane 2. The core control unit 3b is suspended by a lifting wire 14 at the tip of the tower crane 2 (see FIG. 5B), and receives data such as the position and direction of the suspended load 5 positioned by the artificial satellite 17. Then, devices such as a stereo camera 11 and a three-dimensional object recognition sensor 16 are built in the core control unit 3b, and the position, direction, and state of the suspended load 5 are monitored from the upper part of the suspended load 5.

(Satellite positioning antenna)
As shown in FIG. 4, the positioning information of the suspended load 5 transmitted from the artificial satellite 17 is received by a plurality of satellite positioning antennas 4 provided on the upper part of the core control unit 3b. Further, the measurement data of the devices such as the stereo camera 11 and the three-dimensional object recognition sensor 16 are collected in the edge computer 27 provided in the core control unit 3b. Then, these positioning information and measurement data are displayed on the monitor 12 in the operator room. The positioning information of the suspended load 5 includes the center position of the suspended load 5 and the direction of the suspended load 5. As for the central position of the suspended load 5, the average value of the absolute coordinates of the fixed points of the suspended load 5 is obtained by the satellite positioning antenna 4. The direction of the suspended load 5 is positioned as three-dimensional data by at least two satellite positioning antennas 4.

(Stereo camera, 3D object recognition sensor)
As shown in FIGS. 4 and 5, the state and direction of the suspended load 5 are photographed by a plurality of stereo cameras 11 provided inside the core control unit 3b and displayed as three-dimensional data on the monitor 12 in the operator room. .. As shown in FIG. 4, the stereo camera 11 captures the lower suspended load picking position 43a and the suspended load unloading position 43f through a hole attached to the floor of the core control unit 3b. Therefore, from the data captured by the stereo camera 11, it is possible to confirm the suspended load information 28 such as the type 40 of the suspended load 5, the suspended load size 41, and the suspended load quantity 42 described above. The stereoscopic camera 11, also referred to as a stereo camera, measures a predetermined distance of the suspended load 5 by two cameras separated by a predetermined width and recognizes the position and shape thereof. The three-dimensional object recognition sensor 16 is also called 3D-LiDER, and uses an electromagnetic wave having a wavelength shorter than that of a radar to measure scattered light for laser irradiation emitted in a pulse shape, and determines the distance to an object at a long distance. The shape of the object is analyzed, and the member positions near the suspended load picking position 43a and the suspended load unloading position 43f of the suspended load 5 are measured. As shown in FIG. 4, a three-dimensional object recognition sensor 16 having a three-dimensional sensor function capable of recognizing an object at the same time as the three-dimensional camera 11 may be mounted, or the three-dimensional camera 11 and the three-dimensional object recognition sensor 16 may be mounted. Both may be installed.

(Core control unit)
FIG. 5 shows the arrangement of the satellite positioning antenna 4 and the stereo camera 11 of the core control unit 3b, and shows a method of lifting the suspended load 5 by the tower crane 2. FIG. 5A is a perspective view showing the satellite positioning antenna 4 and the stereo camera 11 of the core control unit 3b, and FIG. 5B is a side surface showing the configuration around the suspended load 5 lifted by the tower crane 2. It is a figure. As shown in FIG. 5A, the core control unit 3b is suspended from the tip of the tower crane 2 by a lifting wire 14. Then, the satellite positioning antenna 4 and the stereo camera 11 are mounted at the optimum positions on the core control unit 3b. That is, the satellite positioning antenna 4 is mounted upward on the core control unit 3b and receives the positioning data transmitted by the artificial satellite 17. Further, the stereo camera 11 is attached downward to the lower part of the core control unit 3b, and captures information on the state of the suspended load 5, the shaking and movement of the suspended load 5, and the surroundings of the suspended load 5. With these satellite positioning antennas 4 and the stereo camera 11, full automation of lifting of the suspended load 5 by the tower crane 2 is achieved.

(Three-dimensional entry prohibited area)
FIG. 6 shows a method of guiding the suspended load 5 in consideration of the three-dimensional entry prohibited areas 29, 29a, 29b, and 29c of the tower crane 2 in the building. 6 (a) to 6 (c) show a case where only one three-dimensional entry prohibited area 29 of the tower crane 2 exists. The position above the suspended load 5 (indicated by the circled number 3 in FIG. 6) from the suspended load picking position 43a (indicated by the circled number 1 in FIG. 6) and the suspended load lifting position 43b (indicated by the circled number 2 in FIG. 6). ), The suspended load guidance position 43d (indicated by the circled number 4 in FIG. 6 (a)), and the suspended load offset position 43e (indicated by the circled number 5 in FIG. 6 (f)), and the suspended load unloading position 43f. It is an induction route of the suspended load 5 leading to (indicated by the circled number 6 in FIG. 6). The suspended load picking position 43a (indicated by the circled number 1 in FIG. 6) and the suspended load lifting position 43b (indicated by the circled number 2 in FIG. 6) are described side by side because they overlap when viewed in a plane. Further, the suspended load upper position 43c (indicated by the circled number 3 in FIG. 6), the suspended load guiding position 43d (indicated by the circled number 4 in FIG. 6), and the suspended load offset position 43e (circled in FIG. 6 (f)). (Indicated by the number 5) may overlap at almost the same position, so they are listed side by side.

As is clear from FIG. 6A, if the suspended load 5 is linearly advanced from the circled numbers 1 and 2 to the circled numbers 3 to 6, it will collide with the building 13. Therefore, as shown in FIG. 6B or FIG. 6C, the three-dimensional exclusion zone 29 is surrounded by a rectangle, and the maximum rectangle is set in a plane. Then, a route for avoiding the three-dimensional entry prohibited area 29 can be set to avoid a collision. The broken lines in FIGS. 6 (b) and 6 (c) indicate the three-dimensional exclusion zone 29. When the tower crane 2 is likely to exceed the set three-dimensional entry prohibited area 29, the automatic control unit 3a issues an alarm to warn the user in order to avoid a collision.

6 (d) to 6 (f) show a method of guiding the suspended load 5 when there are a plurality of three-dimensional entry prohibited areas 29 of the tower crane 2 in the building 13. As shown in FIGS. 6 (d) to 6 (f), when a plurality of three-dimensional entry prohibited areas 29a and 29b exist, the automatic control unit 3a has a suspended load lifting position 43b and a suspended load unloading position 43f. It is assumed that the largest rectangle in which the straight lines connecting the two interfere with each other is the three-dimensional exclusion zone 29c. Then, a route for avoiding a plurality of three-dimensional entry prohibited areas 29a, 29b, and 29c can be set to avoid a collision. In this way, when a plurality of three-dimensional entry prohibited areas 29a and 29b exist, the largest rectangular three-dimensional entry prohibited area 29a and 29b formed by the three-dimensional entry prohibited areas 29a and 29b are prohibited without recognizing the passing point. It is possible to avoid collisions by setting routes to avoid individually assuming area 29c.

FIG. 7 shows the “hanging load height (H1, H2)”, “lifting height (H3)”, and “building maximum height (H4)” of the steel frame member in the steel frame construction. FIG. 7A shows the suspended load heights (H1, H2) when the steel frame member is a steel frame beam. FIG. 7B shows the relationship between the lifting height (H3) and the maximum building height (H4) in the case of a high-rise building. The lifting height (H3) of the suspended load 5 is the sum of the maximum building height (H4) and the suspended load height (H1, H2) plus the clearance 46a in the height direction. As shown in FIG. 7A as an example, in the steel frame construction, the lifting height (H3) when a plurality of beam-column joints are transported by one lifting and a plurality of beam materials are connected by wires. There is a suspended load height (H2) when transporting by lifting once. In either case, the lifting height (H3) of the suspended load 5 must be the height obtained by adding the height-direction clearance 46a to the suspended load height (H1, H2) in addition to the maximum building height (H4).

(Three-dimensional access prohibited area)
The three-dimensional entry prohibition zone setting unit 25 sets the three-dimensional entry prohibition zone 29, 29a, 29b, 29c described above, and sets the three-dimensional access prohibition zone 29d around the suspended load 5. The automatic control unit 3a issues an alarm when there is a risk that the building 13 or the like will approach the suspended load 5 beyond the three-dimensional access prohibited area 29d. This is for avoiding collision when a working heavy machine such as a lifting heavy machine including another tower crane 2 under construction, a yumbo, or a concrete mixer car approaches the tower crane 2 under construction, for example. Alternatively, this is to avoid a collision when a bird or the like accidentally jumps toward the tower crane 2 while the tower crane 2 is in operation.

The configuration, shape, size, and arrangement of the invention according to the tower crane automatic route setting system 1 described in the above embodiments are only schematically shown to the extent that the present invention can be understood and implemented. No. Therefore, the present invention is not limited to the described embodiments, and can be changed to various forms as long as it does not deviate from the scope of the technical idea shown in the claims.

1 Automatic route setting system, 2 Tower crane, 2a Small crane, 3a Automatic control unit, 3b Core control unit, 4 Satellite positioning antenna, 5 Suspended load, 6 3D transport route, 10 Construction site, 11 Solid camera, 12 Monitor, 13 Building, 14 Crane, 15 Crane, 16 3D Object Recognition Sensor, 17 Artificial Satellite, 20 Steel Construction Plan, 21 Steel Construction Procedure, 22 Steel Construction Schedule, 23 Construction Completed Part, 24 Construction Unfinished part, 25 3D no-entry area setting part, 26 3D no-access area judgment part, 27 edge computer, 28 Crane information, 29, 29a, 29b, 29c 3D no-entry area, 29d 3D no-access area , 30 Crane information input unit, 31 Automatic route setting unit, 32 Automatic route display unit, 33 Alarm alarm unit, 40 Crane type, 41 Crane size, 42 Crane quantity, 43a Crane loading position (1) ), 43b Suspended load lifting position (2), 43c Suspended load upper position (3), 43d Suspended load guidance position (4), 43e Suspended load offset position (5), 43f Suspended load unloading position (6), 46a height Vertical clearance, 46b lateral clearance, 47 column stage, H1, H2 suspended load height, H3 lifting height, H4 maximum building height.

Claims (9)

It is installed near the suspended load of a tower crane placed at a construction site, measures the position and direction of the suspended load, and measures the three-dimensional shape of the suspended load, the loading position of the suspended load, and the unloading position. With the core control unit that performs
Automatic route setting of a tower crane including an automatic control unit that selects an optimum three-dimensional transport route from unloading to unloading of the suspended load based on the positioning result by the core control unit and the measurement result. system. The automatic route setting system for a tower crane according to claim 1, wherein the core control unit continuously positions and directions of the suspended load by a plurality of satellite positioning antennas, and the automatic control unit controls the position and direction of the suspended load. An automatic route setting system for a tower crane, characterized in that the three-dimensional transport route of the suspended load is selected while avoiding a preset three-dimensional entry prohibited area in relation to a building. The automatic route setting system for a tower crane according to claim 1 or 2, wherein the core control unit is of the suspended load from a three-dimensional shape of the suspended load taken by a plurality of stereoscopic cameras attached to the tower crane. An automatic route setting system for a tower crane, which measures the suspended load height and sets the three-dimensional entry prohibited area in consideration of the suspended load height of the suspended load. .. The automatic route setting system for a tower crane according to any one of claims 1 to 3, wherein the core control unit uses the three-dimensional camera to form a three-dimensional shape of the building that forms the three-dimensional entry prohibited area. An automatic route setting system for a tower crane, characterized in that the automatic control unit guides the suspended load in consideration of a predetermined clearance from the building. The automatic route setting system for a tower crane according to any one of claims 1 to 4, wherein the core control unit grasps the three-dimensional shape of the suspended load by the three-dimensional camera, and the automatic control unit is , An automatic route setting system for a tower crane, which comprises setting a three-dimensional access prohibited area that secures a predetermined clearance from the suspended load. The automatic route setting system for a tower crane according to any one of claims 1 to 5, wherein the automatic control unit is based on a pre-input drawing of the building and a construction plan of the building. An automatic route setting system for a tower crane, which comprises setting the three-dimensional entry prohibited area at the time of transporting the suspended load of the tower crane. The automatic route setting system for a tower crane according to any one of claims 1 to 6, wherein the automatic control unit and the unloading position when a plurality of the three-dimensional entry prohibited areas exist. An automatic route setting system for a tower crane, characterized in that the largest rectangle surrounds a rectangle in which a straight line connecting to a guidance position interferes with the three-dimensional entry prohibited area. The automatic route setting system for a tower crane according to any one of claims 1 to 7, wherein the automatic control unit is suspended at a pre-input guidance position offset from the unloading position. An automatic route setting system for a tower crane, characterized in that the position and direction of the suspended load are adjusted. The automatic route setting system for a tower crane according to any one of claims 1 to 8, wherein the automatic control unit may approach the building beyond the three-dimensional entry prohibited area. An automatic route setting system for a tower crane, which issues an alarm when it occurs, or when there is a risk that the building will approach the suspended load beyond the three-dimensional access prohibited area.

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