JP2022181318A - Operation control system, operation control method and operation control program of ceiling crane using positioning device - Google Patents

Abstract

To correctly perform positioning using a beacon signal by suppressing a harmful effect due to a reflection wave of the beacon signal.SOLUTION: A positioning device comprises: a beacon transmission unit which is attached to a positioning object and transmits a beacon signal; a reception unit which is installed at each of a plurality of predetermined installation positions and receives the beacon signal transmitted from the beacon transmission unit; a server unit which acquires a measurement value of the beacon signal by the plurality of reception units that has received the beacon signal and specifies a position of the beacon transmission unit on the basis of, the plurality of measurement values; a reference transmission unit which is installed at a known position that becomes reference in advance and transmits the beacon signal; an error calculation unit which calculates an error between the position of the reference transmission unit specified by the server unit and the known position; and a correction unit which corrects the position of the beacon transmission unit specified by the server unit by using the error calculated by the error calculation unit.SELECTED DRAWING: Figure 2

Description

TECHNICAL FIELD The present invention relates to a positioning device, a positioning method, a positioning program, an operation control system, an operation control method, and an operation control program for an overhead crane using the positioning device, and particularly to a positioning target using a beacon signal. The present invention relates to a positioning device, a positioning method, and a positioning program characterized by positioning, and an operation control system, operation control method, and operation control program for an overhead crane using the positioning device.

As a method of positioning a positioning target, a method using GPS (Global Positioning System) is known. This method measures the current position of the GPS receiver by receiving signals from positioning satellites in the sky with the GPS receiver.

Positioning using GPS requires reception of signals from positioning satellites, making it difficult to determine indoor locations. Therefore, a technique has been proposed for measuring the position of an object indoors by emitting a beacon signal from the object (for example, Patent Document 1). In positioning using a beacon signal, a beacon signal receiver is placed at a predetermined location indoors, and the receiver receives the direct wave of the beacon signal and uses the measured value.

JP 2020-153739 A

However, in indoor positioning using beacon signals, the reflected waves of the beacon signals, which are generated when the beacon signals are reflected off the ceiling, walls, etc., interfere with the direct waves of the beacon signals at the location of the receiver, causing the direct waves to be lost. It was sometimes difficult to measure accurately.

Therefore, the present disclosure provides a positioning device, a positioning method, a positioning program, and a ceiling using the positioning device that can accurately perform positioning using the beacon signal by suppressing the adverse effect of the reflected wave of the beacon signal. An object of the present invention is to provide a crane operation control system, an operation control method, and an operation control program.

That is, the positioning device according to the first aspect includes a beacon transmission unit that is attached to a positioning target and transmits a beacon signal, and a beacon transmission unit that is installed at each of a plurality of predetermined installation positions and transmitted from the beacon transmission unit. a receiver that receives signals; a server that acquires measured values of beacon signals from a plurality of receivers that have received beacon signals; and an error calculation unit that calculates the error between the position of the reference transmission unit specified by the server unit and the known position, and the error calculated by the error calculation unit. and a correcting unit that corrects the position of the beacon transmitting unit specified by the server unit using .

A second aspect is the positioning device according to the first aspect, wherein the beacon transmitting unit transmits a plurality of types of beacon signals, and the server unit calculates the position of the beacon transmitting unit for each of the plurality of types of beacon signals. An average of the positions of a plurality of beacon transmitting units obtained may be specified as the position of the beacon transmitting unit.

According to a third aspect, in the positioning device according to the first or second aspect, the position of the beacon transmitting unit may be specified based on measurement values of three or more receiving units that receive beacon signals.

A fourth aspect is the positioning device according to any one of the first to third aspects, wherein the position of the beacon transmitting unit is specified based on a measured value of received signal strength of the beacon signal received by the receiving unit. may be

A fifth aspect is the positioning device according to the first or second aspect, wherein the receiving unit includes a plurality of antennas, and the position of the beacon transmitting unit is located between the beacon signals received by each of the plurality of antennas of the receiving unit. The direction of arrival of the beacon signal may be determined based on the resulting phase difference measurements and determined based on the direction of arrival of the beacon signal.

According to a sixth aspect, in the positioning device according to any one of the first to fifth aspects, the beacon signal may include a unique identification signal assigned to each of the beacon transmitters.

A seventh aspect is the positioning device according to any one of the first to sixth aspects, wherein the beacon transmitting unit measures the position of the beacon transmitting unit by acquiring position information of the access point through wireless LAN communication. A position information acquisition unit and a position information transmission unit that transmits the acquired position information of the position of the beacon transmission unit to the user by low power wide area (LPWA) wireless communication may be further provided.

A positioning method according to an eighth aspect is a positioning method in the positioning device according to any one of the first to seventh aspects, wherein a computer used in the positioning device comprises a beacon transmission unit attached to a positioning target. a transmitting step of transmitting a beacon signal from a plurality of predetermined installation positions; a receiving step of receiving the beacon signal transmitted from the beacon transmitting unit to the receiving units respectively installed at a plurality of predetermined installation positions; A server step that acquires measured values of beacon signals from a receiver and identifies the position of a beacon transmitter based on a plurality of measured values; an error calculation step of calculating the error between the position of the reference beacon transmission unit specified by the server unit and the known position; and the error calculated by the error calculation unit, the server unit specified and a correction step of correcting the position of the beacon transmitter.

A positioning program according to a ninth aspect is a positioning program in a positioning device according to any one of the first to seventh aspects, wherein a computer used in the positioning device includes a beacon transmission unit attached to an object to be positioned. a transmitting function to transmit a beacon signal; a receiving function to receive the beacon signal transmitted from the beacon transmitting unit to the receiving units respectively installed at a plurality of predetermined installation positions; A server function that acquires measured values of beacon signals from the receiver and identifies the position of the beacon transmitter based on multiple measured values, and a reference transmitter installed in advance at a known position that serves as a reference. A beacon identified by the server using a reference transmission function for transmission, an error calculation function for calculating the error between the position of the reference transmission unit specified by the server and the known position, and the error calculated by the error calculation unit. and a correction function for correcting the position of the transmitter.

A crane operation control system according to a tenth aspect uses the positioning device according to any one of the first to seventh aspects, and controls the operation of an overhead crane that travels on a traveling rail laid in a building and raises and lowers a suspended load. A system, in which an overhead crane includes an elevating section for lifting and lowering a suspended load and a traveling section for traveling on traveling rails in a crane body, and controls the rotation speed of a traveling motor provided in the traveling section. a traveling motor control unit for controlling the speed when the crane main body travels on the traveling rail, a first positioning device for measuring the position of the lifting unit in the building, and a suspension suspended from the lifting unit A second positioning device that measures the position of the cargo, and a lifting unit that acquires first position information measured by the first positioning device and second position information measured by the second positioning device, and based on the first position information A calculation unit that calculates the position and movement speed of the suspended load and the swing displacement and swing speed of the suspended load based on the relative positional relationship between the first position information and the second position information; a speed command signal generation unit that generates a speed command signal for the traveling motor control unit based on the results of calculation of the shake displacement and the shake speed.

According to an eleventh aspect, in the overhead crane operation control system according to the tenth aspect, the speed command signal generation unit includes a preset optimum gain for anti-swaying of the suspended load, the position and movement speed of the lifting unit, , and the calculation results of the swing displacement and swing speed of the suspended load, the speed command signal of the optimum operation amount for the traveling motor control section may be generated.

A twelfth aspect is the operation control system for an overhead crane according to the tenth or eleventh aspect, wherein the crane main body includes a garter extending across and orthogonal to the two traveling rails, and an elevating section provided on the garter that moves horizontally. and a traversing section provided in the hoisting section for traversing the traversing rail. a traversing motor control unit for controlling speed, wherein the speed command signal generating unit controls the traversing motor control unit based on the calculation results of the position and movement speed of the lifting unit, and the sway displacement and sway speed of the suspended load. It is also possible to generate a speed command signal for.

A thirteenth aspect is the operation control system for an overhead crane according to the twelfth aspect, wherein the speed command signal generating unit includes a preset optimum gain for anti-swaying of the suspended load, and the position and movement speed of the lifting unit. , and the calculation results of the swing displacement and swing speed of the suspended load, the speed command signal of the optimum operation amount for the traversing motor control section may be generated.

A method for controlling the operation of an overhead crane according to a fourteenth aspect includes operation of an overhead crane that uses the positioning device according to any one of the first to seventh aspects and travels on a traveling rail laid in a building to raise and lower a suspended load. A control method for an overhead crane, comprising: a crane main body including a lifting section for lifting and lowering a suspended load; a traveling section for traveling on a traveling rail; and a traveling motor control unit that controls the speed when the crane main body travels on the traveling rail, and the computer used for the operation control system of the overhead crane is provided with a first positioning device in the building of the lifting unit A first positioning step of measuring the position, a second positioning step of measuring the position of the suspended load suspended by the second positioning device, and a first Acquiring position information and second position information measured by a second positioning device, and based on the position and moving speed of the elevator based on the first position information and the relative positional relationship between the first position information and the second position information A calculation step of calculating the swing displacement and swing speed of the suspended load, and generating a speed command signal for the traveling motor control unit based on the calculation results of the position and movement speed of the lifting unit and the swing displacement and swing speed of the suspended load. and a step of generating a speed command signal.

A crane operation control program according to a fifteenth aspect is an operation control program for an overhead crane that uses the positioning device according to any one of the first to seventh aspects and that travels on a traveling rail laid in a building and raises and lowers a suspended load. A program for an overhead crane, comprising: a crane body comprising a lifting section for lifting and lowering a load; a traveling section for traveling on a traveling rail; and a traveling motor provided in the traveling section. and a traveling motor control section for controlling the speed when the crane body travels on the traveling rail. a second positioning function that causes the second positioning device to measure the position of the load suspended on the lifting unit; first position information measured by the first positioning device; Obtaining second position information measured by a second positioning device, position and moving speed of the lifting unit based on the first position information, and suspended load based on the relative positional relationship between the first position information and the second position information A speed command that generates a speed command signal for the traveling motor control unit based on the calculation function of calculating the swing displacement and swing speed of the lifting unit, the position and movement speed of the lifting part, and the swing displacement and swing speed of the suspended load. realize a signal generation function;

According to the positioning device, the positioning method, the positioning program, and the operation control system, the operation control method, and the operation control program of the overhead crane using the positioning device according to the present disclosure, the adverse effect of the reflected wave of the beacon signal is suppressed. By doing so, it is possible to accurately perform positioning using the beacon signal.

BRIEF DESCRIPTION OF THE DRAWINGS It is a figure explaining the whole structure of the operation control system of an overhead crane containing the control apparatus which concerns on 1st Embodiment. It is a figure explaining the structure of a control apparatus. It is a figure explaining the model of a raising/lowering part and a suspended load. It is a figure explaining the structure of the whole positioning device. It is a figure explaining the whole structure of the positioning device of other Example. It is a figure explaining the measurement principle of the receiving part of the positioning apparatus of other Example. It is a figure explaining the hardware structure of the receiving part of a positioning device. It is a figure explaining the hardware structure of the server part of a positioning device. It is a figure explaining an example of the functional composition of the server part of a positioning device. It is a flowchart of the firmware of the server section of the positioning device. 4 is a flow chart of an overhead crane operation control program. FIG. 10 is a diagram showing the usage status of a beacon transmission unit of the positioning device according to the second embodiment; It is a figure explaining the hardware structure of the beacon transmission part of a positioning device. It is a figure explaining the structure of the software of the beacon transmission part of a positioning device. 4 is a flow chart of a control program for a beacon transmission unit of the positioning device;

(First embodiment)
A first embodiment in which a positioning device according to the present disclosure is applied to an operation control system 10 for an overhead crane will be described with reference to FIGS. 1 to 11. FIG. Note that the positioning device according to the present disclosure is not limited to application to an operation control system for overhead cranes, and can be applied to positioning various targets and further to positioning control.

An overall configuration of an overhead crane operation control system 10 will be described with reference to FIG. FIG. 1 is a diagram illustrating the overall configuration of an overhead crane operation control system 10 including a control device.
An overhead crane operation control system 10 includes an overhead crane 11 and a control device 26 . The overhead crane 11 has a crane main body 13 , and the crane main body 13 has a travel section 14 and an elevating section 15 . The traveling portion 14 is attached to each of both ends of a garter 16 that constitutes the crane body portion 13 . The elevating section 15 is installed on the garter 16 and traverses along the extending direction of the garter 16 .

The crane body 13 further comprises a garter 16 and a traverse rail 23 .
The garter 16 straddles the two running rails 18 and intersects them at right angles. The traverse rail 23 is provided on the garter 16 and the elevating section 15 traverses. The traversing section 21 traverses a traversing rail 23 provided in the lifting section 15 .

Two running rails 18 are laid on the left and right near the ceiling of the building 12 , and a part of the two running rails 18 projects outside from the doorway of the building 12 . The crane main body 13 is attached to the travel rails 18 so as to be able to travel by attaching the travel portion 14 so as to straddle the two travel rails 18 . A traveling motor 17 is installed in the traveling section 14 , and the crane main body 13 travels along the extending direction of the traveling rail 18 by driving the traveling motor 17 .

A traversing motor 22 is installed in the traversing section 21 , and the elevator section 15 traverses along the extending direction of the traversing rail 23 by being driven by the traversing motor 22 .
The suspended load 25 moves while suspended from the hook 20 at the lower end of the wire 19 suspended from the lifting section 15 . The suspended load 25 is moved inside the building 12 by the overhead crane 11 . The suspended load 25 is carried out from the inside of the building 12 to the outside by the overhead crane 11, or carried out from the inside of the building 12 to the outside by the overhead crane 11. - 特許庁

The control device 26 generates a speed command signal to control the speed when the crane body 13 travels on the travel rail 18 and the speed when the lifting unit 15 travels on the traverse rail 23. The output is directed to the motor 17 and the traversing motor 22 . The rotation speeds of the traveling motor 17 and the traversing motor 22 are determined by the control device 26 according to measurement results obtained by a first positioning device 27 and a second positioning device 28, which will be described later.

The physical and functional configuration of the controller 26 will be described with reference to FIG. FIG. 2 is a diagram for explaining the configuration of the control device 26. As shown in FIG. As shown in FIG. 2, the control device 26 includes an ECU (Electric Control Unit) 29, a ROM (Read Only Memory) 30, a RAM (Random Access Memory) 31, a storage section 32, an input/output interface 33, functions 34, and so on.

The input/output interface 33 transmits/receives data, signals, and the like to/from the traveling motor 17, the first positioning device 27, and the second positioning device 28 installed outside the control device 26. FIG. The control device 26 outputs a speed command signal to the running motor 17 via the input/output interface 33, and receives the measurement results of the first positioning device 27 and the second positioning device 28 via the input/output interface 33. get.

The storage unit 32 can be used as a storage device, and stores firmware necessary for the operation of the control device 26 and various data used by the firmware. An operation control program (see FIG. 11), which will be described later and serves as firmware for the control device 26, is pre-stored in the ROM 30 or the storage unit 32. FIG.

The control device 26 loads the operation control program stored in the ROM 30 or the storage unit 32 into a main memory such as a RAM 31 . The ECU 29 accesses the main memory containing the operation control program for controlling the control device 26 and executes the program.

The control device 26 causes the ECU 29 to execute an operation control program to control the functions of the built-in electronic equipment, and configures the electronic equipment with a functional unit 34 for realizing various functions. The function unit 34 includes a calculation unit 35, a speed command signal generation unit 36, a traveling motor control unit 37, and a traversing motor control unit 38 by executing an operation control program.

The calculation unit 35 shown in FIG. 2 acquires the first position information measured by the first positioning device 27 and the second position information measured by the second positioning device 28, and calculates the elevation unit 15 based on the first position information. , and the swing displacement and swing speed of the suspended load based on the relative positional relationship between the first position information and the second position information.

The first positioning device 27 measures the position of the elevator 15 in the building 12 . The first positional information measured by the first positioning device 27 is represented by a three-dimensional orthogonal coordinate system with a predetermined position of the building 12 as the origin, and points P(Px(t), Py(t), Pz(t )). Point P is a function that varies with time.

The second positioning device 28 measures the position in the building 12 of the suspended load 25 suspended from the lifting section 15 . The second position information measured by the second positioning device 28 is represented by a three-dimensional orthogonal coordinate system with a predetermined position of the building 12 as the origin, and points Q(Qx(t), Qy(t), Qz(t )). Point Q is a function that varies with time.

The calculation unit 35 calculates the position and moving speed of the lifting unit 15 based on the first position information. Assuming that the position of the lifting unit 15 is X1 and the moving speed is X2, the following equation (Equation 1) is obtained. It should be noted that, hereinafter, the time derivative of a function will be represented by putting a dot on the variable in the text.

The calculator 35 calculates the swing displacement and swing velocity of the suspended load 25 based on the relative positional relationship between the first position information and the second position information. Assuming that the swing displacement of the suspended load 25 is X3 and the swing speed is X4, the following equation (Equation 2) is obtained.

The speed command signal generation unit 36 shown in FIG. 2 generates a travel signal based on the calculation results of the position (X1) and movement speed (X2) of the lifting unit 15, and the swing displacement (X3) and swing speed (X4) of the suspended load. A speed command signal is generated for the carriage motor controller 37 and the traverse motor controller 38 .

The speed command signal generation unit 36 generates a predetermined optimum gain K for anti-swaying of the suspended load 25, the position (X1) and movement speed (X2) of the lifting unit 15, and the swing displacement (X3) of the suspended load 25. ) and the calculation result of the shake speed (X4), the speed command signal of the optimum operation amount for the traveling motor control unit 37 and the traversing motor control unit 38 is generated.

The speed command signal generation unit 36 calculates the optimum operation amount required to return the position (X1) and movement speed (X2) of the lifting unit 15 and the swing displacement (X3) and swing speed (X4) of the suspended load 25 to zero. and generate its speed command signal.

A traveling motor control unit 37 shown in FIG. 2 controls the speed of the crane main body 13 traveling on the traveling rail 18 by controlling the number of rotations of the traveling motor 17 provided in the traveling portion 14 .

The travel motor control unit 37 controls the rotation speed of the travel motor 17 based on the speed command signal generated by the speed command signal generation unit 36, thereby controlling the speed at which the crane main body 13 travels on the travel rail 18. to control.

The traverse motor control unit 38 shown in FIG. 2 controls the speed of the traverse motor 22 provided in the traverse unit 21 to control the speed at which the lifting unit 15 traverses the traverse rail 23 .
The traversing motor control unit 38 controls the rotation speed of the traversing motor 22 based on the speed command signal generated by the speed command signal generating unit 36, thereby controlling the speed at which the lifting unit 15 traverses the traversing rails 23. Control.

Hereinafter, specific processing for control of the anti-vibration and positioning of the suspended load 25 will be described with reference to FIG. 3 . FIG. 3 is a diagram for explaining a model of the lifting section 15 and the suspended load 25. As shown in FIG. L indicates the length of the wire 19; For convenience of explanation, it is assumed that the tip of the wire 19 is at the center of gravity of the suspended load 25 .

By the above processing, the position (X1) and moving speed (X2) of the lifting unit 15, and the swing displacement (X3) and swing speed (X4) of the lifting unit 15, which are the motion state quantities of the lifting unit 15 and the suspended load 25, are calculated. is calculated by the calculator 35 .

Next, the speed command signal generation unit 36 generates a speed command of the optimum operation amount for the traveling motor control unit 37 and the traversing motor control unit 38 from the motion state quantities of the lifting unit 15 and the suspended load 25 calculated by the calculation unit 35. Calculate u. The optimum operation amount u is calculated based on the motion state quantities (X1, X2, X3, X4) of the lifting section 15 and the suspended load 25 and the optimum gain K by the following equation (Equation 3).

Ｋは、以下の式（数４）に示す１行４列の定数マトリックスである。

K is a constant matrix of 1 row and 4 columns shown in the following equation (Formula 4).

従って、ｕは以下の式（数５）によって算出される。

Therefore, u is calculated by the following formula (Equation 5).

次に、最適ゲインＫの求め方について以下に説明する。
昇降部１５、ワイヤ１９、及び吊り荷２５について立てた運動方程式より、以下の式（数６）の状態方程式を導出する。この状態方程式は吊り荷２５の振れをバネ・マス系として線形微分方程式として表したものである。Ａは２行２列の遷移行列、Ｂは２行１列の駆動行列である。

Next, how to obtain the optimum gain K will be described below.
From the equation of motion established for the lifting section 15, the wire 19, and the suspended load 25, the following equation of state (Equation 6) is derived. This equation of state is a linear differential equation in which the deflection of the suspended load 25 is represented as a spring-mass system. A is a transition matrix of 2 rows and 2 columns, and B is a driving matrix of 2 rows and 1 column.

For the state equation of formula (6) described above, the optimum gain shown by the following formula (formula 8) that minimizes the evaluation function J shown by the following formula (formula 7) is obtained. Note that Q and R are weight matrices, respectively.

上述のように評価関数Ｊを最小化することで、できるだけ小さな操作量ｕの状態量のすべての要素を速やかにゼロにする最適ゲインＫを求めたことになる。

By minimizing the evaluation function J as described above, the optimum gain K is obtained that quickly zeroes out all the elements of the state quantity of the smallest possible manipulated variable u.

The control device 26 calculates the optimum operation amount according to the motion state quantity and the operation state of the lifting section 15 and the suspended load 25 based on the optimum gain K obtained by the above calculation, and uses this optimum operation amount as the driving motor. By outputting it as a control command signal for the control unit 37 and driving the traveling motor 17, the optimum control of the positioning and anti-vibration of the suspended load 25 is executed. With this optimum control, it is possible to control the positioning of the suspended load 25 with high accuracy while realizing the anti-vibration of the suspended load 25 .

Next, the first positioning device 27 and the second positioning device 28 will be described with reference to FIG. FIG. 4 is a diagram for explaining the overall configuration of the positioning devices 27 and 28. As shown in FIG.

The first positioning device 27 includes a first beacon transmitter 40, a first receiver 42, a first server 46, a reference transmitter 85, a first error calculator 87, and a first corrector 89. Prepare.
The second positioning device 28 includes a second beacon transmitter 41, a second receiver 43, a second server 47, a reference transmitter 85, a second error calculator 88, and a second corrector 90. Prepare.

The first beacon transmitting unit 40 is attached to the lifting unit 15, which is the target of positioning, and transmits a first beacon signal.
The second beacon transmission unit 41 is attached to the suspended load 25, which is the target of positioning, and transmits a second beacon signal different from the first beacon signal.

The first receivers 42 are installed at a plurality of predetermined installation positions in the building 12 and receive first beacon signals transmitted by the first beacon transmitter 40 .
The second receivers 43 are installed at a plurality of predetermined installation positions in the building 12 and receive second beacon signals transmitted by the second beacon transmitter 41 .

The first server unit 46 acquires the measured values of the first beacon signals from the plurality of first receivers 42 that have received the first beacon signals, and the first beacon transmitter based on the plurality of measured values. Identify 40 locations.
The second server unit 47 acquires the measured values of the second beacon signals from the plurality of second receivers 43 that have received the second beacon signals, and the second beacon transmitter based on the plurality of measured values. 41 is located.

The reference transmission unit 85 is installed in advance at a known reference position and transmits a beacon signal.
The reference transmitter 85 is shared by the first and second positioning devices 27 and 28, but may be prepared for each of the first and second positioning devices 27 and 38. FIG.
The first error calculator 87 calculates the error between the position of the reference transmitter 85 specified by the first server 46 and the known position.
The second error calculator 88 calculates the error between the position of the reference transmitter 85 specified by the second server 47 and the known position.

For example, if the known location of reference transmitter 85 is (10, 10, 10) and first server unit 46 identifies the location of reference transmitter 85 as (9, 8, 9), The first error calculator 87 calculates the error as (-1, -2, -1).
Furthermore, if the known position of the reference transmitter 85 is (10, 10, 10) and the second server section 47 identifies the position of the reference transmitter 85 as (12, 11, 12), The second error calculator 88 calculates the error as (2, 1, 2).

The first correction unit 89 uses the error calculated by the first error calculation unit 87 to correct the position of the first beacon transmission unit 40 specified by the first server unit 46 .
The second correction unit 90 uses the error calculated by the second error calculation unit 88 to correct the position of the second beacon transmission unit 41 specified by the second server unit 47 .

For example, a case where the first server unit 46 identifies the position of the first beacon transmitting unit 40 as (4, 4, 3) will be described. Since the error calculated by the first error calculator 87 is (-1, -2, -1), the first corrector 89 changes the position of the first beacon transmitter 40 to (4, 4, 3) Correct from (5, 6, 4).
Furthermore, a case where the second server unit 47 identifies the position of the second beacon transmitting unit 41 as (7, 6, 8) will be described. Since the error calculated by the second error calculator 88 is (2, 1, 2), the second corrector 90 changes the position of the second beacon transmitter 41 from (7, 6, 8) to Correct to (5, 5, 6).
By doing so, it is possible to calculate and correct errors that may be included in positioning using the first and second positioning devices 27 and 28 .

The first error calculator 87 and the first corrector 89 may be incorporated in the first server section 46 as part of the functions of the first server section 46 . The second error calculator 88 and the second corrector 90 may be incorporated in the second server section 47 as part of the functions of the second server section 47 .

In addition, the beacon transmitting units 40 and 41 transmit a plurality of types of beacon signals, the server units 46 and 47 calculate the positions of the beacon transmitting units 40 and 41 for each of the plurality of types of beacon signals, and generate the calculated plurality of transmissions. An average of the positions of the units may be specified as the positions of the beacon transmitting units 40 and 41 .

That is, the first beacon transmitting unit 40 transmits a plurality of types of first beacon signals, for example, three types of beacon signals A, B, and C. FIG. First, the first server unit 46 calculates a position A related to the beacon signal A, a position B related to the beacon signal B, and a position C related to the beacon signal C with respect to the positions of the first beacon transmitting unit 40 . The first server portion 46 then identifies the average of location A, location B, and location C as the location of the first beacon emitting portion 40 .

The second beacon transmitting unit 41 transmits a plurality of types of second beacon signals, for example, three types of beacon signals D, E, and F, which are different from the first beacon signals. The second server unit 47 first calculates a position D related to the beacon signal D, a position E related to the beacon signal E, and a position F related to the beacon signal F with respect to the positions of the second beacon transmitting unit 41 . The second server section 47 then identifies the average of the positions D, E, and F as the position of the second beacon transmitting section 41 .

According to the above, the positions of the beacon transmitters 40 and 41 of the beacon signal are specified using the center values of the positions of the beacon transmitters 40 and 41 calculated for each of a plurality of types of beacon signals. A more probable position can be identified by comparing the results. By increasing the average parameter, that is, the number of types of beacon signals, the positions of the beacon transmitting units 40 and 41 can be specified with higher reliability.

The first and second beacon transmitters 40 and 41 transmit multiple types of beacon signals with different wavelengths or frequencies.
The first positioning device 27 and the second positioning device 28 may further include a first gateway section 44 and a second gateway section 45 .

Since the first positioning device 27 and the second positioning device 28 have the same functions and configurations, only the first positioning device 27 will be explained below, and the second positioning device 28 will be explained. omitted. Alternatively, either the first positioning device 27 or the second positioning device 28 may specify the positions of both the first beacon transmitting unit 40 and the second beacon transmitting unit 41 . In this case, the beacon signal includes a unique identification signal assigned to each beacon transmitter, and the positioning device identifies the position of each beacon transmitter based on the identification signal included in the beacon signal.

The first gateway section 44 plays a role of relaying between the first receiving section 42 and the first server section 46 . When the data formats handled by the first receiving unit 42 and the first server unit 46 are different, the first gateway unit 44 converts the data received from the first receiving unit 42 and transfers the data to the first server unit. 46.

When the data formats handled by the first receiving unit 42 and the first server unit 46 are the same, or the first receiving unit 42 or the first server unit 46 plays the role of the first gateway unit 44 In this case, the first gateway section 44 becomes unnecessary.

The position of the first beacon transmitter 40 is identified based on the measured value of the received signal strength indicator (RSSI) of the first beacon signal received by the first receiver 42 .
The position of the first beacon transmitter 40 is identified based on measurements of three or more first receivers 42 that receive the first beacon signal.

The first beacon signal includes a unique identification signal assigned to each first beacon transmitter 40 .
The first beacon transmission unit 40 transmits a beacon signal by broadcast communication by wireless communication of BLE (Bluetooth (registered trademark) Low Energy). Broadcast communication is a one-way communication method for transmitting signals to an unspecified number of first receivers 42 .

The first beacon transmitter 40 functions as a peripheral device, and the first receiver 42 functions as a central device. The first beacon transmitting unit 40 and the first receiving unit 42 are in an advertising state in which mutual communication connection is not established. Advertisement means that a peripheral device periodically transmits a signal, data, etc. to notify the central device of its existence.

The beacon signal may include a unique identification signal assigned to each first beacon emitter 40 . Therefore, the first receiving unit 42 receives the beacon signal, receives the unique identification signal assigned to each of the first beacon transmitting units 40 included in the beacon signal, and transmits the beacon signal. It becomes possible to identify the first beacon transmitting unit 40 that is present.

Also, when the first receiver 42 receives a beacon signal, it obtains information about the strength of the received beacon signal. The information about the strength of the beacon signal is the Received Signal Strength Indicator (RSSI).

The measured value of the received signal strength is a logarithm of the power of the received radio wave, and the distance from the first beacon transmitting unit 40 to the first receiving unit 42 is calculated from the magnitude of the measured value of the received signal strength. be able to. A plurality of first receivers 42 whose three-dimensional coordinates in the building 12 are known are arranged, and the first server unit 46 receives the first beacon from the measured value of the received signal strength of the first receivers 42 The distance from the transmitter 40 to the first receiver 42 is measured, and the position of the first beacon transmitter 40 is calculated. At this time, the distance can also be estimated based on the measured value of the received signal strength at a previously measured distance of 1 m. If three or more received signal strengths can be measured, the position of the first beacon transmitter 40 can be calculated. Therefore, at least three or more first receivers 42 are required.

The location of the first beacon transmitter 40 is not only identified based on the measurement of the received signal strength of the beacon signal as described above, but other methods are also used to determine the location of the first beacon transmitter 40. be able to. Another embodiment for identifying the position of the first beacon transmitter 40 will be described with reference to FIGS. 5 and 6. FIG. FIG. 5 is a diagram for explaining the overall configuration of the positioning device of another embodiment, and FIG. 6 is a diagram for explaining the measurement principle of the receiving section of the positioning device of another embodiment.

That is, in another embodiment of locating the first beacon emitting unit 40, the first receiving unit 42 comprises multiple antennas and the location of the first beacon emitting unit 40 is located at the first receiving unit 42. The direction of arrival of the first beacon signals 71a and 71b is specified based on the measured value of the phase difference occurring between the first beacon signals 71a and 71b received by each of the plurality of antennas 70a and 70b, and the first beacon It may be specified based on the direction of arrival of the signals 71a and 71b.

As shown in FIG. 6A, when radio waves arrive from the front of the two antennas 70a and 70b, radio waves in the same phase are observed at the two antennas 70a and 70b. On the other hand, as shown in FIG. 6B, when radio waves arrive obliquely, a predetermined phase difference occurs between the radio waves observed by the two antennas 70a and 70b. By measuring this phase difference, it is possible to identify the arrival direction of the radio wave.

For example, in an xy orthogonal coordinate system as shown in FIG. , 71b are .theta.1 and .theta.2, respectively, the position (x, y) of the first beacon transmitting unit 40 is represented by the following equation (equation 9).

According to the above method, the measurement of the position of the first beacon transmitting unit 40 is performed without being affected by the reflected wave of the beacon signal. can accurately measure the position of the first beacon transmitter 40. The positioning device according to the other embodiment described above is not limited to application to an operation control system for an overhead crane, and can be applied to positioning various objects and further to positioning control.

An outline of the first receiving unit 42 will be described below. The first receiving unit 42 is a central device and an information communication terminal that receives a beacon signal by BLE wireless communication. The first receiving unit 42 converts the measured value of the received beacon signal from an analog signal to a digital signal, and then transmits the digital signal to the first gateway unit 44 via the wireless LAN.

An example of the physical configuration of the first receiver 42 will be described with reference to FIG. FIG. 7 is a diagram for explaining the hardware configuration of the receiving units 42 and 43 of the positioning devices 27 and 28. As shown in FIG. The first receiving unit 42 includes a wireless LAN interface 50, a Read Only Memory (ROM) 51, a Random Access Memory (RAM) 52, a storage unit 53, a Central Processing Unit (CPU) 54, an input/output interface 55, and the like. .

The first receiver 42 has an input device 56 and an output device 57 as external devices. The first receiver 42 has an antenna 58 as an input device 56 . The antenna 58 functions as an antenna for receiving a beacon signal by BLE wireless communication.

The wireless LAN interface 50 mainly has a function of transmitting measurement value data of the first beacon signal to the first gateway section 44 . The storage unit 53 can be used as a storage device, and records various types of firmware necessary for the operation of the first receiving unit 42 and various data used by the firmware. The input/output interface 55 transmits and receives data to and from an input device 56 and an output device 57 which are external devices of the first receiving section 42 .

The first receiving unit 42 loads various types of firmware stored in the ROM 51 or the storage unit 53 into the main memory configured by the RAM 52 or the like. The CPU 54 accesses the main memory containing the firmware and executes the firmware.

The first and second receiving units 42 and 43 receive beacon signals transmitted from the reference transmitting unit 85 or the beacon transmitting units 40 and 41 by causing the CPU 54 to execute firmware, and measure the received beacon signals. A function of converting a value from an analog signal to a digital signal and then transmitting it to the first and second server units 46 and 47 via the first and second gateway units 44 and 45 or directly is realized.

An outline of the first server unit 46 will be described below. The first server unit 46 acquires the measured value of the first beacon signal measured by the first receiving unit 42, and the first beacon transmitting unit 40 based on the acquired measured value of the first beacon signal. It is an information processing device that specifies a position and transmits position data of the specified position to the calculation unit 35 of the control device 26 .

The calculation unit 35 of the control device 26 acquires the position data transmitted from the first server unit 46 as first position information, and uses the position data transmitted from the second server unit 47 as second position information. get. The calculation unit 35 calculates the position X1 and the moving speed X2 of the lifting unit 15 and the swing displacement X3 and the swing speed X4 of the suspended load 25 based on the acquired first position information and second position information.

An example of the physical configuration of the first server section 46 will be described with reference to FIG. FIG. 8 is a diagram for explaining the hardware configuration of the server units 46 and 47 of the positioning devices 27 and 28. As shown in FIG. The first server unit 46 includes a communication interface 60, a read only memory (ROM) 61, a random access memory (RAM) 62, a storage unit 63, a central processing unit (CPU) 64, an input/output interface 65, and the like.

The first server unit 46 has an input device 66 and an output device 67 as external devices. The first server unit 46 has a keyboard, a mouse, a scanner, etc. (not shown) as an input device 66, and a monitor, a printer, etc. (not shown) as an output device 67. The so-called peripheral devices of the information processing apparatus are used as external devices. be done.

The communication interface 60 transmits and receives data to and from the control device 26 and the first gateway section 44 . The communication interface 60 transmits the position data of the specified position of the first beacon transmitting unit 40 to the control device 26, and the first data received by the first receiving unit 42 from the first gateway unit 44. Receive beacon signal measurements.

The storage unit 63 can be used as a storage device, and records various applications necessary for the operation of the first server unit 46 and various data used by the applications. The input/output interface 65 transmits and receives data to and from an input device 66 and an output device 67 which are external devices of the first server section 46 .

The first server unit 46 loads various types of firmware stored in the ROM 61 or the storage unit 63 into the main memory configured by the RAM 62 or the like. The CPU 64 accesses the main memory containing the firmware and executes the firmware.

An example of the functional configuration of the first and second server units 46 and 47 will be described with reference to FIG. FIG. 9 is a diagram illustrating an example of the functional configuration of the server units 46, 47 of the positioning devices 27, 28. As shown in FIG.
The first and second server units 46 and 47 are provided with error calculation units 87 and 88, server units 46 and 47, and correction units 89 and 90 by the CPU 64 executing firmware. It should be noted that individual descriptions of the functional configuration of the CPU 64 have already been given, and will be omitted here.

Next, a positioning method in the first positioning device 27 will be described. The first positioning device 27 has a configuration in which the first receiving section 42 and the first server section 46 operate in cooperation with each other to exhibit the function as a positioning device. On the other hand, since the first server section 46 is provided separately from the first receiving section 42, the firmware of the first receiving section 42 and the firmware of the first server section 46 are: Each works independently. Therefore, the positioning method will be explained by explaining the control method of the first receiving unit 42 and the control method of the first server unit 46 respectively.

A method of controlling the first receiver 42 will be described together with the firmware of the first receiver 42 . The control method of the first receiving section 42 is executed by the CPU 54 of the first receiving section 42 based on the firmware of the first receiving section 42 .

The firmware of the first receiving unit 42 receives the beacon signal transmitted from the reference transmitting unit 85 or the beacon transmitting units 40 and 41 to the CPU 54, and converts the measured value of the received beacon signal from the analog signal to the digital signal. , the function of transmitting to the first and second server units 46 and 47 via the first and second gateway units 44 and 45 or directly is executed. Since these functions overlap with the description of the first receiving unit 42 described above, detailed description thereof will be omitted.

Next, referring to FIG. 10, the method of controlling the first server section 46 will be described together with the firmware of the first server section 46. FIG. FIG. 10 is a flowchart of the firmware of the server section of the positioning device. The control method of the first server section 46 is executed by the CPU 64 of the first server section 46 based on the firmware of the first server section 46 .

The firmware of the first server section 46 causes the CPU 64 of the first server section 46 to execute various functions such as an error calculation function, a server function, and a correction function.
Although the case where these functions are processed in the order shown in FIG. 10 has been exemplified, the order is not limited to this, and the firmware of the first server section 46 may be executed by appropriately changing the order. Since each function overlaps the description of the first server unit 46 described above, detailed description thereof will be omitted.

The error calculation function calculates the error between the position of the reference transmission unit 85 specified by the first server unit 46 and the known position (error calculation step: S200).

The server function obtains measured values of the first beacon signal from the plurality of first receivers 42 that have received the first beacon signal, and determines the position of the first beacon transmitter 40 based on the plurality of measured values. Identify (server step: S210).

The correction function uses the error calculated by the error calculation unit to correct the position of the transmission unit specified by the server unit (correction step: S220).

Next, with reference to FIG. 11, the operation control method of the overhead crane 11 of this embodiment is demonstrated with the operation control program of the overhead crane 11. FIG. FIG. 11 is a flow chart of an operation control program for the overhead crane 11. As shown in FIG.

As shown in FIG. 11, the operation control program for the overhead crane 11 includes a calculation step S300, a speed command signal generation step S310, a travel motor control step S320, a traverse motor control step S330, and the like.

The control device 26 of the overhead crane 11 loads the operation control program of the overhead crane 11 stored in the ROM 30 or the storage unit 32 into the main memory, and the ECU 29 executes the operation control program.

The ECU 29 of the control device 26 executes an operation control program for the overhead crane 11 to cause the function unit 34 to realize a calculation function, a speed command signal generation function, a traveling motor control function, and a traversing motor control function. .

Although the case where these functions are processed in the order shown in FIG. 11 was illustrated, it is not limited to this, and the control apparatus 26 may execute the said operation control program by changing these orders suitably. Note that each function described above overlaps the description of the calculation unit 35, the speed command signal generation unit 36, the traveling motor control unit 37, and the traversing motor control unit 38 of the operation control system 10 of the overhead crane 11 described above. , a detailed description thereof will be omitted.

The calculation function acquires the first position information measured by the first positioning device 27 and the second position information measured by the second positioning device 28, and calculates the position and movement speed of the lifting unit 15 based on the first position information, Also, the sway displacement and sway velocity of the suspended load 25 are calculated based on the relative positional relationship between the first position information and the second position information (S300: calculation step).

The speed command signal generation function generates a speed command signal for the traveling motor control unit 37 based on the calculation results of the position and movement speed of the lifting unit 15 and the swing displacement and swing speed of the suspended load 25 (S310: Speed command signal generation step).

The traveling motor control function controls the speed at which the crane main body 13 travels on the traveling rail 18 by controlling the rotation speed of the traveling motor 17 provided in the traveling section 14 (S320: traveling motor control). step).

The traverse motor control function controls the speed at which the elevator 15 traverses the traverse rail 23 by controlling the number of rotations of the traverse motor 22 provided in the traverse section 21 (S330: Traverse motor control step )

(Second embodiment)
Next, a second embodiment of the overhead crane operation control system according to the present disclosure will be described with reference to FIGS. 12 to 15. FIG. The overhead crane operation control system 79 according to the second embodiment is similar to the overhead crane according to the first embodiment in that a position information acquisition unit 110 and a position information transmission unit 120, which will be described later, are added to the second beacon transmission unit 80. is different from the operation control system 10 of

The configuration of the overhead crane operation control system 79 other than the second beacon transmission unit 80 is the same as that of the overhead crane operation control system 10 according to the first embodiment. Therefore, in the description of the second embodiment, the same reference numerals are given to the same configurations as in the first embodiment, and the description overlapping with the first embodiment is omitted.

An overview of an overhead crane operation control system 79 according to the second embodiment will be described with reference to FIG. 12 . FIG. 12 is a diagram showing the usage status of the transmitter of the positioning device according to the second embodiment.

FIG. 12 shows how the suspended cargo 25 is shipped from the building 12, loaded on the bed of the truck 81, and transported. A second beacon transmitter 80 is attached to the suspended load 25 .

Public wireless LAN access points are installed on expressways, main roads, urban areas, downtown areas, and the like. Public wireless LANs are operated by telecommunications carriers, local governments, and the like. Each wireless LAN access point is assigned a MAC address (Media Access Control address), which is an identification number.

The MAC address of the wireless LAN access point is associated with location information such as an address. can measure the current position of

The position data of the current position of the suspended load 25 acquired by the position information acquisition unit 110 is transmitted by the position information transmission unit 120 to the LPWA relay antenna 83 by wireless communication of the LPWA (Low power wide area) system. reach the origin. The user 84 can know the position of the suspended load 25 during transportation.

LPWA is said to be suitable for wireless communication by IoT (Internet of Things) devices, and is capable of wide-area wireless communication with low power consumption. In this embodiment, the communication standard of Sigfox (registered trademark) is used among LPWA. Sigfox (registered trademark) has a maximum transmission distance of about 50 km, which is longer than the transmission distance of about 1 km to 10-odd kilometers of other LPWA communication standards.

There are other LPWA communication standards such as LoRaWAN (registered trademark) and ELTRES (registered trademark), and these communication standards may be used instead of the LPWA communication standards.
In addition to LPWA, there are wireless communication systems such as third generation (3G), fourth generation (4G) mobile communication systems, LTE (Long Term Evolution), and LTE-M (Long Term Evolution for machine-type-communication). Yes, and these wireless communications may be used instead of the LPWA wireless communications.

Next, an example of the hardware configuration of the second beacon transmitting unit 80 will be described with reference to FIG. FIG. 13 is a diagram for explaining the hardware configuration of the transmitter of the positioning device.
The second beacon transmission unit 80 includes a communication interface 90, a Read Only Memory (ROM) 91, a Random Access Memory (RAM) 92, a storage unit 93, a Central Processing Unit (CPU) 94, an input/output interface 95, and the like. .

The second beacon transmission unit 80 includes a wireless LAN antenna 96, an LPWA antenna 97, and a BLE antenna 98 as external devices.
The communication interface 90 mainly transmits and receives data to and from networks including the Internet. The storage unit 93 can be used as a storage device, and records various applications necessary for the operation of the second beacon transmission unit 80 and various data used by the applications.

The input/output interface 95 transmits and receives data to and from a wireless LAN antenna 96, an LPWA antenna 97, and a BLE antenna 98, which are external devices of the second beacon transmission unit 80. FIG.

The second beacon transmission unit 80 loads various applications stored in the ROM 91 or the storage unit 93 into the main memory configured by the RAM 92 or the like. The CPU 94 accesses the main memory containing the application and executes the application.

An example of the software configuration of the second beacon transmitting unit 80 will be described with reference to FIG. FIG. 14 is a diagram for explaining the software configuration of the transmitter of the positioning device. The second beacon transmission unit 80 causes the CPU 94 to implement various functions by causing the CPU 94 to execute applications. The CPU 94 includes a beacon signal transmission unit 100, a location information acquisition unit 110, a location information transmission unit 120, and the like by executing applications.

The beacon signal transmitting unit 100 uses the BLE antenna 98 to transmit a beacon signal by broadcast communication through BLE wireless communication.

The position information acquisition unit 110 measures the position of the transmission unit by acquiring the position information of the access point through wireless LAN communication.
The location information acquisition unit 110 uses the wireless LAN antenna 96 to receive the MAC address of the wireless LAN access point to measure the current location.

The location information transmission unit 120 transmits the acquired location information of the location of the second beacon transmission unit 80 to the user 84 by wireless communication of the LPWA (Low Power Wide Area) method.
The location information transmitting unit 120 uses the LPWA antenna 97 to transmit the location information acquired by the location information acquiring unit 110 toward the LPWA relay antenna 83 through LPWA wireless communication.

Next, with reference to FIG. 15, a control method for the second beacon transmission unit 80 according to the second embodiment will be described together with a control program for the second beacon transmission unit 80. FIG. FIG. 15 is a flow chart of a control program for the transmitter of the positioning device.

As shown in FIG. 15, the control program of the second beacon transmitting unit 80 includes a beacon signal transmitting step S100, a positional information acquiring step S110, a positional information transmitting step S120, and the like.

The second beacon transmission unit 80 loads the control program for the second beacon transmission unit 80 stored in the ROM 91 or the storage unit 93 into the main memory, and the CPU 94 executes the control program.

The CPU 94 implements a beacon signal transmission function, a location information acquisition function, and a location information transmission function by executing a control program for the second beacon transmission unit 80 . Although the case where these functions are processed in the order shown in FIG. 13 has been exemplified, the order is not limited to this, and the CPU 94 may execute the control program by appropriately changing the order. In addition, since each function described above overlaps the description of the beacon signal transmission unit 100, the location information acquisition unit 110, and the location information transmission unit 120 of the second beacon transmission unit 80, detailed description thereof will be omitted. .

The beacon signal transmission function uses the BLE antenna 98 to transmit a beacon signal by broadcast communication through BLE wireless communication. (S100: beacon signal transmission step).

The location information acquisition function measures the location of the transmitter by acquiring location information of the access point through wireless LAN communication (S110: location information acquisition step).

The location information transmission function transmits the acquired location information of the location of the second beacon transmission unit 80 to the user 84 by wireless communication of the LPWA (Low Power Wide Area) system (S120: location information transmission step).

According to the first embodiment described above, the first beacon transmission unit 40 of the first positioning device 27 is attached to the lifting unit 15, and the second beacon transmission unit 41 of the second positioning device 28 is attached to the suspended load 25. can be attached to Therefore, the first positioning device 27 and the second positioning device 28 can determine the position (X1) and the moving speed (X2) of the lifting section 15 without being attached to the traveling motor 17, which is the basic structure of the crane main body section 13. , and the swing displacement (X3) and swing velocity (X4) of the suspended load 25 can be calculated.

Therefore, even if trouble such as failure occurs in the first positioning device 27 and the second positioning device 28, the operation and safety of the crane body 13 are not adversely affected.

According to the first embodiment described above, the beacon signal includes a unique identification signal assigned to each beacon transmitter 40 . Therefore, the suspended cargo 25 to which the beacon transmitting unit 40 is attached can be identified by the beacon signal transmitted from the beacon transmitting unit 40, and the identification signal included in the beacon signal for each management of the suspended cargo 25. can be used.

According to the positioning devices 27 and 28 according to the first embodiment described above, the beacon transmission units 40 and 41 specified by the server units 46 and 47 based on the reference transmission unit 85 installed in advance at a known reference position A correction can be made to remove the error contained in the position of . Therefore, it is also effective for reducing positioning errors caused by multipath and multipath fading caused by reflected waves of beacon signals.

According to the positioning devices 27 and 28 according to the first embodiment described above, the beacon transmitting units 40 and 41 transmit a plurality of types of beacon signals, and the beacon transmitting units 40 and 41 calculated for each of the plurality of beacon signals The average of the positions is specified as the position of the beacon transmitters 40,41. Since a plurality of positions are calculated for one transmitting unit and the position of the transmitting unit is specified using the average, the positions of the beacon transmitting units 40 and 41 with high reliability compared to the single calculation result can be specified.

According to the overhead crane operation control system according to the second embodiment described above, the user 84 can know where the suspended load 25 is while the suspended load 25 is being transported, and furthermore, can know the trajectory of the transport. be able to.

The present disclosure is not limited to the overhead crane operation control system 10 according to the above-described embodiment, and various other modifications or applications without departing from the gist of the present disclosure described in the claims. It can be implemented by

10 Overhead Crane Operation Control System 11 Overhead Crane 12 Building 13 Crane Body 14 Traveling Part 15 Lifting Part 16 Gutter 17 Traveling Motor 18 Traveling Rail 19 Wire 20 Hook 21 Traversing Part 22 Traversing Motor 23 Traversing Rail 25 Suspended Load 26 Control Device 27 First positioning device 28 Second positioning device 29 ECU (Electric Control Unit)
30, 51, 61, 91 ROM (Read Only Memory)
31, 52, 62, 92 RAM (Random Access Memory)
32, 53, 63, 93 storage units 33, 55, 65, 95 input/output interface 34 function unit 35 calculation unit 36 speed command signal generation unit 37 traveling motor control unit 38 traversing motor control unit 40 first beacon transmission unit 41 Second beacon transmitting unit 42 First receiving unit 43 Second receiving unit 44 First gateway unit 45 Second gateway unit 46 First server unit 47 Second server unit 50 Wireless LAN interfaces 54 and 64 , 94 CPUs
56, 66 input devices 57, 67 output device 58 antennas 60, 90 communication interface 70a antenna 70b antenna 71a beacon signal 71b beacon signal 79 overhead crane operation control system 80 second beacon transmitter 81 truck 82 wireless LAN access point 83 LPWA Relay antenna 84 User 85 Reference transmission unit 87 First error calculation unit 88 Second error calculation unit 89 First correction unit 90 Second correction unit 96 Wireless LAN antenna 97 LPWA antenna 98 BLE antenna 100 Beacon transmission Unit 110 Location information acquisition unit 120 Location information transmission unit

TECHNICAL FIELD The present invention relates to an operation control system, an operation control method, and an operation control program for an overhead crane using a positioning device , and in particular, using a positioning device characterized by positioning an object to be positioned using a beacon signal. The present invention relates to an operation control system, an operation control method, and an operation control program for an overhead crane.

Claims (15)

a beacon transmitter that is attached to a positioning target and that transmits a beacon signal;
a receiving unit installed at each of a plurality of predetermined installation positions and configured to receive a beacon signal transmitted from the beacon transmitting unit;
a server unit that acquires measured values of the beacon signals from the plurality of receivers that have received the beacon signals, and identifies the positions of the beacon transmitters based on the plurality of measured values;
a reference transmission unit that is installed in advance at a known reference position and that transmits a beacon signal;
an error calculation unit that calculates an error between the position of the reference transmission unit specified by the server unit and the known position;
a correction unit that corrects the position of the beacon transmission unit specified by the server unit using the error calculated by the error calculation unit;
A positioning device comprising: The beacon transmission unit transmits a plurality of types of beacon signals,
The server unit calculates the position of the beacon transmitting unit for each of the plurality of types of beacon signals, and specifies an average of the calculated positions of the plurality of beacon transmitting units as the position of the beacon transmitting unit. The positioning device according to claim 1. The position of the beacon transmission unit is
3. The positioning device according to claim 1, wherein the positioning device is identified based on measured values of three or more of the receivers that receive the beacon signal. The position of the beacon transmission unit is
4. The positioning device according to any one of claims 1 to 3, wherein the positioning device is specified based on a measured value of received signal strength of the beacon signal received by the receiver. The receiving unit comprises a plurality of antennas,
The position of the beacon transmission unit is
identifying the direction of arrival of the beacon signal based on a measured value of the phase difference occurring between the beacon signals received by each of the plurality of antennas of the receiving unit, and identifying the direction of arrival of the beacon signal; The positioning device according to claim 1 or 2, characterized by: 6. The positioning device according to any one of claims 1 to 5, wherein said beacon signal includes a unique identification signal assigned to each of said beacon transmitters. The beacon transmission unit is
a location information acquisition unit that measures the location of the beacon transmission unit by acquiring location information of an access point through wireless LAN communication;
7. The apparatus according to any one of claims 1 to 6, further comprising a position information transmitting unit that transmits the acquired position information of the position of the beacon transmitting unit to a user by wireless communication of LPWA (Low Power Wide Area) system. 1. The positioning device according to claim 1. A positioning method in the positioning device according to any one of claims 1 to 7,
A computer used in the positioning device,
a transmission step of transmitting a beacon signal from the beacon transmission unit attached to the positioning target;
a receiving step of causing the receiving units respectively installed at a plurality of predetermined installation positions to receive the beacon signal transmitted from the beacon transmitting unit;
a server step of obtaining measured values of the beacon signals from the plurality of receivers that have received the beacon signals, and identifying the position of the beacon transmitter based on the plurality of measured values;
a reference transmission step of transmitting a beacon signal from the reference transmission unit installed in advance at a known reference position;
an error calculation step of calculating an error between the position of the reference transmission unit specified by the server unit and the known position;
a correction step of correcting the position of the beacon transmission unit specified by the server unit using the error calculated by the error calculation unit;
A positioning method characterized by performing A positioning program in the positioning device according to any one of claims 1 to 7,
In the computer used for the positioning device,
a transmission function for transmitting a beacon signal from the beacon transmission unit attached to the positioning target;
a receiving function that causes the receiving units installed at a plurality of predetermined installation positions to receive beacon signals transmitted from the beacon transmitting unit;
A server function that acquires measured values of the beacon signals from the plurality of receivers that have received the beacon signals and identifies the positions of the beacon transmitters based on the plurality of measured values;
a reference transmission function for transmitting a beacon signal from the reference transmission unit installed in advance at a known reference position;
an error calculation function for calculating an error between the position of the reference transmission unit specified by the server unit and the known position;
A correction function that corrects the position of the beacon transmission unit specified by the server unit using the error calculated by the error calculation unit;
A positioning program characterized by realizing An operation control system for an overhead crane that uses the positioning device according to any one of claims 1 to 7 and that travels on a travel rail laid in a building and ascends and descends a suspended load,
The overhead crane includes an elevating section for elevating the suspended load and a traveling section for traveling on the traveling rail in a crane main body,
a traveling motor control unit that controls the speed of the crane main body when traveling on the traveling rail by controlling the number of rotations of a traveling motor provided in the traveling portion;
the first positioning device for measuring the position of the lifting unit in the building;
the second positioning device for measuring the position of the suspended load suspended from the lifting section;
Acquire first position information measured by the first positioning device and second position information measured by the second positioning device, and obtain the position and moving speed of the lifting unit based on the first position information, and the second position information a calculation unit that calculates the swing displacement and swing velocity of the suspended load based on the relative positional relationship between the first position information and the second position information;
a speed command signal generation unit that generates a speed command signal for the traveling motor control unit based on calculation results of the position and the moving speed of the lifting unit and the swing displacement and swing speed of the suspended load; An operation control system for an overhead crane, comprising: The speed command signal generation unit calculates a preset optimum gain for anti-swaying of the suspended load, the position and moving speed of the lifting unit, and the swing displacement and swing speed of the suspended load. 11. The operation control system for an overhead crane according to claim 10, wherein the speed command signal of the optimum operation amount for the traveling motor control unit is generated based on the results. The crane main body is
a garter straddling and orthogonal to the two running rails;
a traverse rail provided in the garter and on which the elevating section traverses;
a traversing section provided in the lifting section and traversing the traversing rail,
a traversing motor control unit that controls the speed at which the lifting unit traverses the traversing rail by controlling the number of rotations of a traversing motor provided in the traversing unit;
The speed command signal generation unit generates a speed command signal for the traversing motor control unit based on the position and movement speed of the lifting unit and the swing displacement and swing speed of the suspended load. The overhead crane operation control system according to claim 10 or 11, characterized in that: The speed command signal generation unit calculates a preset optimum gain for anti-swaying of the suspended load, the position and moving speed of the lifting unit, and the swing displacement and swing speed of the suspended load. 13. The operation control system for an overhead crane according to claim 12, wherein the speed command signal of the optimum operation amount for the traversing motor control unit is generated based on the results. An operation control method for an overhead crane that travels on a travel rail laid in a building and raises and lowers a suspended load using the positioning device according to any one of claims 1 to 7,
The overhead crane comprises a crane main body including an elevating section for elevating the suspended load and a traveling section for traveling on the traveling rail;
a traveling motor control section for controlling the speed of the crane main body traveling on the traveling rail by controlling the number of rotations of a traveling motor provided in the traveling section;
The computer used for the operation control system of the overhead crane,
a first positioning step in which the first positioning device measures the position of the crane body in the building;
a second positioning step in which the second positioning device measures the position of the suspended load suspended from the lifting unit;
Acquire first position information measured by the first positioning device and second position information measured by the second positioning device, and obtain the position and moving speed of the lifting unit based on the first position information, and the second position information a calculation step of calculating the swing displacement and swing velocity of the suspended load based on the relative positional relationship between the first position information and the second position information;
a speed command signal generation step of generating a speed command signal for the traveling motor control unit based on the calculation results of the position and the moving speed of the lifting unit and the swing displacement and swing speed of the suspended load; A method for controlling the operation of an overhead crane, characterized by: An operation control program for an overhead crane that uses the positioning device according to any one of claims 1 to 7 and that travels on a travel rail laid in a building and ascends and descends a suspended load,
The overhead crane comprises a crane main body including an elevating section for elevating the suspended load and a traveling section for traveling on the traveling rail;
a traveling motor control section for controlling the speed of the crane main body traveling on the traveling rail by controlling the number of rotations of a traveling motor provided in the traveling section;
In the computer used for the operation control system of the overhead crane,
a first positioning function that causes the first positioning device to measure the position of the crane body in the building;
a second positioning function that causes the second positioning device to measure the position of the suspended load suspended from the lifting unit;
obtaining first position information measured by the first positioning device and second position information measured by the second positioning device, and obtaining the position and moving speed of the lifting unit based on the first position information; a calculation function for calculating the swing displacement and swing velocity of the suspended load based on the relative positional relationship between the first position information and the second position information;
a speed command signal generation function for generating a speed command signal for the traveling motor control unit based on calculation results of the position and the movement speed of the lifting unit and the swing displacement and swing speed of the suspended load; An overhead crane operation control program characterized by:

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