JP2524790B2 - Work range regulation method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention relates to a device such as a crane capable of turning and undulating, when a working range of a building, a road or another crane is within its working range, The present invention relates to a work range regulation method for preventing entry into these areas to prevent accidents and the like.

[Conventional technology]

When a crane capable of ups and downs as shown in Fig. 2 is used in construction work in urban areas, etc., as shown in Fig. 3, the work range of adjacent buildings or other cranes within the work range or roads ( (Indicated by diagonal lines),
In order to prevent collisions and the like, it is necessary to regulate the work range so as not to enter these areas.

The work range is restricted by limiting the turning range itself, or by reducing the turning radius in a specific turning range (that is, raising the boom) to allow the boom tip to enter the restricted range shown by the diagonal lines in FIG. It is something that should not be done.

If the operator relies on the operation of the driver to regulate the work range, it is impossible to reliably prevent contact or collision due to an operation error, and automation is desired.

Conventionally, limit switches have been used as a method of automating the regulation of the working range. In this system, a limit switch is installed for each range to be regulated on a swing shaft and a hoisting shaft of a crane or the like, and a hoisting angle at each turning position is limited by a combination of these limit switches.

Another conventional regulation method is to use a combination of an opaque disk with a diameter of about 20 cm and a photocoupler, which shows the working range of a crane as a model. A part of the disc corresponding to the regulation range is cut off and rotated in association with the turning of the crane. The photocoupler is arranged with a light emitting element and a light receiving element sandwiching the disk, and moves in the radial direction of the disk in conjunction with the ups and downs of the boom. Therefore, when the crane is working outside the regulation range, the photo coupler is turned off to permit the work. Further, when the regulation range is entered, the photocoupler goes out of the disk and is turned on. An alarm or the like is sounded to inform that the regulation range is entered or the work is stopped.

[Problems to be Solved by the Invention]

In the method using the limit switch, the installation position of the limit switch has to be changed every time the situation at the site changes, which is troublesome.

Further, in the method using the disc, it is necessary to cut out the disc into a shape that matches the regulation range of the site every time the situation of the site changes, which is troublesome. Further, a mechanism for rotating the disc in conjunction with the turning and a mechanism for moving the photocoupler in conjunction with the ups and downs are required, which is expensive.

The present invention intends to solve the above-mentioned problems in the prior art and provide a work range regulation method capable of simply regulating the work range.

[Means for solving the problem]

The present invention is a method for regulating a working range of a device capable of turning and undulating and capable of detecting a turning position and an amount of undulation,
While swinging the equipment, the equipment is raised and lowered to a undulation amount to be regulated corresponding to the slewing position, these slewing position and undulation amount are detected, and teaching values are stored as regulation values in advance, and then the slewing position and the undulation amount during operation When the undulation amount detected at each turning position reaches a value corresponding to the stored regulation value, a signal indicating that the value has been reached is output to regulate the work range. It is characterized by.

[Action]

According to the present invention, the regulation value corresponding to the undulation amount at each turning position is stored in advance by the teaching method, so that it is possible to determine whether or not the regulation range is entered only by detecting the turning position and the undulation position during operation. You can know
The work range can be regulated by a simple method. Also, even if the site changes, it will be easy because all that is required is to redo the memory work by teaching.

〔Example〕

FIG. 1 shows an embodiment of the present invention. Here, as shown in FIG. 2, it is assumed that a tower crane capable of undulating and turning is used. The crane is equipped with sensors for detecting the undulation angle and the turning angle.

First, enter the regulation range. This is done by teaching operation (P1) or initial setting (1 '). In the teaching operation (P1), the crane is rotated once in the turning direction, and the hoisting angle is controlled for each turning position so that it passes along the outer wall of the building, the edge of the road, or the turning position of other cranes. . Thereby, the limit value of the undulation angle (the undulation angle that causes a collision or the like when the boom is further tilted) is detected and stored as the regulation value for each turning position.

Initial setting (P1 ') instead of teaching operation (P1)
When the situation around the crane is known in advance from a design drawing or the like, the method according to (2) is to input the restricted range with a keyboard or the like based on the drawing or the like. Specific examples thereof are shown in FIGS. 4 and 5. This is a simple way to input. That is, the shape of the inner circumference side of the regulation range is a straight line when the object to be regulated is a building or a road, and an arc shape when it is the work range of another crane, and these shapes can be classified into several shapes. Is used to roughly set the regulation range as indicated by the diagonal lines in FIG. Then, the turning angle is divided for each discontinuous point in the regulation range and divided into steps 1 to 7. FIG. 5 shows an example of the input keyboard. This keyboard has a power switch 2, an alarm buzzer 3, a numeric keypad 0-9, a turning angle θ selection key 10, and a turning radius R selection key.
12, a clear key 14, a write key 16, and keys 18, 20, 22 for instructing the shape of the restricted range (straight line, U shape, ∩ shape, etc.) are provided. Further, display units 24, 26, 28 for displaying the input values of the number of steps, the turning angle θ, and the turning radius R are provided. The changeover switch 30 is for data input (“setting 1”, “setting 2” 2
Type) and the actual work "(RUN)" are switched.

Input operations are performed in the order of steps, and first step 1
Enter the turning angle range 0 ° to θ ₁ , the U-shaped key 20 and the turning radius (maximum radius). In step 2, the turning angle range θ _{1 to} θ ₂ , the U-shaped key 20 and the turning radius (smaller than the maximum radius) are input. In step 3, the turning angle range θ ₂ ~
Enter θ ₃ , the U-shaped key 20, and the turning radius (maximum radius). In step 4, the turning angle range θ _{3 to} θ ₄ and the linear key 18
Enter In step 5, the turning angle range θ _{4 to} θ ₅ , the U-shaped key 20 and the turning radius (maximum radius) are input. In step 6, the turning angle range θ _{5 to} θ ₆ , the ∩-shaped key 22 and the turning radius value of the opponent crane are input. Step 7
Then, the turning angle range θ _{6 to} 0 °, the U-shaped key 20 and the turning radius (maximum radius) are input.

In this way, data for one turn in the turning direction is input. At the time of this input, the number of steps, the turning angle θ, and the turning radius R are displayed on the displays 24, 26, and 28, respectively.

As described above, the regulation value is input and stored by the teaching (P1) or the initial setting (P1 ') method (P2).

In Fig. 1, the actual work (in optional operation (P3),
The undulation angle and the turning angle are detected, and the undulation angle regulation value corresponding to the detected turning angle is read out each time and compared with the detected undulation angle. When it detects that the boom tip approaches within 5 m from the regulation range (P4), it issues an alarm signal (P5) and warns the driver. If it approaches further within 2 m (P6), an emergency stop (P7) will be applied.

Various methods of detecting the approaching state can be considered depending on what is used as a control parameter. For example,
When the regulation value is input by teaching and the undulation angle detected at that time is stored as the regulation value in association with the turning angle, the comparison control can be performed with the angle information as it is. However, since this method is controlled by the angle, it is difficult to control the alarm and stop within a few meters of the regulation range. Therefore, when the distance is controlled in this way, the undulation angle is converted into the distance (the length when the boom is projected on a plane or the coordinate position of the tip of the boom) is controlled.

When converting to a coordinate position, for example, as shown in FIG. 6, an xy coordinate plane with the turning center as the coordinate axis is set, and the coordinate θ ₀ of the boundary of the regulation range is set for each predetermined turning angle (for example, 1 °).
(X ₀ , y ₀ ), θ ₁ (x ₁ , y ₁ ), ... Is calculated and stored.
In the actual work, the coordinate position x, y of the boom tip is calculated based on the detected combination of the turning angle and the undulation angle. Further, it detects which of the turning angle ranges the detected turning angle θ is divided into every 1 °. For example, as shown in FIG. 7, when the turning angle detected theta is the entered between theta _n and θ _{n + 1,} θ _n and theta _{n + 1} coordinate position of the boundary of the regulating range stored theta for _n (x _n , y _n ), θ _{n + 1} (x _{n + 1} , y _{n + 1} )
Then, the distances l ₁ and l ₂ between the boom tip and the regulation range boundary are obtained from the following equation from the detected coordinate position θ (x, y) of the boom tip.

Since the angle from θ _n to θ _{n + 1} is as narrow as 1 °, l ₁ and l ₂ can be regarded as the distance to the boundary of the regulation range. If this distance is within 5 m, an alarm is issued and within 2 m Stop when approaching.

[Modification]

In the above embodiment, the case where the present invention is applied to the tower crane has been described, but the present invention can be applied to other types of cranes and other devices that can rotate and undulate.

〔The invention's effect〕

As described above, according to the present invention, the regulation value corresponding to the amount of undulation at each turning position is stored in advance by the teaching method, so that the regulation range can be obtained only by detecting the turning position and the undulating position during operation. It is possible to know whether or not you have entered, and you can regulate the work range with a simple method. Further, even if the site changes, it is only necessary to redo the memory work by teaching, which simplifies the work.

[Brief description of drawings]

FIG. 1 is a flow chart showing an embodiment of the present invention. FIG. 2 is a schematic configuration diagram of a tower crane. FIG. 3 is an explanatory diagram of work range regulation. FIG. 4 is an explanatory diagram of initial setting. FIG. 5 shows an example of a keyboard for initial setting. 6 and 7 are explanatory views of the work range restriction operation.

Claims (1)

(57) [Claims] 1. A method for restricting a working range of a device capable of swiveling and undulating and capable of detecting a swivel position and an undulating amount, wherein the device is swiveled to a undulating amount to be restricted corresponding to the swivel position. Then, the turning position and the amount of undulation are detected, the teaching value is taught as a regulation value and stored in advance, and the turning position and the amount of undulation are detected during operation, and the amount of undulation detected at each turning position is stored in the memory. When the value corresponding to the regulation value is reached, a signal indicating that the value is reached is output to regulate the working range.