JP2795159B2 - Bucket position measuring device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a position measuring device for a bucket, and more particularly to a bucket for measuring the position of a bucket which changes every moment in a cable crane for supplying concrete to a construction site of a dam, for example. Related to a position measuring device.

[0002]

2. Description of the Related Art As is well known, a cable crane is used as one of means for transporting concrete from a manufacturing site to a casting site at a dam construction site.

As shown in FIG. 4, for example, this cable crane is suspended from a main rope 2 extending above a site where a dam 1 to be constructed in a mountain is to be constructed, and is suspended along the main rope 2. Travelable trolley 3 and trolley towing tow 4
A concrete bucket 6 suspended from a lower part of the trolley 3 via a suspension cable 5, a transportation start position A where the trolley 3 is provided on the mountain side by towing the towing cable 4 and a central bottom part of the dam 1. A horizontal winch 7 for reciprocating between the transported end positions B, a vertical winch 8 for winding and unwinding the hoisting line 5 to raise and lower the bucket 6, a position of the trolley 3 and a position of the bucket 6 are monitored. In addition, an operation room 9 for driving and controlling each of the winches 7 and 8 is provided.

[0004] In order to transport and cast concrete by the bucket 6, for example, a transfer for transporting concrete made by a batcher plant (not shown) in a direction perpendicular to the paper surface is provided at an upper side of the transport start position A. The car 10 travels, and a concrete hopper 11 is disposed at the transfer end position B. Based on a control operation from the operation room 9, the trolley 3 is laterally moved and the bucket 6 is moved.
Is moved up and down, and the bucket 6 is stopped at the positions A and B to supply and discharge the concrete. Conventionally, as a method of operating the movement or the stop of the bucket 6, for example, a supervisor arranged in each of the positions A and B and an operator arranged in the operation room 9 communicate with each other wirelessly, and an instruction of the supervisor is provided. A running operation and a steady rest operation are performed by an operator's manual operation based on the above, and a stop operation is performed while performing fine adjustment.

[0005]

However, according to this method, the time delay from information transmission to actual correction and fine adjustment operations is large, and the control direction and control amount tend to be ambiguous. The work was not always completed within the facility, and was dependent on the skill of the workers. In addition, since the bucket is swung above the worker and is dangerous, the waiting time and the evacuation time of the worker also become longer, so that the work efficiency is poor and there is a problem in profitability, and automation has been desired.

[0006] In automation, each winch 7,
8 is provided with an encoder, the number of rotations of the winch is converted into the amount of wire feeding, the position of the bucket is estimated, and feedback control or the like is performed based on the estimated position. In addition, there are many unmeasurable factors such as the deflection of the main rope along the running direction, and the measurement results depend on the accuracy.

An object of the present invention is to solve the above-mentioned problem, and an object of the present invention is to obtain accurate control information by accurately measuring the position of a bucket, which changes momentarily, in real time. The present invention provides a bucket position measuring device.

[0008]

In order to achieve the above object, a bucket position measuring device according to the present invention is installed at a fixed point and irradiates a retroreflector provided on the bucket with pulsed light. A light pulse rangefinder comprising a light source and a light receiving unit for receiving reflected light from the reflector; and a light receiving surface of the light receiving unit receiving a horizontal axis deviation value signal and a vertical axis deviation value signal of the light receiving unit, and the light receiving surface of the light receiving unit being positioned at the center Driving means for tilting the optical pulse range finder vertically and turning it horizontally so as to make correction, detecting means for detecting the horizontal and vertical angles of the optical pulse range finder, and each of the detecting means Computing means for computing a current coordinate position of the bucket based on the measured angle value of the above and the measured value of the optical pulse distance meter.

[0009]

According to the above arrangement, the optical pulse distance meter automatically tracks the movement of the bucket while measuring the distance to the bucket. The vertical and horizontal angle changes of the optical pulse rangefinder are detected by the detecting means in accordance with the tracking operation,
From the detected angle and distance, the three-dimensional coordinate position of the bucket is determined in real time.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below in detail with reference to the drawings. In the embodiment, the entire cable crane system is the same as that shown in FIG. 4 and the description thereof will be omitted. The same or corresponding parts will be denoted by the same reference numerals and only the main parts of the present invention will be denoted by new reference numerals. explain.

FIG. 1 shows a system configuration of a position measuring apparatus according to the present invention. For example, the position measuring apparatus is installed at a fixed point position close to the operation room 9 and having a view of the entire view of a transfer start position A and a transfer end position B. The bucket 6 is irradiated with pulsed light toward the retroreflector 20 provided on the bucket 6 and receives reflected light from the reflector 20.
A device main body 22 provided with an optical pulse range finder and an automatic tracking mechanism for measuring a distance to the remote controller, a remote control in the operation room 9 connected to the device main body 22 via a controller 24, and a coordinate calculation device. And a computer 26 that constitutes a system.

As shown in FIG. 2, the apparatus main body 22 has a fixed base 28 installed at the fixed point position, a concave support arm 30 pivotally mounted on the fixed base 28, and a tiltable inside of the support arm 30. A light pulse rangefinder 32 is provided which is supported.

The support arm 30 pivots horizontally with respect to the fixed table 28 via a horizontal drive section 34 composed of a pivot servomotor or the like, and the pivot angle is controlled by an encoder 36 provided on a central pivot shaft of the support arm 30. Is measured by

The optical pulse distance meter 32 is tiltably supported by a support arm 30 via a vertical drive section 38 composed of a servomotor. It is measured by an encoder 40 provided on 32 support shafts. The optical pulse distance meter 32 has a pulse laser emitting section 42 at the lower center of the front of the case.
CCD camera 44 at the top, light receiving unit 46 for distance measurement at the left and right
And an automatic tracking light receiving unit 48.

The pulse light from the laser emitting section 44 is reflected by the retroreflector 20 provided on the bucket. This amount of reflection has a reflection intensity 1000 times or more higher than that of the other diffuse reflection surfaces, and the elephant is received by the light receiving portions 46 and 48 via lenses to be received as bright spots.

In the distance measuring light receiving section 46, the light emitting section 42 is used.
The distance corresponding to the time difference between the received reflected pulse and the emitted reflected pulse is measured, and the measured value is input to the computer 26. The measurement accuracy can be higher than in the past, and is not affected by fluctuation factors such as bending and slippage of the main rope.

As shown in FIG. 3, the automatic tracking light receiving unit 48 has a light receiving surface 50b composed of a large number of photodiodes capable of detecting a two-dimensional position on the focal plane of the lens 50a, and its x-axis and y-axis. A horizontal axis (x-axis) deviation value signal and a vertical axis (y-axis) deviation value signal are output according to the difference between the center of the light receiving surface where the axes intersect and the detection position.

The horizontal and vertical driving units 34 and 38 are driven in the x and y directions so that the deviation value signal coincides with 0, that is, coincides with the center of the luminescent spot. This is tracked according to the movement of the reflector 3. The trackable visual field depends on the diameter of the reflector 20 and the amount of reflected light, but it is possible to track with high accuracy.

The driving of each encoder 3
6, 40 detect the horizontal angle and the vertical angle, and this value is input to the computer 26.

The computer 26 comprises an arithmetic and control unit 26a, a keyboard 26b, a joystick 26c for manual operation, a display 26d, and the like (see FIG. 1). The display 26d displays the scene captured by the CCD camera 44. I do.

The arithmetic and control unit 26a performs control in accordance with the contents of a program stored in the floppy disk. The arithmetic and control unit 26a operates the horizontal and vertical drive units 34 and 38 according to manual input operation of the joystick 26c to operate the apparatus main body. 22 is turned and tilted in the horizontal and vertical directions, the x and y axes are projected as an image, and are superimposed on the scene displayed on the display 26d, and the difference between the bright spot detected by the reflector 20 and the scene is calculated. Display.

Further, the apparatus main body 22 is started by a start operation.
Is set to the automatic tracking operation mode, the distance information obtained by the distance detecting light-receiving unit 46 and each encoder 3
The three-dimensional coordinates are calculated based on the angle information from 6, 40. The calculation formula is based on a general formula. When the distance to the target is L, the vertical projection angle is θg, and the horizontal projection angle is θs, the respective coordinates x, y, and z are as follows: Is required.

X = LCosθg · Cosθsy = LCosθg · Sinθs z = LSinθg The above calculation results are sequentially displayed on the display 26d, and are output to the operation control unit (not shown) as control data together with time data and the like. Used as real-time data for automatic control.

Next, a method of operating the above-described position measuring device will be described. First, the power is turned on, the apparatus is activated, and after the self-diagnosis, the field of view currently being measured is displayed on the display 26d. From this state, the target object, that is, the reflector 20 is brought into a field of view that can be automatically tracked by manual control using the joystick 26c.

After confirming the target, if the user operates the keyboard 26a to instruct the start of tracking, automatic tracking is started.
Thereafter, continuous measurement of three-dimensional coordinates is performed.

Note that by pre-programming the reference position of the bucket 6, ie, the initial work start position, subsequent positioning is not required.

For example, when the state where the bucket 6 is seated at the transport start position A is set as the reference position, the coordinates x,
By setting y, z = 0, 0, 0, the tracking operation is repeatedly performed using this position as the origin coordinates.

[0028]

As described in detail in the above embodiments, in the bucket position measuring apparatus according to the present invention,
The optical pulse range finder automatically tracks the movement of the bucket while measuring the distance to the bucket, and the vertical and horizontal angle changes of the optical pulse range finder are detected with the tracking operation. The three-dimensional coordinate position of the bucket is determined from the distance and the distance, so that the measurement value is not affected by the fluctuation factors such as the winch and wire slip and the bending of the main rope as in the past, and the measurement accuracy of the optical pulse distance meter High measurement accuracy according to Therefore, the present invention is suitable as means for obtaining real-time data for automatic operation control of a concrete bucket.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram showing a system configuration of a bucket position measuring device according to the present invention.

FIG. 2 is a perspective view showing a main body of the position measuring device.

FIG. 3 is an explanatory diagram showing a tracking mechanism in the device.

FIG. 4 is a schematic view showing the entire cable crane.

[Explanation of symbols]

2 Main rope 3 Traversing trolley 5 Hanging rope 6 Bucket A Transport start position B Transport end position 20 Retroreflector 22 Device main body 26 Computer (arithmetic means) 32 Optical pulse distance meter 34, 38 Horizontal / vertical drive unit 36, 40 Encoder (Vertical / horizontal angle detection / detection means) 42 light pulse light emitting section 46 light receiving section for distance measurement 48 light receiving section

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int. Cl. ⁶ , DB name) B66C 21/00 B66C 13/22

Claims (1)

(57) [Claims] 1. A trolley, which can travel along a main rope stretched between two points, includes a bucket suspended via a suspension rope below a trolley, and moves the trolley between a transport start position and a transport end position. A position measuring device used for a cable crane that reciprocates and lifts and lowers the hanging rope by lifting and lowering the hanging cable, wherein the measuring device is installed at a fixed point position and provided on the bucket. An optical pulse distance meter comprising a light source for irradiating pulse light toward the retroreflector and a light receiving unit for receiving reflected light from the reflector, and a horizontal axis deviation value signal and a vertical axis deviation value of the light receiving unit Driving means for tilting the optical pulse range finder vertically and turning it horizontally in order to correct the light receiving surface of the light receiving section to the center position in response to the signal, and the horizontal and vertical directions of the optical pulse range finder Each angle A bucket position measuring device, comprising: a detecting means for detecting; and a calculating means for calculating a current coordinate position of the bucket based on an angle measurement value of each of the detecting means and a measurement value of the optical pulse distance meter. .