JP2891123B2 - Automatic operation of the crane - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a crane having an automatic operation function, which automatically moves between a stock position and a member installation position to perform a sling operation, a loading operation, and an installation operation requiring fine operations. The present invention relates to an automatic driving method of a crane that can be operated by radio control of a slinging worker.

[0002]

2. Description of the Related Art Generally, in a crane operation such as a tower crane, an image picked up by a television camera provided at the end of a boom is displayed on a monitor TV provided in a driver's cab.
Wireless communication is performed between a hanging load slinging worker and a crane operator, and the crane operator performs an operation based on the instruction. However, recently, with the development of autopilot technology, it has become possible to automate driving, but there are the following problems in automation.

[0003]

First, from the viewpoint of the work flow, the machine itself cannot be operated unless it is determined from where to what and what to carry. In addition, fine control is manually performed by guidance of a slinging worker who stands by at a stock position and a member installation position, and automatic piloting requires a guidance operation by a worker.

However, regarding the former problem, the stock position of the installed member is determined, and by using the process control data, if the member installation location is specified, which member should be transported from where. I can judge. Regarding the latter problem, it is only necessary that the slinging operator itself performs remote control.

The present invention has been made on the basis of the above point of view, and an object of the present invention is to recognize a necessary member and its installation position by detecting from which installation position the signal is transmitted. The present invention provides a method of automatically operating a crane that can automatically transfer necessary members from a stock position to an installation position, and can perform a fine adjustment operation by remote control of a sling worker at the stock position and the installation position. is there.

[0006]

In order to achieve the above object, a method of the present invention comprises detecting means for detecting a member installation position by transmitting a signal from a slinging worker located at the member installation position, and detecting the detection means. Means for searching for a member required at a corresponding position, a means for searching for a stock location of a required member, and a crane tip from the current crane position based on the search result of each search means and the designated stock location and Automatic driving means for moving to the installation position, and switching means for switching between the automatic driving means and wireless remote control, and the required members are completely slung by the radio control operation of the sling worker located at the stock location. At this point, the crane is automatically moved to the member installation position, and then the members are loaded and installed by the radio control operation of the slinging worker. It is characterized in that to perform.

[0007]

According to the above arrangement, when the member installation position is determined by the signal transmission, the corresponding member and the stock position are searched, and the crane moves to the stock position by automatic operation based on the search result. After the stop, the members are slung by the remote control of the sling operator. After the sling is completed, the members are automatically moved and stopped at the member installation position, and then are loaded and installed by the remote control of the sling operator.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below in detail with reference to the drawings.

FIG. 1 is a conceptual diagram showing a method of automatically operating a crane according to the present invention. A crane 3 is located between a member installation position 1 of a building and a member stock position 2 on the ground, and a member installation position is shown. The remote control of the boom 3a and the wire 3b of the crane 3 is performed by the radio control device 4 carried by the worker A located at 1. The radio control device 4 also serves as a transmitting device for the crane 3 to search for the member installation position 1, and detects this transmitted radio wave by an antenna 5 a for detecting the electric field strength provided around the crane 3, thereby detecting the member installation position. 1 is specified.

A slinging worker B is located at the stock position 2 so that the remote control operation of the crane 3 can be performed by the portable radio control device 6 in the same manner as described above.

FIG. 2 is a block diagram showing an electrical configuration of the automatic operation system of the crane 3 and the antenna 5
a radio transmission position confirmation device 5 for searching for a radio transmission position according to the electric field intensity received by a, a first storage unit 7 storing process management data, a second storage unit 8 storing member stock positions, Of the crane 3 connected to each other by driving the proportional control devices 10, 11, 12 via the switching device 9, It has a CPU 18 for automatically operating the wire feeding drive unit 16.

The switching device 9 is connected to a receiver 19 for receiving radio waves from the radio control devices 4 and 6.
Each of the proportional control devices 10 to 12 is driven according to the received radio wave according to the switching command from the PU 18.

The radio control devices 4 and 6 are multi-channel control devices driven by weak radio waves, and are proportional control devices 10, 11, and 12 through a receiver 19 by stick operation.
In addition to the function of performing fine adjustment operation of the turning drive unit 14, the tilt drive unit 15, and the wire feeding drive unit 16 by proportionally controlling the above, a function of transmitting the above-mentioned call and the end of the work is provided.

FIG. 3 is a flowchart showing the operation procedure of the above-described automatic pilot system. First, the boom 3a of the crane 3 is stopped at an arbitrary standby position (x0, y0, z0). The signal is transmitted from the radio control device 4 according to the above, the radio wave is received by the confirmation device 5 via the antenna 5a, and from the electric field strength and the emission direction,
It is detected at which floor of the building the member installation position 1 is located (steps 1 to 3).

The CPU 18 retrieves the detected member installation position 1 and the contents of the process management data in the first storage unit 7, searches for a member (a beam in FIG. 1) to be supplied to the member installation position 1, and determines this. After that, the stock position data stored in the second storage unit 8 is collated to search and determine where the corresponding member is stocked (steps 4 to 4).
6).

Based on this result, the CPU 18 calculates the coordinates (x1, x2) of the stock position 2 from the current coordinate position of the beam 3a.
y1, z1), the turning amount and the tilting amount of the beam 3a are calculated, and the control amounts corresponding to the calculation results are given to the proportional control devices 10, 11, and 12, whereby the turning devices 14, 11
The tilting device 15 and the wire feeding device 16 are driven, and when the coordinate value of the beam 3a coincides with the stock position 2, each device is stopped, and the switching device 9 is switched to the receiver 19 side (steps 7 to 11).

After switching to the receiver 19, a fine adjustment operation is performed by a remote control operation by the radio control device 6 carried by the slinging worker B waiting at the stock position 2, and slinging is manually performed. (Step 12).

Next, when the signal of the end of the sling is transmitted,
The CPU 18 switches the switching device 9 to the automatic operation side, and in accordance with the difference between the coordinates of the beam 3a at the end of the switching operation and the coordinates (x2, y2, z2) of the member installation position 1, the turning amount and tilt of the beam 3a. The amount is calculated, and a control amount corresponding to the calculation result is given to the proportional control devices 10, 11, and 12 in the same manner as described above, whereby the turning device 14, the tilting device 15 and the wire feeding device 16 are driven, and the beam 3a is controlled. If the coordinate value matches the member installation position 1, each device is stopped, and the switching device 9 is switched to the receiver 19 again (step 13).
19).

In this state, the arrival and the installation by the fine adjustment operation are performed by the remote control operation by the radio control device 4 carried by the worker A, and a signal of the end is transmitted.
The CPU 18 rewrites the process management data stored in the first storage unit 7 based on the contents of the work already performed, returns the switching device to the automatic operation side again, and moves the crane beam 4 to the original standby position. (Step 20 ~
24) Then, as shown in step 1, stop at this position until there is a call.

In order to further simplify the above operation, the slinging worker A oscillates the member installation position 1 and simultaneously informs the slinging worker B located at the stock position of the necessary member names and dimensions. It is desirable to keep.

In the automatic operation mode, the safest and most efficient operation can be performed by incorporating a program for preventing an optimum turning speed, an optimum tilting speed, a moving path, and a wire deflection.

[0022]

As described in detail in the above embodiments, in the method for automatically operating a crane according to the present invention, when a member installation position is determined by signal transmission, the corresponding member and its stock position are determined. Based on the search results, the crane moves to the stock position by automatic operation, stops at this position, stakes the members by remote control of the stake worker, and automatically moves after the stake ends, stops at the member installation position. Later, since the rigging worker can receive and install by remote control, most of the movement can be performed by automatic operation, there is an advantage that the operation speed and movement path can be optimized, and at the stock position or the member installation position, Rather than relying on communication with the crane operator as before, Work efficiency at the rigging position since it is finely adjusted crane can also be greatly improved.

[Brief description of the drawings]

FIG. 1 is a conceptual diagram illustrating a method of automatically operating a crane according to the present invention.

FIG. 2 is a block diagram showing an electrical configuration of an automatic control system of the crane.

FIG. 3 is a flowchart showing an operation procedure of the automatic pilot system.

[Explanation of symbols]

 Reference Signs List 1 Member mounting position 2 Stock position 3 Crane 3a Beam 3b Wire 4,6 Radio control device 5 Radio transmission position confirmation device (means for detecting member installation position) 7 Process management data storage unit 8 Stock position storage unit 9 Switching device 18 CPU ( Automatic driving means) 19 Receiver A, B Slinger

Claims (1)

(57) [Claims] 1. A detecting means for detecting a member installation position by transmitting a signal from a slinging worker located at a member installation position, a means for searching for a member required at a corresponding position by the detection means, and Means for searching for a stock location of a member, automatic operation means for automatically moving a crane tip from a current crane position to the designated stock location and installation position based on a search result of each search means; A switching means for switching between automatic operation means and remote control by radio, and when a required member is completely slung by a wireless steering operation of a sling worker located at the stock position, the crane is automatically moved to the member installation position. Characterized in that the member is loaded and installed by a radio control operation of a slinging worker after being moved to a crane. .