JP3206255B2 - Work rope speed control method and apparatus in work boat - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for controlling the speed of a work rope in a work boat such as a crane ship or a club ship.

[0002]

2. Description of the Related Art FIG. 2 shows an embodiment of a crane ship as an example of a work boat. The barge shown (body) 1
At 0, a crane unit (working device) 14 is installed so as to be able to turn around a vertical turning center axis 12, and this crane unit 14 is provided with a boom 16 that can be raised and lowered. Boom 1
The sheave 18 is mounted on the tip of the crane 6, while the crane unit 14 is equipped with a drive unit such as a hoisting device equipped with a winch drum 20, a boom raising / lowering device, and a swing driving device. And the winch drum 20
Is wound one or more times between the boom tip sheave 18 and the hook side sheave 24, and the hook 26 is suspended by the work rope 22. I have.

In the case of a club ship, the hook 26
, The bucket will be suspended.

[0004] When working on the sea with such a work boat, the barge 10 as a work base swings due to the movement of the center of gravity due to the waves and the turning motion, and also tilts due to the weight of the suspended load. Therefore, the position of the suspended load during crane operation,
When holding the bucket on the seabed excavation surface during excavation by the bucket, the rocking or tilting of the ship body causes
It is necessary to sufficiently consider the change in the positional relationship between the boom tip and the suspended load. Here, conventionally, the operator has to perform a manual adjustment by operating the control device while judging the situation, but such a control requires abundant experience and judgment of altitude, and Not an easy task.

Therefore, as a measure for facilitating such an operation, Japanese Unexamined Patent Publication No. Hei 4-191296 discloses a technique in which an acceleration sensor detects a vertical acceleration of a boom caused by a swing of a work boat. Is integrated twice to determine the amount of displacement of the boom in the vertical direction, and the wire rope is extended or wound so as to cancel out the amount of displacement.

[0006]

The apparatus disclosed in the above publication has the following problems to be solved.

A) Generally, the acceleration sensor is mounted on a boom in a direction in which the vertical acceleration is detected in a state where the work boat is horizontal and the crane is in a basic posture. When the actuator operates from the basic posture, the direction in which the acceleration sensor detects acceleration deviates from the vertical direction, and this becomes a detection error, which adversely affects control accuracy.

[0010] B) In the above method, a value obtained by integrating the detection value (acceleration) of the sensor twice is used. If the detection value includes an error, the error is integrated and amplified by the two integrations. Would. That is, the detection error has a large effect on the control accuracy, and an extremely high-precision and expensive sensor is required for accurate control.

SUMMARY OF THE INVENTION In view of such circumstances, an object of the present invention is to provide an apparatus capable of accurately controlling the speed of a work rope by offsetting the inclination of a work boat and the work posture of a boom.

[0010]

As a means for solving the above problems, the present invention provides a work apparatus having a ship main body, a boom capable of turning with respect to the ship main body, and an up-and-down boom.
A work boat provided with this work device and having a rope driving device that drives a work rope suspended from the boom tip, wherein the work boat is provided in two different vertical planes including an arbitrary reference point on the ship body. Tilt detection means for detecting the inclination of the ship body, boom angle detection means for detecting the elevation angle of the boom, turning angle detection means for detecting the turning angle of the boom with respect to the ship body, the tilt detection means,
Position calculating means for calculating the relative position of the boom tip in the vertical direction with respect to the reference point based on the detection results of the boom angle detecting means and the turning angle detecting means, and time change of the boom tip position calculated by the position calculating means Boom speed calculating means for calculating the vertical relative speed of the boom tip with respect to the reference point based on the boom tip speed calculated by the boom speed calculating means. Target speed calculating means for calculating a target speed for adjusting the speed to the reference speed;
Commanding means for causing the rope driving device to perform rope driving based on the target speed; and a ground height detecting means for detecting a ground height of the reference point, and a ground detected by the ground height detecting means. The vertical speed of the reference point is calculated based on the time change of the height, and the ground speed of the boom tip is calculated from the reference point speed and the vertical ground speed of the boom tip with respect to the reference point. The above-mentioned target speed calculating means constitutes a boom speed calculating means, or calculates a target speed for canceling the ground speed at the boom tip calculated by the boom speed calculating means and adjusting the actual rope speed to the reference speed. (Claim 1).

The present invention further comprises acceleration detecting means for detecting the vertical acceleration of the reference point in place of the ground height detecting means, based on a time integration of the acceleration detected by the acceleration detecting means. The boom speed calculating means is configured to calculate the vertical ground speed of the reference point, and calculate the ground speed of the boom tip from the reference point speed and the vertical speed of the boom tip with respect to the reference point. (Claim 2).

Further, in each of the above devices, based on the time change of the boom up / down angle detected by the boom angle detection means, the distance between the boom tip and the rope winding section caused by the change in the boom up / down angle is obtained. Rope speed calculating means for calculating the changing speed of the rope length is provided. Based on the changing speed calculated by the rope speed calculating means and the speed calculated by the boom speed calculating means, these speeds are canceled out. If the target speed calculating means is configured to calculate a target speed for adjusting the rope speed to the reference speed, a more excellent effect as described later can be obtained (claim 3).

[0013]

According to the first and second aspects of the present invention, the relative position of the boom tip with respect to the reference point is calculated based on the inclination of the ship body at the reference point, the boom undulation angle, and the turning angle. Boom tip speed is determined based on the time change of the boom (that is, by time differentiation), and the rope drive is controlled based on this boom tip speed. Therefore, even if there is an error in each detection result, this is not accumulated. Conversely, errors are easily offset by the time differentiation. Therefore, the influence of the detection error on the control accuracy of the rope drive is very small as compared with the case where the acceleration of the boom tip is integrated. Also, unlike the case where an acceleration sensor is provided at the boom tip,
Even if the inclination of the work boat or the work posture of the boom changes, stable detection and control can always be performed.

Further, the ground speed at the reference point is obtained by the time change of the ground height at the reference point or the time integration of the ground acceleration at the reference point, and the rope drive is controlled so as to cancel the speed of the reference point. Even when the reference point itself moves up and down due to a large wave or the like, it is possible to perform rope speed control taking this into consideration. In particular, in the device according to the first aspect, since the control is performed based on the time differentiation of the detected value of the ground height, the influence of the detected value on the control accuracy is smaller.

Here, when the boom hoisting angle changes, the rope length between the boom tip and the rope winding portion also fluctuates, but according to the apparatus of the third aspect, the fluctuation amount of the rope length also cancels out. The rope speed is controlled.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A first embodiment of the present invention will be described with reference to FIGS. In this embodiment, the entire structure of the work boat is as shown in FIG. 2 and the description is omitted here.

As shown in FIG. 1, the control device in this embodiment includes an operation lever 30, a boom angle sensor 32, a turning angle sensor 34, a right and left tilt sensor 36, a front and rear tilt sensor 37, and a controller 40.

The operation lever 30 receives an operation from outside,
An output device for outputting a speed command signal corresponding to the operation amount is provided. As the output device, a potentiometer can be used for an electric device, and a pressure sensor or the like can be used for a hydraulic pilot device. The boom angle sensor 32 detects the elevation angle .theta.b of the boom 16 from the horizontal plane shown in FIG. 2, and the swing angle sensor 34 detects the swing angle .theta.s of the boom 16 from the reference angle position. ,
A potentiometer, an encoder, or the like can be applied to these.

The left-right inclination sensor 36 is provided at a predetermined reference point of the barge 10, and the inclination θx of the barge 10 in a vertical plane including the reference point in a left-right direction (a direction orthogonal to the propulsion direction).
Is to be detected. The longitudinal inclination sensor 37 is also provided at the reference point, and the inclination θ of the barge 10 in a vertical plane including the reference point in a longitudinal direction (a direction parallel to the propulsion direction).
This is to detect y. In addition, a gyro or the like can be used as the tilt detecting means in the present invention, in addition to the tilt sensors 36 and 37.

The controller 40 includes a rope reference speed calculator 41 and a first coordinate calculator (constituting a position calculator).
2, a second coordinate calculator (constituting a position calculator) 43, an actual speed calculator (boom speed calculator) 44, a target speed calculator (target speed calculator) 45, and an operation command calculator (commander) 46 It has.

The rope reference speed calculator 41 receives a speed command signal output from the output device of the operation lever 30, and calculates a rope reference speed Vo corresponding to the operation amount of the operation lever 30.

The first coordinate calculator 42 calculates the angles θb, θ detected by the boom angle sensor 32 and the turning angle sensor 34.
s, x'-y'- having an origin on the boom turning center axis 12 and having the turning center axis 12 as the z 'axis, as described later.
Coordinates of the boom tip position in the z 'rectangular coordinate system (xp', y
p ′, zp ′), and the second coordinate calculation unit 4
3 is the coordinates (xp ′,
yp ', zp') are converted into coordinates (xp, yp, zp) in an xyz rectangular coordinate system in which the z-axis is set in the vertical direction with the reference point as the origin, as described later. is there.

The actual speed calculator 44 calculates the coordinates (xp, yp, z) of the boom tip position calculated by the second coordinate calculator 43.
The vertical speed Vs of the boom tip with respect to the reference point is calculated from the time change of p), and the change rate of the rope length between the winch drum 20 and the boom tip based on the time change of the boom undulation angle θb. Vr is calculated.

The target speed calculator 45 calculates the speeds Vs, V
The target speed Vc for driving the work rope 22 that is actually required to obtain the reference speed Vo by canceling r is calculated. The operation command calculating section 46 calculates a command signal necessary for obtaining the target speed Vc, outputs the command signal to the hoisting device 28 in the machine room of the crane section 14, and causes the working rope 22 to be actually hoisted. Things.

Next, the basic principle of the operation performed in this device will be described.

First, as shown in FIG.
A YZ orthogonal coordinate system in which the origin is set on the turning center axis 12, the turning center axis is set as the Z axis, and the Y axis is set in the turning radial direction is considered. Coordinates of the boom hoisting rotation center B, the winch drum shaft center D, and the boom tip P are represented by B (Yb, Z
b), D (Yd, Zd), P (Yp, Zp), assuming that the boom length is Lbm and the angle of the boom center axis with respect to the Y axis is θb, Yp and Zp are determined as follows.

[0027]

Yp = Yb + Lbm · cos θb Zp = Zb + Lbm · sinθb Next, the coordinates of the boom tip P when the crane unit 14 actually turns on the barge 10 will be considered. First, the origin is located at the same position as the YZ coordinate system, the turning center axis 12 is the z 'axis, and the x'-y' is the y 'axis and the x' axis in the longitudinal and lateral directions of the hull, respectively. -Set the z 'coordinate system. In this coordinate system, as shown in FIG. 4, the state in which the boom 16 has turned an angle θs from the y′-axis is the Y-Z coordinate system.
This is equivalent to a state in which the Z plane is rotated by the angle θs with the Z ′ axis and the z axis being the same. Therefore, as shown in FIG.
The coordinates P (x of the boom tip in the x'-y'-z 'coordinate system
p ′, yp ′, zp ′) can be expressed by the following equation.

[0028]

Xp ′ = Yp · sin θs yp ′ = Yp · cos θs zp ′ = Zp Based on this equation, the first coordinate calculation unit 42 calculates the boom tip coordinate P.

Next, the change in the position of the boom tip when the barge 10 swings will be considered. This time, a reference point is set at an arbitrary position on the barge 10, and this is set as the origin O, the z-axis is taken in the vertical direction, and the barge 10 is set in a plane passing through the origin O and orthogonal to the z-axis.
X-axis with the y-axis in the front-back direction and the x-axis in the left-right direction
Set the yz rectangular coordinate system. When the barge 10 is not inclined, the x-axis and the x'-axis, the y-axis and the y'-axis, and the z-axis and the z'-axis are parallel to each other. In this state, x'-y'-
The z ′ coordinate axis is defined as x ″ −y ″ − in the xyz coordinate system.
z ″ coordinate axis.

Now, assuming that the barge 10 is tilted by an angle θx in the left-right direction and an angle θy in the front-rear direction, the x ″ -y ″ -z ″ coordinate axis is defined on the xy plane as shown in FIG. It rotates by an angle α around a straight line AA ′ that intersects the x axis at an angle φ with the point O, and moves to the position of the x′-y′-z ′ coordinate axis in FIG. The following equation can be obtained from

[0031]

Tan φ = tan θx / tan θy tan ² α = tan ² θx + tan ² θy (where θx <0 and θ
α <0 when y <0) Based on this equation, the angles φ and α can be obtained.

In the x'-y'-z 'coordinate system, the xyz coordinate system is rotated by an angle α around the AA' axis, and thereafter, the origin O is set to the point O 'in the drawing. This is equivalent to the one translated in parallel.

First, the origin O and the origin O 'are matched with each other as shown in FIG.
A coordinate conversion formula when the y'-z 'coordinate system is rotated about the AA' axis by the angle α is determined. x-axis, y-axis,
The unit vectors in the z-axis, x'-axis, y'-axis, and z'-axis directions are represented by Vex, Vey, Vez, Vex'Vey'Ve, respectively.
If z ′, the following relational expression is established between the respective vectors.

[0034]

Vex '= (cos ² φ + sin ² φ · cos α) Vex−sin φ · cos φ (1-cos α) Vey−sin φ · sin α · Vez Vey ′ = − sin φ · cos φ (1-cos α) Vex + (sin ² φ + cos) ^{when 2 φ · cosα) Vey -cosφ ·} sinα · Vez Vez '= sinφ · sinα · Vex + cosφ · sinα · Vey + cosα · Vez this relation is satisfied, the matrix equation as follows is established.

[0035]

(Equation 5)

This equation can be replaced by the following equation.

[0037]

(Equation 6)

In this equation, if the contents of the 3-3 matrix on the right side are set to M, the following equation is obtained.

[0039]

(Equation 7)

Next, a coordinate conversion formula is obtained when the origin of the rotated x'-y'-z 'coordinate system is translated to the point O' in FIG.

The point O 'coincides with the position of the point O "when the vector OO" is rotated around the AA' axis by the angle α. Therefore, if the coordinates of O ″ are (A, B, C) and the coordinates of O ′ are (a, b, c), the following equation can be obtained.

[0042]

(Equation 8)

A point in the x'-y'-z 'coordinate system, which is obtained by rotating the origin parallel to O' by rotating about the AA 'axis by .alpha.
In the xyz coordinate system, it is equal to the result obtained by combining the above Expressions 7 and 8, so that the following Expression 9 can be obtained.

[0044]

(Equation 9)

Based on this equation, the second coordinate calculator 43 calculates
The coordinates P (xp, yp, zp) are calculated.

In the present invention, it is sufficient to calculate only the position in the vertical direction, that is, the position zp in the z direction.
p is given by the following equation.

[0047]

## EQU10 ## zp = c + (Yb + Lbm.cos.theta.b) .cos (.phi .-. Theta.s) .sin.alpha. + (Zb + Lbm.sin.theta.b) .cos.alpha. Then, the actual speed calculating section 44 calculates the position zp in the vertical direction.
Is time-differentiated to calculate the vertical velocity Vs of the boom tip. That is, the speed Vs is given by the following equation.

[0048]

Vs = d (zp) / dt At the same time, the actual speed calculator 44 calculates the winch drum 2 based on the boom undulation angle θb that changes according to the work situation.
The time change amount of the rope length between 0 and the boom tip, that is, the change speed is calculated.

The principle will be described with reference to FIG. As shown in the figure, when the boom hoisting angle θb changes, the rope length Lrp is the distance Lpd between the boom tip P and the drum shaft center D, and the contact area between the boom tip sheave 18 and the rope 22. It is affected by changes in the angle θv.

First, the following equation is established in the figure.

[0051]

Lbd = BD = √ [(Yb−Yd) ² + (Zb−Zd) ² ] βpd = arctan [(Zd−Zb) / (Yb−Yd)] ∴θpd = π−θb−βpd Lpd ² = (PD) ² = Lbm ² + Lbd ² -2 · Lbm · Lbd · co
sθpd Lpd is determined by the above equation. Therefore, the angle θds based on the difference between the drum diameter db of the winch drum 20 and the sheave diameter ds is expressed by the following equation.

[0052]

Equation 13 θds = arccos [(db / 2−ds / 2) / Lp
d] Therefore, the distance Lds from the contact point between the winch drum 20 and the rope 22 to the contact point between the sheave 18 and the rope 22 is given by the following equation.

[0053]

Lds = Lpd · sin θds On the other hand, in FIG. 7, the following equation is established.

[0054]

１５PDB = θdb = arcsin [(Lbm / Lpd) · sin
θpd] θv = θdb−βbd + θds−π / 2 Accordingly, the rope length Lrp between the drum and the sheave point according to the change in the boom undulation angle θb is given by the following equation.

[0055]

Lrp = Lds + (θv / 2π) · ds The actual speed calculation unit 44 obtains the rope length change speed Vr by differentiating the length Lrp given by this equation with time, and sets the target together with the boom tip speed Vs. Output to the speed calculation unit 45. That is, the change speed Vr is obtained by the following equation.

[0056]

Vr = d (Lrp) / dt The target speed calculation unit 45 cancels the two speeds Vs and Vr calculated by the actual speed calculation unit 44 to calculate the actual rope drive speed and the rope reference speed calculation unit 41. Calculates the target speed Vc to match the reference speed Vo calculated in step (1). The target speed Vc is given by the following equation, where the number of rope turns between the boom tip sheave 18 and the hook side sheave 24 is n (≧ 1).

[0057]

Vc = Vo−n · Vs + Vr Then, a command signal is output from the operation command calculator 46 to the hoisting device 28 so that the calculated target speed Vc is obtained, and the hoisting device 28 actually operates. Thus, the winding drive of the rope 22 is performed.

As described above, the control method and apparatus shown in this embodiment calculate the boom tip position from the working posture of the boom 16 and the tilting state of the barge 10, and calculate the boom tip speed from the time change of the boom tip position. And the rope drive is controlled so as to cancel this, so that unlike the conventional case where an acceleration sensor is provided on the boom tip side, even if the boom tip is tilted due to the rocking of the barge 10, etc. The detection result is not adversely affected. In addition, when calculating the displacement amount of the boom tip by integrating the detected value of the acceleration, the detection error is integrated and taken into the control in an amplified state, so that the influence of the detection error on the control accuracy is relatively small. Although large, in the method and apparatus described above, the boom tip speed is obtained by time-differentiating the boom tip position, which is the detection result, so that the detection error is easily offset, and the influence on the control accuracy is extremely small. be able to.

Further, in this embodiment, the speed Vr of the rope length between the drum and the sheave point due to the change of the boom undulation angle θb is taken into consideration, and the target speed Vc that also cancels this speed Vr is considered. Since the calculation is performed, more accurate control can be executed.

In this embodiment, a rotation speed sensor 35 for detecting the driving rotation speed of the winch drum 20 by the hoisting device 28 is provided, and based on the detection result, a rope actual speed calculation unit 47 and a PID control calculation unit 48. Performs feedback control. The actual rope speed calculator 47 calculates the actual drive speed of the rope 22 based on the rotation speed detected by the rotation speed sensor 35. The PID control calculator 48 calculates the actual rope speed and the target speed Vc. The PID correction control amount is calculated based on the deviation of The operation command calculation unit 46 is configured to calculate and output a command signal for operating the hoisting device 28 at a corrected speed obtained by adding the PID correction control amount to the reference speed Vo.

According to such an apparatus, more accurate rope speed control can be realized by considering the actual rope speed. A known sensor such as a rotary encoder can be used as the rotation speed sensor 35, and the sheave rotation speed may be detected instead of detecting the drum rotation speed.

By the way, in the case where the rope driving speed is controlled based on the boom tip speed with respect to the reference point set on the barge 10 as described above, when the sea wave is high, the reference point itself is not controlled. Large vertical displacement,
In addition, when lifting a load on the seabed, it is desirable to take the vertical speed of the reference point into account.

Therefore, in the first embodiment, in addition to the various sensors, a ground height sensor 38 for detecting the ground height (height from the seabed) Ho of the reference point is provided. Based on the value detected by the height sensor 38, the actual speed calculator 44 calculates the boom tip speed (ie, ground speed) Vs' with respect to the sea bottom.

To explain the contents of the calculation, first, the ground height Hp at the tip of the boom is given by the following equation.

[0065]

Hp = Ho + zp From this equation, the boom tip speed Vs' can be obtained as follows.

Vs' = d (Hp) / dt = d (Ho) / dt
+ D (zp) / dt The actual speed calculator 44 calculates the Vs' calculated based on this equation.
Is output to the target speed calculating section 45, and the target speed calculating section 45 calculates a target speed Vc for canceling the boom tip ground speed Vs'.

According to such an apparatus, accurate rope speed control can be performed even when the vertical fluctuation of the reference point is relatively large.

As means for detecting the ground height Ho of the reference point, a GPS using a space satellite is used, an ultrasonic wave is emitted into the sea to measure a reflected wave from the sea floor, It is effective to radiate a laser or a radio wave from a fixed point.

When the boom tip-to-ground speed Vs' is determined, as shown in FIG. 8 as a second embodiment, an acceleration sensor for detecting the vertical acceleration of a reference point is used instead of the above-mentioned ground height sensor 38. 39 may be provided, and the speed Vs' may be obtained by integrating the detected value of the acceleration. In this case, the boom tip-to-ground speed Vs' is expressed by the following equation.

[0070]

(Equation 20)

However, if the boom-to-ground height Ho is differentiated with respect to time as in the first embodiment, the accumulation of detection errors is smaller than in the case where the boom tip speed Vs' is obtained by integrating the acceleration. It becomes easy to cancel each other, and it is possible to execute control with higher accuracy.

Further, the present invention is not limited to the above-described embodiment, but may take the following forms as examples.

(1) In the present invention, the reference point may be set arbitrarily on the barge 10. However, this reference point is
If the displacement is set near the center of gravity of the barge 10 with little displacement due to the inclination of 0, more accurate control can be performed.

(2) In the above embodiment, the winding drive of the rope 22 has been described. However, the present invention can be similarly applied to the case of controlling the feeding of the rope 22.

[0075]

As described above, according to the present invention, the boom tip position is calculated from the boom working posture and the tilting state of the ship body,
Since the boom tip speed is obtained from the time change of the boom tip position and the rope drive is controlled so as to cancel this, the boom tip is different from the conventional one in which an acceleration sensor is provided on the boom tip side. The detection result is not adversely affected even when the ship body is tilted due to rocking or the like.
In addition, in the case of calculating the displacement amount of the boom tip by integrating the acceleration which is the detection, the detection error is integrated and amplified and taken into the control, so that the detection error has a relatively large effect on the control accuracy. However, in the above method and apparatus, the boom tip speed is obtained by time-differentiating the boom tip position, which is the detection result, so that the detection error is easily offset, and the influence on the control accuracy is extremely reduced. Can be. Therefore, unlike the related art, there is an effect that highly accurate rope drive control can always be performed irrespective of the inclination of the ship body or the working posture of the boom.

Further, since the ground speed at the reference point is determined by the time change of the ground height at the reference point or the time integration of the ground acceleration at the reference point, and the rope drive is controlled so as to cancel the speed of the reference point, the driving speed is large. Even when the reference point itself moves up and down due to a wave or the like, there is an effect that the accuracy of the rope speed control can be kept high in consideration of this. In particular, in the device according to the first aspect, since the control is performed based on the time differentiation of the detected value of the ground height, the influence of the detected value on the control accuracy can be further reduced.

Further, in the apparatus according to the third aspect, the change speed of the rope length between the boom tip and the rope winding portion due to the change of the boom up / down angle is calculated, and the rope speed is set so as to cancel the change speed. Since the speed is controlled, there is an effect that the rope drive control with higher accuracy can be executed as compared with the control in which only the boom tip speed is considered.

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating a functional configuration of a rope speed control device according to a first embodiment of the present invention.

FIG. 2 is a side view showing one embodiment of a crane ship that is a work boat.

FIG. 3 is an explanatory diagram showing a YZ coordinate system introduced by calculation in the rope speed control device.

FIG. 4 is an explanatory diagram showing the relationship between the YZ coordinate system and the x'-y'-z 'coordinate system.

FIG. 5 is an explanatory diagram showing a relationship between the x'-y'-z 'coordinate system and the xyz coordinate system.

FIG. 6 shows the origin and xy- of the xy'-z 'coordinate system.
It is explanatory drawing which shows the state which matched the origin of the z coordinate system.

FIG. 7 is an explanatory diagram showing a relationship between a boom hoisting angle and a rope length between a drum and a sheave point in the crane ship.

FIG. 8 is a block diagram illustrating a functional configuration of a rope speed control device according to a second embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF REFERENCE NUMERALS 10 barge (ship main body) 12 turning center axis 14 crane part (working device) 16 boom 18 boom tip side sheave 20 winch drum (rope winding part) 22 work rope 32 boom angle sensor (boom angle detecting means) 34 turning Angle sensor (turning angle detecting means) 36 Left and right tilt sensor (tilt detecting means) 37 Front and rear tilt sensor (tilt detecting means) 38 Ground height sensor (ground height detecting means) 39 Acceleration sensor (acceleration detecting means) 40 Controller 42 No. 1 coordinate calculation unit (position calculation unit) 43 second coordinate calculation unit (position calculation unit) 44 actual speed calculation unit (boom speed calculation unit) 45 target speed calculation unit (target speed calculation unit) 46 operation command calculation unit (command unit) ) Θb Boom hoisting angle θs Swing angle θx Inclination angle of barge in right and left direction θx, θy Inclination angle of barge in front and rear direction

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-4-191296 (JP, A) JP-A-51-29159 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) B66C 13 / 32,23 / 00,23 / 52

Claims (3)

(57) [Claims] 1. A work device having a ship main body, a boom capable of turning with respect to the ship main body, and being able to move up and down, and a rope drive provided on the work device and driving a work rope suspended from the end of the boom. In a work boat equipped with a device, a tilt detection detecting a tilt of the boat body in two different vertical planes including an arbitrary reference point in the boat body.
Output means and a boom angle for detecting the undulation angle of the boom
Detecting means for detecting a turning angle of the boom with respect to the ship body.
Turning angle detecting means, tilt detecting means, boom angle
Based on the detection result by the detecting means and the turning angle detecting means.
And the vertical position of the boom tip with respect to the reference point
Position calculating means for calculating the position, and calculating by the position calculating means
Based on the time change of the boom tip position
To calculate the vertical relative speed of the boom tip to
Boom speed calculating means and the boom speed calculating means.
This boom tip speed is calculated based on the calculated boom tip speed.
To match the actual rope speed to the reference speed
Target speed calculating means for calculating the target speed of the
Let the rope drive device perform rope drive based on the degree
Command means, and a ground height for detecting the ground height of the reference point.
Means for detecting the height of the ground.
Vertical direction of the above reference point based on the time change of the ground height
Calculate the speed of this reference point speed and this reference point
From the vertical ground speed at the boom tip and the boom tip pair
The boom speed calculation means is configured to calculate the ground speed.
And the boom tip calculated by the boom speed calculation means.
Offset ground speed to match actual rope speed to reference speed
Calculate the target speed to calculate the target speed
A work rope speed control device for a work boat, characterized by comprising means . 2. A work device having a ship main body, a boom capable of pivoting with respect to the ship body and being able to move up and down, and a rope drive provided on the work device and driving a work rope suspended from the boom tip. A tilt detecting means for detecting the tilt of the ship body in two different vertical planes including an arbitrary reference point on the ship body, and a boom for detecting an elevation angle of the boom. An angle detecting means, a turning angle detecting means for detecting a turning angle of the boom with respect to the ship body, a vertical position of the boom tip with respect to the reference point based on the detection results by the tilt detecting means, the boom angle detecting means, and the turning angle detecting means. Position calculating means for calculating a relative position in the direction, and a boom tip with respect to the reference point based on a time change of the boom tip position calculated by the position calculating means. Boom speed calculating means for calculating the vertical relative speed of the boom, and a target for canceling the boom tip speed and adjusting the actual rope speed to the reference speed based on the boom tip speed calculated by the boom speed calculating means. Target speed calculating means for calculating the speed, and the reference point
Detecting means for detecting vertical acceleration of the vehicle
When the acceleration is detected by the acceleration detecting means.
The vertical ground speed of the above reference point is calculated based on the
And the boom tip for this reference point speed and this reference point
The vertical speed of the boom from the vertical speed of
The boom speed calculation means is configured to
Offset the ground speed at the boom tip calculated by the speed calculation means
To match the actual rope speed to the reference speed
A work rope speed control device for a work boat, wherein the target speed calculation means is configured to calculate a speed. 3. The work rope speed control device for a work boat according to claim 1, wherein the change in the boom angle is based on a time change of the boom angle detected by the boom angle detection means. Rope speed calculating means for calculating the changing speed of the rope length between the boom tip and the rope winding section, wherein the changing speed calculated by the rope speed calculating means and the speed calculated by the boom speed calculating means are provided. A work speed control device for a work ship, wherein the target speed calculation means is configured to calculate a target speed for canceling these speeds and adjusting an actual rope speed to a reference speed based on the speed. .