JP3268932B2 - Crane operating area monitoring device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention monitors the deviation of a preset operable area during the automatic operation of a crane such as a general industrial overhead crane, a jib crane, a climbing crane, a cable crane, an unloader, and a mobile crane. It relates to a crane operation area monitoring device that outputs a stop signal to the crane at the time of detecting that it has deviated, for example, searching for a frame and a fixed obstacle position within a work range by a climbing crane on a graphic screen, It is to determine the presence or absence of a safe and efficient operation path and the area of the operation path to determine an operation pattern.

[0002]

2. Description of the Related Art In general, when a jib crane is operated, swinging or raising and lowering of a jib causes a swing of a hook or a suspended load due to acceleration and deceleration, which impairs work safety and reduces the work safety. Alternatively, there is a problem that extra time is required to stop the swing of the suspended load.

Accordingly, the present applicant has a method of realizing a two-stage acceleration / deceleration operation method in which the acceleration / deceleration is appropriately interrupted and the shake generated in the preceding stage is canceled in the latter stage in the automatic operation to stop the load swing. The turning operation speed pattern and the undulating operation speed pattern including the two-stage acceleration and deceleration are created by the first fuzzy inference based on the cargo handling data and the rule map. The positional relationship, the length of the hanging rope, and the height of the suspended load are detected by a hoisting position sensor (not shown), and after calculation, an optimal command speed pattern is determined by the second.
It has been proposed that the jib crane be automatically controlled and operated in accordance with the command speed pattern (Japanese Patent Application No. 3-277789).

[0004]

According to the above-mentioned automatic driving method, the combination of the turning operation pattern and the undulating operation pattern and the operation result of the speed pattern (not shown) in the pattern result in the jib of the crane. It is possible to predict the operable area through which the tip passes, and to automatically operate the crane within the predicted operable area. Therefore, when there is an area where the hook and suspended load of the crane such as adjacent buildings, roads and power lines must not enter, as in the case of a climbing crane at a construction site, etc., enter the entrance area. There is an advantage that it is possible to set an operation path so that there is no driving path.

However, such automatic crane operation control is based on prediction only, that is, based on a combination of two two-stage acceleration / deceleration patterns of turning and undulating, while performing a steadying control of a hook or a suspended load while entering and exiting. Since an area that should not be approached is avoided, the avoidance of the inaccessible area is incomplete.

For example, when a climbing crane is installed on the roof of a building (building) under construction (see FIG. 9) or when a climbing crane is installed outside the building (building), Neither the building (building obstacle) nor the fixed obstacle in front of it is considered before operation, so it is sufficient to avoid interference with hooks or suspended loads on the building (building obstacle). The hoisting wire was lifted to a high position, and after the hoisting operation was completed, the turning and undulating operation was performed. That is, since the hoisting / turning operation cannot be performed until the end of hoisting, the efficiency is poor. Particularly, in the case of a climbing crane, since the head is high, hoisting time is required, and the efficiency is greatly reduced.

Accordingly, an object of the present invention has been made in view of the above problems, and the crane position during automatic operation deviates in the height direction, the turning direction, and the undulating direction, which is a preset operable region. It is an object of the present invention to provide a crane operation area monitoring device capable of monitoring in real time whether the automatic driving device is operating and improving the safety and reliability of the automatic driving device.

[0008]

To achieve the above object, according to an aspect of the operation area monitoring apparatus for a crane according to the present invention, clay
Of the building as a building obstacle within the work area
And fixed obstacles located in front of the frame within the working range of the crane
Predict the position of the harmful object on the graphic screens of the plane and the elevation.
Search in the height direction, turning direction and undulating direction
Pairs safe area within the working range of the crane to be checked from
Original, and the current position and the target position for moving the hook or lifted load of the crane, the position of the skeleton and the fixed obstacle
In the operation region setting block that sets in advance the operation area of the hook or suspended load of crane, the position of the hook or suspended load of a crane with having a function of measuring the various sensors attached to a crane, automatic operation of the crane By comparing the previously set operable area with the positional relationship of the crane measured during the automatic operation of the crane, and checking whether or not the crane is within the operable area, a hook or a hook from within the operable area may be used. An operation area departure monitoring block that monitors the departure of the suspended load, and a crane stop signal output block that outputs a stop signal to the crane controller when the automatic operation device determines that an abnormal state is detected when a deviation from the operable area is detected. (Claim 1).

[0009] In the above-mentioned operable area, a driving path as an operable area which does not interfere with the frame and the fixed obstacle is turned.
Search in the turning direction and the undulating direction, determine a safe and efficient operation pattern according to the presence or absence of each operation path and the area of the operation path, and when the automatic operation is performed according to this operation pattern, the position of the hook or the suspended load is determined. Whether the vehicle has deviated from the operation path can be monitored by the operation region deviation monitoring block (claim 2).

[0010]

The purpose of the automatic operation crane is to operate along a planned operation path. In the conventional automatic driving device, an operable area that does not interfere with the skeleton etc. even if the crane moves is set, but during automatic driving, for some reason,
It was possible to deviate from this range. Also, in front of the frame
Does not take into account the fixed obstacles that exist in
Understanding of the no-go area was incomplete.

According to the first aspect of the present invention, when the crane is automatically operated after the operable area is set, the skeleton and its cradle are automatically operated.
It is monitored in real time whether the crane is out of the operable area considering both fixed obstacles in front, and the crane does not operate according to the operable area but exceeds the operable area. If so, a stop signal is output. In other words, the abnormality can be recognized and the operation can be stopped, so that the crane does not enter the no-go area and does not interfere with the skeleton and fixed obstacles, etc., so the safety and reliability of the automatic driving device Is improved.

According to the second aspect of the present invention, since a safe and efficient operation pattern such as avoidance of a skeleton and a fixed obstacle is determined, the operation is not linear and the head is very low, for example, as in a climbing crane. Highly effective for automatic operation of high cranes. In this case, the operation pattern is, for example, before the automatic operation of the crane, the positions of the skeleton and fixed obstacles within the working range of the crane are displayed in height by the computer and the display colors of the skeleton and fixed obstacles on the plane and the elevation graphic screen. An operation pattern can be determined after searching in the direction, the turning direction, and the undulating direction, and confirming in advance an operation path that does not interfere with the skeleton, the fixed obstacle, and the like. Note that the present invention is applicable to various types of cranes.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below in detail with reference to the accompanying drawings. FIG. 1 is a schematic diagram of a crane operation area monitoring device according to the present invention. This operation area monitoring device includes an operation area deviation monitoring block 10 and a crane stop signal output block 20 shown in FIG. The input to the operating area deviation monitoring block 10 is the operable area data 1 by the operating area setting block calculated in advance before the operation of the crane, and the crane position signal 2 during automatic operation from various sensors attached to the crane. And The crane position signal 2 is mainly a signal related to the positional relationship of the crane, such as a turning sensor signal 3, an up-and-down sensor signal 4, a traveling sensor signal 5, a traverse sensor signal 6, a hoisting sensor signal 7, and a signal related to an operating speed. It is. The output of the crane stop signal output block 20 is a crane stop signal 21 to a crane control sequencer (not shown) as a crane controller.

The operable area data 1 is obtained by an operable area setting block described below. The operable area setting block searches and obtains an operable area (safety area) at the tip of the crane jib. In this operation area search, the display color (color palette) of the skeleton and fixed obstacles on the graphic screen by the computer is compared with the color pallet of the search point, and a color pallet for searching for the skeleton and fixed obstacles is searched. A search method is used, and the search function is configured as software in an automatic crane driving device by a computer.

That is, as shown in FIG. 8, a fixed obstacle 8 to be recognized is drawn in a specific color (here, red) on a computer screen. And first, FIG.
As shown in (a), the screen color is searched at equal intervals in the radial direction from the minimum working radius of the crane, that is, it is checked whether the color of the coordinates changes to red, and the color determined for the fixed obstacle (red ) Is determined to have come into contact with the fixed obstacle 8 when the position (coordinates) is changed to the position (coordinates), and this is defined as the working radius MR for contacting the fixed obstacle. The area 9a inside the working radius MR is a safety area where the crane does not come into contact with a fixed obstacle regardless of where the crane is turned. Next, as shown in FIG.
8A, the screen color is searched at equal intervals in the turning direction from the crane current position S in the same manner as the MR search, and the color of the going coordinate is changed to the color (red) defined for the fixed obstacle. When a turning position (coordinate) is encountered, the turning angle is defined as a fixed obstacle contact turning angle MSS. Area 9b up to this MSS
Is a safe area where you do not come into contact with fixed obstacles no matter where you start to wake up. From the fixed obstacle contact radius MR and the fixed obstacle contact turning angle MSS thus obtained, the entire safety area is obtained as the operable area 9 as shown in FIG.

Returning to FIG. 1, the operation area deviation monitoring block 1
At 0, the operable area data 1 given in advance as described above is received, and an image corresponding to the operable area 9 in FIG. 8 is displayed as an operable area 11 as shown in FIG. Draw in green. Also,
The area of the fixed obstacle 8 is also drawn in a different color from the operable area 11, for example, red. Then, the operation area deviation monitoring block 10 plots the coordinates of the current position (current position) P of the hook and the suspended load during automatic operation, reads the color of the coordinates of the current position P, and reads the color of any area. Check if it belongs to a color.

If the color is in the safe area (green), it is within the operable area 11, but if the color is another color (other than green), it is determined that it has deviated from the operable area 11. 13 is output. The method of detecting the deviation is similar to the above-described color palette search method.

When receiving the deviation detection signal 13, the crane stop signal output block 20 outputs a crane stop signal 21 to the crane control sequencer to stop the automatic operation of the crane.

Thus, any abnormalities such as the crane operating in a direction opposite to the expected direction after the automatic operation of the crane starts or the operation does not end even if the crane exceeds the operable area setting range. Recognizing the state, the crane can be automatically stopped. Some automatic crane operating devices are already equipped with a function to monitor the prevention of collision with the skeleton and fixed obstacles, but malfunction in the direction that does not actually collide (deviation from the operable area).
In this case, the crane can be stopped even when the operation is performed, and the safety and reliability during automatic operation of the crane are improved. The normal obstacle collision prevention control circuit functions as a backup for the crane operation area monitoring device.

Next, in the automatic operation of the climbing crane, a case will be described in which an operation path including a current position or a target position (a region not interfering with the skeleton) is searched for to determine an efficient operation pattern.

In FIG. 9, in the automatic operation of a crane having a non-linear operation and a very high head, such as a climbing crane, it is necessary to determine a safe and efficient operation pattern. In this embodiment, before the operation of the crane, the obstacles in the working area of the crane are searched in the turning direction and the undulating direction by the computer using the display color of the frame on the graphic screen of the plane and the elevation, and the obstacles are interfered with in advance. The operation pattern is determined after confirming the operation paths to be performed. For the search of the driving path, a display color (color palette), for example, orange, of the skeleton obstacle on the graphic surface by the computer is compared with the color pallet of the search point to search for the skeleton obstacle.

First, the individual driving paths which are assumed will be described with reference to FIG. In the movement range in which the hook or the suspended load of the crane may pass from the current position S to the target position E, an area (route) that does not interfere with the skeleton even if it is turned all the way to the right or raised all the way. These are referred to as “turn path” and “undulating path”. In addition, the path including the current position S is referred to as a “start turning (undulating) path” and the target position E
Is referred to as an “end turning (undulating) path”.

A start undulating path (a range that does not interfere with the body from the working radius MS of the current position S to the target position working radius ME) is a start turning path (from the turning angle MSP of the current position S to the turning angle MSE of the target position). Is an end undulating path (a range that does not interfere with the skeleton from the working radius MS of the current position S to the target position E), and an end turning path (a turning angle MS of the current position S).
(A range from P to the target position E that does not interfere with the skeleton).

FIG. 5 shows a search example (FIG. 4) of the start turning path.
The description will be made according to the flow of First, after converting the current position, the working radius, the turning angle, and the like into graphic plane coordinates (steps (1) and (2)), the current position S is moved toward the turning angle MSE of the target position E as indicated by an arrow 14 in FIG. The display color of the graphic coordinates is read at a constant pitch (PS) (steps (3) to (6)).

The read display color is compared with a predetermined display color of the frame (step (4)).
If the read display color matches the skeleton display color, the work radius at that time is recorded and the search is terminated (step
(8)). If they do not match, the search turning angle is set to a constant pitch (P
S) Addition is continued until the search turning angle exceeds the target turning angle, that is, until the turning angle MSE at the target position is reached (steps (5), (6), (2) to (6)).

If the skeleton cannot be detected by the turning angle MSE of the target position E, the working radius is changed to the working radius E of the target position E.
Close the R side by a certain pitch (PR) (step (7))
The search is performed again in the turning direction.

By repeating the above operations (1) and (2), a point (point A in FIG. 4) in which the read display color matches the frame display color appears. The process ends (step (8)). In a similar manner, the search for the starting undulating path is performed by changing the working radius to the turning angle and the turning angle to the working radius, and searching for the undulating path in the PR direction at a constant pitch.

Thus, as shown in FIGS. 3 and 6, when there is a start turning path and an end undulating path, the turning can be started unconditionally because of the turning path, and further, an operation pattern in which the operation is performed up to the end undulating path. Then, as shown in FIG. 9, an operation pattern in which the hoisting height clears the skeleton height and then the undulating operation is performed.

FIGS. 6, 7 and 9 show an operation pattern for avoiding a frame and a fixed obstacle and for efficient operation, and a combination of paths for determining the operation pattern.

Pattern 1 (FIG. 6 (a)) is a case of only a start turning pass, and simultaneous start of hoisting and turning is possible. Pattern 2 (FIG. 6B) is a case of only the start undulating pass, and simultaneous start of winding and undulation is possible. Pattern 3 (FIG. 6 (c)) is a case of a start turning path and an end undulating pass, in which simultaneous starting of hoisting and turning is possible, and if the turning enters the end undulating path, undulating operation is possible. Pattern 4 (FIG. 6 (d)) is a case of a start undulating pass and an end turning pass. Simultaneous starting of hoisting and undulating is possible, and if the undulation enters the end turning pass, an undulating operation is possible.

In FIG. 6, when the positional relationship between the current position and the target position is reversed, that is, the operation pattern of the return operation in the automatic operation is also possible.

As described above, in the area 11 where the hook and the suspended load of the crane may pass in a plane and an elevation,
Path of (area not interfering with skeleton and fixed obstacle)
, And an operation pattern is determined according to the presence or absence of each operation path and the width of the area of the operation path. FIG. 7 shows such a form belonging to Pattern 1 to Pattern 4 by a combination of pass and.

The following advantages are obtained by retrieving and setting operation paths that can be operated as described above. (1) Conventionally, if the hook and the suspended load were not sufficiently higher than the frame, the turning and undulating operation could not be started for safety. However, by searching for a path before the operation, the operable area (having an operation path In operation (2), the operation can be started before the winding is completed, and the work efficiency is improved.

(2) Since each operation is completed in one cycle from start to stop, when the anti-sway control of the hook and the suspended load by the two-stage acceleration / deceleration operation is performed, the anti-sway control effect is improved. I can do it.

(3) Since the color search method is used for detecting the skeleton and the fixed obstacle, the search can be performed even if the planar shapes of the skeleton and the fixed obstacle are complicated.

(4) Since the path is displayed on the screen, the operator can visually confirm the approximate moving range.

[0037]

In summary, according to the present invention, the following excellent effects can be obtained. 1) According to claim 1, the operable area calculated in advance from the operation start position, the end position, the skeleton position, and the fixed obstacle position of the crane, and the real-time hook and suspended load from each sensor during automatic operation. The deviation is monitored by comparing the positions and checking if the position does not exceed the set operable area, and the crane operation can be stopped when the deviation occurs. Therefore, building frame
In an environment where there is a fixed obstacle in front of the body
After the automatic operation has started, the crane operates in the opposite direction to the intended direction or recognizes any abnormal condition such that the operation does not end even if it exceeds the operable area setting range. It is now possible to stop automatically. In addition , the crane can be stopped even if it malfunctions in a direction that does not collide with the skeleton and the fixed obstacle, so that safety and reliability during automatic operation of the crane can be improved.

2) According to the second aspect of the present invention, since a safe and efficient operation pattern is determined, automatic operation of a crane having a non-linear operation and a very high head, such as a jib climbing crane, is performed. Very effective.

[Brief description of the drawings]

FIG. 1 is a schematic block diagram showing a crane operation area monitoring device of the present invention.

FIG. 2 is an explanatory diagram of a monitoring function of the crane operation area monitoring device of the present invention.

FIG. 3 is a diagram showing an operation path arrangement used in an embodiment of the present invention.

FIG. 4 is a diagram provided for describing a search operation of a start turning path relating to a skeleton.

FIG. 5 is a flowchart illustrating a method of searching for a turning path in FIG. 4;

FIG. 6 is a diagram showing an operation pattern by a combination of operation paths handled in the embodiment of the present invention.

FIG. 7 is a diagram showing a relationship between a combination of operation paths and an operation pattern handled in the embodiment of the present invention.

8A and 8B show a search method of a crane operation operable area related to a fixed obstacle, wherein FIG. 8A is a diagram showing a search method of a fixed obstacle contact radius MR, and FIG. FIG. 7C is a diagram showing a search method of the MSS, and FIG. 7C is a diagram showing the setting of the obtained entire operable area.

FIG. 9 is a diagram showing a positional relationship among a climbing crane, a skeleton (a building under construction), and a fixed obstacle in setting an operable region handled in the embodiment of the present invention.

[Explanation of symbols]

 Reference Signs List 1 operable area 2 crane status signal 3 turning sensor signal 4 undulation sensor signal 5 traveling sensor signal 6 traversing sensor signal 7 hoisting sensor signal 8 fixed obstacle 9 operable area 10 operating area departure monitoring block 11 operable area 12 automatic operation Inside crane position image 13 Deviation detection signal 14 Arrow 15 Building (building under construction) 20 Crane stop signal output block 21 Crane stop signal A Detection point (point where display color matches frame display color) P Current position of jib tip S Current position (start position) E Target position (end position) PS Turning direction search pitch PR Radial direction search pitch MR Working radius to contact fixed obstacle MSS Fixed obstacle contact turning angle from current position side MSE Turning angle of target position ME Working radius of target position MSP Turning angle of current position MS Working of current position Radius

──────────────────────────────────────────────────の Continuing on the front page (72) Inventor Kira Kubo 1-2-7 Moto-Akasaka, Minato-ku, Tokyo Kashima Construction Co., Ltd. (72) Inventor Tsutomu Nemoto 1-2-7 Moto-Akasaka, Minato-ku, Tokyo Kashima Construction Co., Ltd. (72) Inventor Tatsuro Sato 1-2-7 Moto-Akasaka, Minato-ku, Tokyo Kashima Construction Co., Ltd. (72) Inventor Shigeki Murayama 3-1-1-15, Toyosu, Koto-ku, Tokyo Shima, Ishikawa (72) Inventor: Toshiaki Saito 3-1-1-15 Toyosu, Koto-ku, Tokyo Ishikawa Shima-Harima Heavy Industries Co., Ltd. (72) Inventor: Shigeru Okano Kandako, Chiyoda-ku, Tokyo 1-1, Kawamachi Ishikawajima Transport Co., Ltd. (72) Inventor Yoshihiro Muta 1-1-1, Kanda Ogawacho, Chiyoda-ku, Tokyo Ishikawa Transport within Co., Ltd. (56) Reference Patent flat 5-85696 (JP, A) JP flat 1-181696 (JP, A) (58 ) investigated the field (Int.Cl. ^7, DB name) B66C 13 / 48 B66C 15/00 B66C 23/88

Claims (2)

(57) [Claims] 1. A building obstacle existing within a working range of a crane.
Location of the harmful skeleton and in front of the cranes within the working range of the crane
The position of the fixed obstacle existing on the
Height direction, turning direction and undulating direction on the Fick screen in advance
Range of the crane that is searched and confirmed from the results
Safe area of the inner to preset a current position and a target position for moving the hook or lifted load of the crane, based on the position of the skeleton and the fixed obstacle, the operation area of the hook or suspended load of crane An operating area setting block that has a function of measuring the position of the crane's hooks or suspended loads with various sensors attached to the crane, and the above-mentioned preset operable area and the automatic operation of the crane before the automatic operation of the crane. An operation area deviation monitoring block for comparing the measured positional relationship of the crane and checking whether or not the area is within the operation area to monitor deviation of a hook or a suspended load from the operation area; If a deviation from the area is detected, the crane that outputs a stop signal to the crane controller will determine that the automatic operation device is in an abnormal state. Operation area monitoring apparatus for a crane, characterized in that it comprises a stop signal output block. 2. An operation path, which is an operable area that does not interfere with a skeleton and a fixed obstacle, within the operable area.
The search is made in the turning direction and the undulating direction, and a safe and efficient driving pattern is determined according to the presence or absence of each driving path and the area of the driving path. 2. The operation area monitoring device for a crane according to claim 1, wherein the operation area deviation monitoring block monitors whether the operation path has deviated from the inside of the operation path.