JP4781684B2 - On-board crane - Google Patents

Description

  The present invention relates to a co-suspending control device that controls co-suspending work, which is a work of lifting one suspended load using two mobile cranes.

  If a single mobile crane cannot lift the suspended load because the suspended load is large and heavy, two mobile cranes are placed close together and the suspended load is placed in two mobile cranes. At the same time, a co-hanging operation is performed. In recent years, a unit of a structure to be carried in a structure assembling work in a large-scale public construction tends to increase in size and weight, so that a mobile crane used has also been increased in size. If the lifting capacity is insufficient even with the enlarged mobile crane, the above-described co-hanging operation is performed. On the other hand, in the assembly work of a large structure, the structural unit is large and heavy, but the movement of a suspended load with high accuracy is required.

The applicant of the present application has proposed a synchronous operation control apparatus for a plurality of cranes used for such a co-hanging operation (see, for example, Patent Document 1). The control device of Patent Document 1 includes a sensor that detects the three-dimensional position of the hook of each crane, a calculation unit, a relative position input unit between the main crane and the secondary crane, and a communication unit between the main crane and the secondary crane. Co-suspending control is performed so that the hook position of the sub crane changes following the hook position of the main crane.
Japanese Examined Patent Publication No. 62-60359 (page 1-4, FIG. 10)

  However, the above-mentioned conventional control device is a sensor for detecting the three-dimensional position of the hook of each crane. Conventionally, the swing angle detector, the undulation angle detector, the boom length detector, and the wire length detection that are installed in the crane. The calculation means calculates the three-dimensional position of the hook based on the turning angle, the undulation angle, the boom length, the wire length, and the wire number detected by the device and the wire number detector. For this reason, there is a limit to increase the accuracy of the calculated three-dimensional position of the hook, and it has not been possible to sufficiently meet the recent demand for high-precision co-hanging control.

  Therefore, the present invention obtains the three-dimensional position of the hook using a GPS device, a laser distance measuring device, or a laser distance tracking device capable of highly accurate position detection, and performs control based on the three-dimensional position of the hook. The present invention is intended to provide a co-suspending control device for a mobile crane to be performed.

  A co-suspending control device for a mobile crane according to claim 1 of the present application includes a winch in which a swivel is mounted on a traveling vehicle body so that the swivel can be swung freely, and a retractable boom is pivotally mounted on the swivel. It is intended for a mobile crane in which a hook suspended from the tip of the boom can be freely raised and lowered. A laser ranging tracking device between the vehicle body boom tips, which is disposed on the traveling vehicle body and irradiates the boom tip with a laser beam and detects the distance to the boom tip and the direction of the boom tip by a reflected beam; A laser ranging device that irradiates the hook with a laser beam and detects the distance to the hook by a reflected beam, and a signal from the laser ranging device between the tip of the vehicle body boom and the laser ranging device. A controller that calculates a three-dimensional position with respect to the vehicle body; and a first movement for detecting a distance and direction to the second movable crane by irradiating the second movable crane with a laser beam and detecting a laser beam on the second movable crane. Second movement relative to the first mobile crane by means of the inter-crane laser ranging tracking device located in the crane Calculating the three-dimensional position of the crane and communicating between the controller of the first mobile crane and the controller of the second mobile crane, and the three-dimensional position of the second mobile crane relative to the first mobile crane, and The distance between the hooks is calculated from the three-dimensional position of the hook with respect to each traveling vehicle body, and the calculated distance between the hooks is held and controlled in the co-suspending operation using the first and second mobile cranes. It is characterized by that.

  In the co-suspending control device for a mobile crane according to claim 1, the position of the boom tip relative to the traveling vehicle body is detected by the laser ranging tracking device between the vehicle body boom tips arranged in the traveling vehicle body, and the boom suspension position is arranged at the boom tip. The distance from the tip of the boom to the hook was detected by a laser ranging device. Since the three-dimensional position of the hook with respect to the traveling vehicle body is calculated from the three-dimensional position of the boom tip with respect to the traveling vehicle body and the distance from the boom tip to the hook, the crane operation based on the highly accurate hook three-dimensional position is performed. Is possible.

  And the three-dimensional position of the 2nd mobile crane with respect to a 1st mobile crane is detected with the laser ranging tracking apparatus between cranes arrange | positioned at the 1st mobile crane, and the 2nd mobile crane of the said 1st mobile crane is detected. Since the distance between the hooks is calculated from the three-dimensional position and the three-dimensional position of the hook with respect to the traveling vehicle body of each mobile crane, the suspension is controlled so that the hook separation distance is kept constant. Also, the control for keeping the distance between hooks required for the co-hanging work constant can be performed with high accuracy. Also, cranes with different capacities can be co-suspended with high accuracy.

  An embodiment in which the present invention is applied to two rough terrain cranes 11 and 12 as mobile cranes will be described.

  FIG. 1 shows a co-hanging control device 10 according to a first embodiment of the present invention. The left rough terrain crane in FIG. 1 is called a first crane 11, and the right rough terrain crane is called a second crane 12. The first crane 11 has a swivel 3 mounted on a traveling vehicle body 2 provided with an outrigger 1 so as to be turnable. A swingable boom 4 is pivotally attached to the swivel base 3 so as to be raised and lowered. The first crane 11 is equipped with a winch so that the hook 6 suspended from the boom tip 5 can be freely operated.

  The second crane 12 has the same configuration as the first crane 11 described above. In addition, although the case where the 1st crane 11 and the 2nd crane 12 are the completely same crane is described in FIG. 1, the kind of crane, the lifting capacity of a crane, and a working head may differ. A major feature of the co-suspending control device of the present invention is that there are no restrictions on the crane to be combined.

  Reference numeral 20 denotes a first control device mounted on the first crane 11. 21 is a GPS device for detecting the three-dimensional position of the boom tip 5 to the ground. Reference numeral 22 denotes a laser distance measuring device that irradiates a reflecting mirror 7 disposed at the boom tip 5 and disposed on the hook 6 with a laser beam 8 and detects the distance to the hook 6 by the reflected beam. Reference numeral 23 denotes a controller that calculates the three-dimensional position of the hook 6 to the ground based on signals from the GPS device 21 and the laser distance measuring device 22. 29 is a co-hung operation means for inputting an operation signal to the controller 23 of the first control device 20. In the first embodiment, the operation signal of the co-hanging operation means 29 is input to the first control device 20, but may be input to the second control device 30 described later. Hereinafter, each structure of the 1st control apparatus 20 is explained in full detail.

  The GPS device 21 is a system that can know the position of itself anywhere in the world by receiving radio waves from an artificial satellite. The GPS device 21 has been already developed and can increase the position of a moving body such as a ship or a car. It is applied to navigation systems and construction surveys that measure accurately.

  In the first embodiment, a set of antennas 24 (which will be described as in-site reference point antennas 24 in the following description) and a receiver 25 are installed as known reference points at arbitrary positions on the ground surface. In addition, another set of antenna 26 and receiver 27 is installed at the boom tip 5. That is, as shown in FIG. 1, the in-site antenna 24 is installed as a known reference point at an arbitrary position in the crane work site, and the receiver 25 connected to the in-site reference point antenna 24 is adjacent. Has been deployed. A GPS antenna 26 is disposed at the boom tip 5, and a receiver 27 connected to the GPS antenna 26 is disposed in a cab of a crane (not shown).

  Both receivers 25 and 27 store the current time, and both receivers 25 and 27 can know the positions of all the artificial satellites currently flying based on the current time. That is, the in-site reference point antenna 24 receives radio waves from a plurality of (for example, five, etc.) artificial satellites 28 (only one is shown in FIG. 1) and transmits it to the receiver 25 at any time. The longitude X0, the latitude Y0, and the height Z0 of the known reference point position can be known. Further, the GPS antenna 26 receives radio waves from a plurality of (for example, five) artificial satellites 28 (only one is shown in FIG. 1) and transmits it to the receiver 27 at any time. Based on this signal, the longitude X1, the latitude Y1, and the height Z1 of the position of the boom tip 5 can be known.

  Data of longitude X0, latitude Y0, and height Z0 of a known reference point is output from the in-site reference point antenna 24 to the GPS antenna 26 wirelessly, and further transmitted from the GPS antenna 26 to the receiver 27. The receiver 27 obtains the data of the longitude X1, latitude Y1, and height Z1 of the boom tip 5 obtained based on the radio wave from the artificial satellite 28 received by the GPS antenna 26, the longitude X0, latitude Y0, height of the known reference point. Corrected by the data of Z0, accurate data of longitude X, latitude Y, and height Z of the position of the boom tip 5 on the ground surface can be obtained.

  FIG. 2 is an explanatory diagram of the laser distance measuring device 22. The laser distance measuring device 22 shown in FIG. 2 uses “a method for obtaining a distance by measuring a phase shift between a reference waveform and a returned waveform by using amplitude (or deflection) modulation of laser light”. . The laser beam is amplitude-modulated at a frequency f by the modulator 51 and irradiated toward the reflection plate 7 installed on the hook 6. A corner cube is used as the reflector 7 disposed on the hook 6. The laser beam reflected from the reflecting plate 7 is received by the photoelectric detector 53. Since there is a time for the laser light to reciprocate to the reflecting plate 7, the phase of modulation of the returned laser light is different from that of the transmitted light. By measuring the phase difference Φ with a phase meter 54, the distance L between the boom tip 5 and the hook 6 is obtained.

  The position data of the boom tip 5 obtained by the GPS device 21 and the distance data between the boom tip 5 and the hook 6 obtained by the laser distance measuring device 22 are sent to the controller 23, and the controller 23 calculates the hook 6 from both data. A ground three-dimensional position (longitude X, latitude Y, height Z-L) is calculated.

  Reference numeral 30 denotes a second control device mounted on the second crane 12. Since the GPS device 31 and the laser distance measuring device 32 included in the second control device 30 are the same as the GPS device 21 and the laser distance measuring device 22 of the first control device 20 already described, description thereof is omitted.

The controller 23 of the first crane and the controller 33 of the second crane communicate with each other so that the above-described three-dimensional position signal of the hook 6 and the hook 16 and the operation signal of the co-hanging operation means 29 can be mutually exchanged by wire or wireless. Has been.

  The control contents of the above-described co-hanging control device 10 are as follows. First, the hooking operation of the hook 6 of the first crane 11 is performed on the large and heavy suspended load 40 placed near the first crane 11 and the second crane 12. In this case, only the first crane 11 is operated by turning on the first crane individual operation selection switch in the co-suspending operation means 29, and the boom tip 5 is moved vertically above the slinging position 41 of the suspended load 40. . Next, the hook 6 is moved up and down by a winch, and the staking wire 43 hooked on the hook 6 is tensioned so as to be loosened in a state where it is hooked on the staking position 41 of the suspended load 40. Next, similarly, the first crane single operation selection switch in the co-suspending operation means 29 is turned OFF, and the second crane single operation selection switch is turned ON, and the slinging operation of only the second crane 12 is performed. With the above operation, preparation for co-suspending work is completed.

  When the co-suspending selection switch of the co-suspending operation means 29 is turned ON, the operation signal of the co-suspending operation means 29 is sent to the first control device 20 and the second control device 30, and the first crane 11 and the second crane 12. Starts co-hanging work. At that time, the three-dimensional position (longitude, latitude, height) of the hook 6 of the first crane 11 calculated by the first control device 20 and the ground of the hook 16 of the second crane 12 calculated by the second control device 30. The hook separation distance HL is calculated from the three-dimensional position (latitude, longitude, height). Based on the operation signal of the co-suspending operation means 29, the first crane 11 and the second crane 12 are controlled so that the suspended load 40 moves in principle in parallel. Further, in the control, the co-suspending control device automatically controls to keep the hook separation distance HL constant.

  Because the GPS devices 21 and 31 and the laser distance measuring devices 22 and 32 described above calculate the hook separation distance HL with extremely high accuracy, the hook separation distance HL during the co-suspending operation, which is an important matter in the co-suspending operation, is calculated. The constant holding control is also performed with high accuracy. Therefore, very high-accuracy suspended load co-suspending control is achieved in the co-suspending operation for large and heavy suspended loads.

  When rotating the suspended load 40, the first crane single operation selection switch or the second crane single operation selection switch is selected and operated, and only the one hook is moved to rotate the suspended load 40. Also in this case, when the co-hanging selection switch is in the ON state, one hook is controlled to move under the condition that the hook separation distance HL is kept constant. Since the co-suspending control device 10 of the present invention calculates the three-dimensional position (latitude, longitude, height) of the hook with extremely high accuracy, the three-dimensional position of the hook is displayed on the co-suspending control device. Of course, it may be used as information in the co-hanging operation.

  FIG. 3 shows a co-suspending control device 70 according to Embodiment 2 of the present invention. The left rough terrain crane in FIG. 3 is called the first crane 11, the right rough terrain crane is called the second crane 12, and the basic configuration of both cranes is the same as that shown in FIG. 1.

  Reference numeral 80 denotes a first control device mounted on the first crane 11. Reference numeral 81 denotes a laser beam tracking between the boom ends of the vehicle body that radiates a laser beam 86 to a reflector 82 disposed on the traveling vehicle body 2 and disposed on the boom tip 5 and detects the distance to the boom tip 5 and the direction of the boom tip by the reflected beam. Device. Reference numeral 22 denotes a laser distance measuring device that irradiates a reflecting mirror 7 disposed at the boom tip 5 and disposed on the hook 6 with a laser beam 8 and detects the distance to the hook 6 by the reflected beam. Reference numeral 85 denotes a controller that calculates the three-dimensional position of the hook 6 based on signals from the laser ranging device 81 between the vehicle body boom tips and the laser ranging device 22. 29 is a co-hung operation means for inputting an operation signal to the controller 85 of the first control device 80. In the second embodiment, the operation signal of the co-hanging operation means 29 is input to the first control device 80, but may be input to a second control device 90 described later. Reference numeral 83 denotes a laser beam distance measurement between the cranes arranged in the first crane 11 that irradiates the reflecting plate 84 arranged in the second crane 12 with the laser beam 87 and detects the distance and direction to the second crane 12 by the reflected beam. It is a tracking device.

  Hereinafter, each structure of the 1st control apparatus 80 is explained in full detail. The distance measuring function part of the laser distance tracking device 81 between the vehicle body boom tips is the same as the laser distance measuring device 22 shown in FIG. FIG. 4 illustrates the tracking function portion 60 of the vehicle body boom end-to-end laser ranging tracking device 81. A semiconductor laser 61 is used as a light source. After the laser light passes through the collimating lens 62, the concave lens 63, the polarizing beam splitter 64, and the convex lens 67, the direction in which the laser light is emitted is controlled by the polarizing reflecting mirror 65, and the tip of the boom Hit 5. The laser beam emitted from the apparatus is reflected by a reflecting mirror 52 attached to the boom tip 5. Of the reflected laser light, the laser beam returning to the apparatus and within the diameter of the convex lens 67 is collected. Since the polarization direction is rotated 90 degrees by the quarter-wave sheet 68, it is reflected by the polarization beam splitter 64, passes through the bandpass filter 69, and forms an image on the light detection surface of the quadrant photodetector 70. . Therefore, using the difference between the light intensity signals from the respective channels of the quadrant photodetector 70, it is detected how far the position of the image is from the center of the quadrant photodetector 70, and this image is always A control signal is sent to the galvano scanner 71 so as to come to the center position. The galvano scanner 71 is a kind of motor that is rotated by electromagnetic force, and the direction of light can be controlled by attaching a polarizing reflecting mirror 65 to the motor. By such a method, the target boom tip 5 can be tracked within the movable range of the scanner, and the direction of the boom tip 5 can be determined from the rotation angle of the galvano scanner 71.

  Since the inter-crane laser ranging tracking device 83 is the same as the above-described laser boom tracking device 81 between the vehicle body boom tips, a description thereof will be omitted. Since the laser distance measuring device 22 disposed at the boom tip 5 is the same as that described in the first embodiment, the description thereof is omitted.

  The vehicle range boom tip laser range tracking device 91 and the laser range finder 32 of the second control device 90 are the same as the vehicle range boom tip laser range tracking device 81 and the laser range finder 22 of the first control device 80. is there. The second control device 90 is different from the first control device 80 only in that the inter-crane laser ranging tracking device 83 is not provided. Of course, the inter-crane laser ranging tracking device 83 may be provided in the second control device 90 instead of being provided in the first control device 80.

  The controller 85 of the first crane and the controller 93 of the second crane are connected with each other by wire or wirelessly, and the above-described three-dimensional position signals of the hooks 6 and 16 and the three-dimensional position of the second crane 12 with respect to the first crane 11. The signal and the operation signal of the co-hanging operation means 29 can be exchanged with each other.

The control contents of the above-described co-hanging control device 70 are as follows. First, a hooking operation of the hook 6 of the first crane 11 is performed on the large and heavy suspended load 40 placed near the first crane 11 and the second crane 12. The first crane single operation selection switch is turned off, the second crane single operation selection switch is turned on, and the slinging operation of only the second crane 12 is performed in the same manner as in the first embodiment.

  When the co-suspending selection switch of the co-suspending operation means 29 is turned ON, the operation signal of the co-suspending operation means 29 is sent to the first control device 80 and the second control device 90, and the first crane 11 and the second crane 12. Starts co-hanging work. At that time, the three-dimensional position of the hook 6 of the first crane 11 calculated by the first control device 80, the three-dimensional position of the hook 16 of the second crane 12 calculated by the second control device 90, and the first position relative to the first crane 11. 2 The hook separation distance HL is calculated from the three-dimensional position of the crane 12. Based on the operation signal of the co-suspending operation means 29, the first crane 11 and the second crane 12 are controlled so that the suspended load 40 moves in principle in parallel. In this control, the co-suspending control device automatically controls to keep the hook separation distance HL constant.

  Since the above-described laser ranging tracking devices 81, 91, the laser ranging devices 22, 32, and the inter-crane laser ranging tracking device 83 calculate the hook separation distance HL with extremely high accuracy, Therefore, the constant holding control of the hook separation distance during the co-hanging operation, which is an important matter, is also performed with high accuracy. Therefore, very high-accuracy suspended load co-suspending control is achieved in the co-suspending operation for a large and heavy suspended load 40.

  When the suspended load 40 is rotationally moved, the suspended load 40 can be rotationally moved by selecting only the first crane single operation selection switch or the second crane single operation selection switch and moving only one hook. As in the case of the first embodiment, the hook three-dimensional position may be displayed by the co-suspending control device and used for the co-suspending operation.

It is explanatory drawing of 1st Example which concerns on this invention. It is explanatory drawing of a laser ranging device. It is explanatory drawing of 2nd Example which concerns on this invention. It is explanatory drawing of a laser tracking function part.

1: Outrigger 2: Traveling vehicle body 3: Turntable 4, 14: Boom 5, 15: Boom tip 6, 16: Hook 10, 70: Co-suspending control device 20, 80: First control device 30, 90: Second control Devices 21, 31: GPS device 22, 32: Laser ranging device 23, 85: Controller 29: Co-suspending operation device 33, 93: Controller 81, 91: Laser ranging tracking device between vehicle body boom tips
83: Laser ranging tracking device between cranes

Claims (1)

A mobile crane equipped with a swivel base that can be swung freely on the traveling vehicle body, a telescopic boom pivotally mounted on the swivel base, and a hook that is suspended from the tip of the boom by a equipped winch. A co-hanging control device,
A laser ranging tracking device between the vehicle body boom tips, which is disposed on the traveling vehicle body and irradiates the boom tips with a laser beam, and detects the distance to the boom tips and the direction of the boom tips with a reflected beam;
A laser distance measuring device that is disposed at the tip of the boom, irradiates the hook with a laser beam, and detects the distance to the hook by a reflected beam;
Each mobile crane includes a controller that calculates a three-dimensional position of the hook with respect to the traveling vehicle body based on signals from the laser ranging device between the tip of the vehicle body boom and the laser ranging device,
An inter-crane laser ranging tracking device that irradiates the second mobile crane with a laser beam and detects the distance and direction to the second mobile crane with a reflected beam is disposed on the first mobile crane;
The three-dimensional position of the second mobile crane relative to the first mobile crane is calculated by the inter-crane laser ranging tracking device, and a signal is transmitted between the controller of the first mobile crane and the controller of the second mobile crane. The distance between the hooks was calculated from the three-dimensional position of the second mobile crane with respect to the first mobile crane and the three-dimensional position of the hook with respect to each traveling vehicle body, and the first and second mobile cranes were used. A co-suspending control apparatus for a mobile crane, wherein the calculated hook separation distance is held and controlled in a co-suspending operation.

Images