JP5708201B2 - Crane track abnormality detection system, crane track abnormality detection method, and computer program - Google Patents

Description

  The present invention relates to a crane track abnormality detection system, a crane track abnormality detection method, and a computer program, and is particularly suitable for detecting an abnormality in a track on which an overhead crane travels.

  In steelworks, the coil from the pickling line or rolling line is temporarily stored in an intermediate yard, and then the coil may be sent to the next process. In many cases, the coil is transferred in the intermediate yard by an overhead crane.

  The overhead crane travels on a track formed by joining rails having a predetermined length. While repeating such overhead crane travel, the distance between the joints of the track (rail) becomes wide, and the deformation of the track (rail) (bending in the vertical direction / horizontal direction) increases. Abnormal locations may occur in the trajectory. When the overhead crane travels in such an abnormal place, the overhead crane receives a large vibration and a large load. When such a load is repeatedly applied, a fatigue crack or the like may occur in the girder or the like of the overhead crane, and the overhead crane may be fatigued.

Therefore, it is necessary to detect an abnormality in the track of the overhead crane. Conventionally, the driver in the cab of the overhead crane reports that he / she feels abnormal vibration during the daily operation of the overhead crane, or when the overhead crane is not operated once a year. When an inspector visually confirms the abnormality of the track, it is detected that the track of the overhead crane is abnormal.
However, in such a method, since the way of feeling whether or not there is an abnormality in the track differs depending on the driver, it is difficult to quantitatively evaluate whether or not the track is abnormal. Moreover, there is a standard for the dimension of the gap between the rails. Therefore, when the inspector visually confirms whether there is an abnormality in the track, it is necessary to visually confirm whether the dimension of the gap between the rails is within the reference. For this reason, it is difficult to detect early whether or not there is an abnormality in the trajectory.

  Therefore, it is desired to evaluate automatically, quantitatively, and early whether there is an abnormality in the track of the overhead crane. Patent Document 1 discloses a technique for detecting an abnormality in a railroad track traveling on a track in the same manner as an overhead crane. In Patent Document 1, a current position of a railway vehicle is detected using an ATC (Automatic Train Control) signal and a transponder, and vibrations of the railway vehicle are detected using an acceleration sensor and a gyro sensor. Then, the estimated value of the vibration of the railway vehicle is calculated, the residual signal between the calculated estimated value and the actual value is compared with the reference value, and it is determined whether or not the track is abnormal based on the result.

Japanese Patent Laid-Open No. 2005-67276

  However, in an overhead crane facility, it is not easy to provide a large-scale device on the ground side like a railroad facility. That is, as in the technique described in Patent Document 1, it is not easy to install a device that generates a signal corresponding to an ATC signal or a device that corresponds to a transponder in an overhead crane facility. In the technique described in Patent Document 1, it is necessary to construct an enormous database in order to obtain an estimated value of vibration, and the calculation for obtaining the estimated value of vibration becomes complicated.

In addition, it is not realistic to spend a great deal of maintenance costs on overhead cranes. In addition, the length of the overhead crane track is shorter than that of railway vehicles, and the overhead crane track is straight. If it can be detected, the inspector can easily identify the abnormal portion by visual observation, and therefore it is not always necessary to strictly identify the abnormal portion.
Considering the above circumstances, in order to automatically and quantitatively detect whether there is an abnormality in the overhead crane track, to reduce the number of necessary parts as much as possible and to detect the abnormality It is desirable to simplify this process as much as possible. However, with the conventional technology described above, it is difficult to automatically and quantitatively detect whether there is an abnormality in the track of the overhead crane with as few parts as possible and with simple processing. .

  The present invention has been made in view of the problems as described above, and whether or not there is an abnormality in the track of the overhead crane can be automatically, quantitatively and easily processed with the smallest possible number of parts. The purpose is to detect early.

The crane trajectory abnormality detection system according to the present invention is a crane trajectory abnormality detection system for detecting an abnormality in a trajectory on which an overhead crane travels, and is an acceleration sensor attached to the overhead crane, the travel direction of the overhead crane being An acceleration sensor for detecting acceleration and acceleration in the height direction of the overhead crane; and a current position in the traveling direction of the overhead crane based on the acceleration in the traveling direction of the overhead crane detected by the acceleration sensor The presence or absence of an abnormality in the track based on the result of comparing the height direction acceleration of the overhead crane detected by the acceleration sensor and a preset abnormal vibration judgment value detected by the acceleration sensor Abnormal vibration determining means for determining the information, and information indicating the location determined to be abnormal by the abnormal vibration determining means Display means for displaying the shown device, a limit switch attached to the overhead crane, previously stored and the limit switch, the information of the predetermined position to operate when the overhead crane has passed a predetermined position a position storage means for the possess, the position deriving unit, by the limit switch, when the overhead crane is detected to have passed the predetermined position, detected by the acceleration sensor, the overhead crane The predetermined position is derived as the current position in the traveling direction of the overhead crane without using the acceleration in the traveling direction, and the predetermined position is a position corresponding to one end of the track and the other end of the track. And a position corresponding to the entrance of the overhead crane, and in the position deriving means, the overhead crane traveling method The acceleration of the time is integrated twice to derive a change in the position in the traveling direction of the overhead crane, and the position obtained by adding the change to the current position in the traveling direction of the overhead crane is the traveling direction of the overhead crane. It is derived and updated as the current position in.

The crane trajectory abnormality detection method of the present invention is a crane trajectory abnormality detection method for detecting an abnormality of a trajectory on which an overhead crane travels, and is an acceleration sensor attached to the overhead crane, the travel direction of the overhead crane being Acceleration detecting step of detecting acceleration and acceleration in the height direction of the overhead crane by an acceleration sensor, and traveling of the overhead crane based on the acceleration in the traveling direction of the overhead crane detected by the acceleration detecting step. Based on the result of comparing the position derivation step for deriving the current position in the direction, the acceleration in the height direction of the overhead crane detected by the acceleration detection step, and a preset abnormal vibration determination value, It is determined that there is an abnormality by the abnormal vibration determination step for determining the presence or absence of abnormality of the orbit and the abnormal vibration determination step. A display step of displaying on the display device information indicating the Tokoro, a limit switch attached to the overhead crane, the limit switch which operates when the overhead crane has passed a predetermined position, the overhead crane is a passage detection step of detecting that it has passed through a predetermined position, and a position storage step of storing in advance the information of the predetermined position, have a, the position deriving step, by the passage detection step, said ceiling crane When it is detected that a predetermined position has been passed, the predetermined position is detected in the traveling direction of the overhead crane without using the acceleration in the traveling direction of the overhead crane detected by the acceleration detecting step. A position corresponding to one end of the track, a position corresponding to the other end of the track, and the ceiling clay. In the position derivation step, the acceleration in the traveling direction of the overhead crane is integrated twice in time, and the change in the position in the traveling direction of the overhead crane is derived, the position where the change amount obtained by adding to the current position in the running direction of the overhead crane, characterized in that it derives as the current position in the running direction of the overhead crane update.

A computer program according to the present invention is a computer program for causing a computer to detect an abnormality in a track on which an overhead crane travels, and is an acceleration sensor attached to the overhead crane, wherein the traveling of the overhead crane is performed. A current position in the traveling direction of the overhead crane is derived based on the acceleration in the traveling direction of the overhead crane detected by an acceleration sensor that detects the acceleration in the direction and the acceleration in the height direction of the overhead crane. Based on the result of comparing the position deriving step, the acceleration in the height direction of the overhead crane detected by the acceleration sensor, and a preset abnormal vibration determination value, the presence / absence of the abnormality of the track is determined. Information indicating an abnormal vibration determination step and a place determined to have an abnormality by the abnormal vibration determination step A display step of displaying on the display device, and a position storage step of storing in advance in the storage medium information of a predetermined position where the overhead crane passes, cause the computer to execute, the position deriving step is attached to the overhead crane When the limit switch that is activated when the overhead crane passes the predetermined position is detected by the acceleration sensor when it is detected that the overhead crane has passed the predetermined position. Without using the detected acceleration in the traveling direction of the overhead crane, the predetermined position is derived as the current position in the traveling direction of the overhead crane, and the predetermined position corresponds to one end of the track. A position corresponding to the other end of the track, and a position corresponding to the entrance of the overhead crane, the position derivation In the process, acceleration in the traveling direction of the overhead crane is integrated twice in time to derive a change in position in the traveling direction of the overhead crane, and the change is added to the current position in the traveling direction of the overhead crane. the position, characterized that you derive as the current position in the running direction of the overhead crane update.

  According to the present invention, the current position in the traveling direction of the overhead crane is derived based on the acceleration in the traveling direction of the overhead crane detected by the acceleration sensor, and the height of the overhead crane detected by the acceleration sensor is determined. Based on the result of comparing the acceleration and the abnormal vibration determination value, the presence / absence of an abnormal track is determined. Therefore, an acceleration sensor may be added to the overhead crane as hardware for detecting an abnormal track. Further, since the traveling direction of the overhead crane is a fixed direction, the processing for the acceleration detected by the acceleration sensor is not complicated. Therefore, whether or not there is an abnormality in the track of the overhead crane can be detected automatically, quantitatively and at an early stage with as few parts as possible and with simple processing.

It is a figure which shows a mode that an example of the overhead crane was looked down on. It is the figure which looked at an example of the overhead crane on a track from the direction parallel to the running direction. It is the figure which looked at an example of the overhead crane on a track from the upper part. It is a figure which shows an example of operation | movement of a limit switch, and is the figure which looked at the overhead crane from the traveling direction. It is a figure which shows an example of operation | movement of a limit switch, and is the figure which looked at the overhead crane from the upper direction. It is a figure which shows an example of a functional structure of the computer system for detecting the abnormality of the track | orbit of an overhead crane. It is a figure which shows an example of the display screen 700 of the information regarding abnormality of a track | orbit. It is a flowchart explaining an example of operation | movement of information processing apparatus.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
FIG. 1 is a view showing an example of an overhead crane 100. FIG. 2 is a view (front view) of an example of the overhead crane 100 on the track viewed from a direction parallel to the traveling direction. FIG. 3 is a view (top view) of an example of the overhead crane 100 on the track as viewed from above. In each drawing, for convenience of explanation, the configuration of each unit is simplified and a part of the configuration of each unit is omitted.

1 and 2, the overhead crane 100 includes a girder 110, a trolley 120, a saddle 130, and a cab 140.
The girder 110 is a structure (girder) of the main body portion of the overhead crane 100.
The trolley 120 is a cart that moves (transverses) on the girder 110 in the direction of the double arrow in FIG.

The saddles 130a and 130b are structures provided with wheels 131a to 131d that are attached to one end and the other end of the girder 110, respectively, and run the crane while supporting the girder 110.
As shown in FIG. 3, the overhead crane 100 travels along tracks 210 a and 210 b configured by joining a plurality of rails 211 a to 211 j and 211 k to 211 t (in the direction of a double arrow shown in FIG. 3).

  In addition, the overhead crane 100 passes through one end (referred to herein as “north limit”), the other end (referred to herein as “south limit”), and the entrance 320 of the overhead crane 100 to the saddle 130a. Limit switches 132a, 132b, 132c for detecting this are provided. The limit switches 132a to 132c are referred to as “position switches” in JIS C 8201-5-1. The limit switches 132a to 132c are pilot switches (non-manual control switches) that have an operation part and a movable part (so-called bar) and that operate when the movable part reaches a predetermined position.

  As shown in FIG. 3, a northern limit striker 330a, a boarding gate striker 330b, and a southern limit striker 330c are provided in the vicinity of the wall of the region where the track 210a is laid. The northern limit striker 330 a is provided at a position corresponding to one end (north limit) of the track 210, the entrance striker 330 b is provided at a position corresponding to the entrance 320, and the southern limit striker 330 c is provided at the other end of the track 210 ( It is provided at a position corresponding to the southern limit. Here, the position corresponding to one end (north limit) of the track 210 is a position where the overhead crane 100 can be regarded as having reached the north limit, and is a position where the overhead crane 100 should not travel further north. is there. Therefore, the position corresponding to one end (north limit) of the trajectory 210 does not have to be exactly the same position as one end (north limit) of the trajectory 210. This also applies to the position corresponding to the entrance 320 and the position corresponding to the other end (south limit) of the track 210.

  FIG. 4 is a diagram illustrating an example of the operation of the limit switches 132a to 132c, and is a diagram of the overhead crane 100 as viewed from its traveling direction. FIG. 5 is also a diagram illustrating an example of the operation of the limit switches 132a to 132c, and is a diagram of the overhead crane 100 as viewed from above. FIG. 5 shows an example of the operation of the limit switch 132 on the assumption that time elapses from left to right (in the direction of the arrow attached to FIG. 5) in the drawing.

As shown in FIG. 4 (a), the movable parts of the limit switches 132a to 132c do not move in a state where they are not in contact with the north limit striker 330a, the entrance gate striker 330b, and the south limit striker 330c (the left side view of FIG. 5). See also).
As shown in FIG. 4 (b), when the overhead crane 100 reaches the arrangement position of the north limit striker 330a, only the movable part of the limit switch 132a contacts the north limit striker 330a among the limit switches 132a to 132c. It rotates in the direction opposite to the traveling direction of the overhead crane 100 (see also the middle figure in FIG. 5). And when the overhead crane 100 passes the arrangement position of the north limit striker 330a, the movable part of the limit switch 132a will return to the original position (refer the figure on the right side of FIG. 5).

  Moreover, as shown in FIG.4 (c), when the overhead crane 100 arrives at the arrangement | positioning position of the boarding gate striker 330b, only the movable part of the limit switch 132b will be a boarding gate among limit switches 132a-132c. It contacts the striker 330b and rotates in the direction opposite to the traveling direction of the overhead crane 100 (see also the middle figure in FIG. 5). And when the overhead crane 100 passes the arrangement position of the boarding gate striker 330b, the movable part of the limit switch 132b will return to the original position (refer the figure on the right side of FIG. 5).

  Similarly, as shown in FIG. 4D, when the overhead crane 100 reaches the position where the south limit striker 330c is disposed, only the movable part of the limit switch 132c among the limit switches 132a to 132c is connected to the south limit striker 330c. It contacts and rotates in the direction opposite to the traveling direction of the overhead crane 100 (see also the middle figure in FIG. 5). Then, when the overhead crane 100 passes the position where the southern limit striker 330c is disposed, the movable portion of the limit switch 132c returns to the original position (see the right side of FIG. 5).

As described above, the north limit striker 330a is disposed at a position where the limit switches 132a to 132c are in contact with only the movable portion (so-called bar) of the limit switch 132a. The boarding gate striker 330b is arranged at a position where the limit switch 132a to 132c is in contact with only the movable part of the limit switch 132b. The southern limit striker 330c is disposed at a position in contact with only the movable part of the limit switch 132c among the limit switches 132a to 132c.
The limit switches 132a to 132c output an ON signal indicating that while their movable parts are operating (turning).
In the following description, the limit switch 132a is referred to as a north limit switch 132a, the limit switch 132b is referred to as a boarding limit switch 132b, and the limit switch 132c is referred to as a south limit switch 132c as necessary.

  Returning to the description of FIGS. 1 to 3, the cab 140 includes various operation panels, a control device, a display device, and the like for operating the overhead crane 100. The overhead crane 100 of the present embodiment operates when the driver performs a driving operation in the cab 140. The entrance 320 shown in FIG. 3 is connected to a stair (not shown) for ascending and descending between the entrance 320 and the ground. The driver climbs this stairs and gets into the cab 140 of the overhead crane 100 from the entrance 320.

  As shown in FIG. 3, bumper stoppers 310a, 310b, 310c, and 310d that prevent overrun of the overhead crane 100 are provided at the north limit and the south limit of the tracks 210a and 210b, respectively.

  Note that an overhead crane does not necessarily have the configuration shown in FIG. 1 if the crane travels on a “track near the ceiling” provided along the walls on both sides of the building (so-called “overhead crane”). May be. Moreover, the arrangement | positioning position of strikers (north limit striker 330a, boarding gate striker 330b, and south limit striker 330c) is not limited to the position shown in FIG.

  In the present embodiment, triaxial acceleration sensors 150a and 150b are attached to the saddles 130a and 130b (for example, the upper surfaces of the saddles 130a and 130b) of the overhead crane 100, respectively. The three-axis acceleration sensors 150a and 150b are sensors that detect acceleration values of three axes orthogonal to each other (the x-axis, y-axis, and z-axis in FIG. 3). In this embodiment, the traveling direction of the overhead crane 100 (X axis), the acceleration direction of the girder 110 of the overhead crane 100 (y axis), and the height direction (z axis) of the overhead crane 100 are detected. The triaxial acceleration sensors 150a and 150b may be any sensor as long as such an acceleration value can be detected. For example, a piezoresistive triaxial acceleration sensor using MEMS (Micro Electro Mechanical Systems) is used. Can be used.

The cab 140 is provided with a computer system for detecting an abnormality in the track 210 (rail 211) of the overhead crane 100.
FIG. 6 is a diagram illustrating an example of a functional configuration of a computer system for detecting an abnormality in the track 210 of the overhead crane 100.
In FIG. 6, the computer system for detecting an abnormality in the track 210 of the overhead crane 100 includes an information processing device 610, an input device 620, a display 630, and an alarm device 640. In this embodiment, a crane trajectory abnormality detection system is used by using this computer system, limit switches (north limit switch 132a, boarding limit switch 132b, south limit switch 132c), and three-axis acceleration sensors 150a and 150b. An example is realized.

  The information processing device 610 receives signals from the limit switches (north limit switch 132a, boarding limit switch 132b, south limit switch 132c) and signals from the three-axis acceleration sensors 150a and 150b. A process for detecting an abnormality is performed. For example, the CPU, the ROM, the RAM, the HDD, and various interfaces are used.

The input device 620 is for an operator such as a driver to give an input instruction to the information processing device 610, and is configured using, for example, a keyboard or a mouse.
The display 630 is for displaying the result of processing performed by the information processing apparatus 610, and is configured using, for example, a computer display including a CPU, a VRAM, and various interfaces.
The alarm device 640 is for notifying that there is an abnormality in the track 210 using at least one of sound and light, and is configured using, for example, at least one of a buzzer and a lamp.
Note that at least a part of the hardware of the above computer system may be shared with the hardware of the existing computer system provided in the cab 140.

Hereinafter, an example of the function of the computer system for detecting an abnormality in the track 210 of the overhead crane 100 will be described with reference to FIG.
(Information processing device 610)
In this embodiment, the processing by each block shown below of the information processing device 610 is realized by using a CPU unless otherwise specified, and the processing of each block shown below is performed during one clock cycle of the CPU. It shall be executed once.
<Abnormal Running Detection Unit 611, Abnormal Running Determination Value Storage Unit 612>
The abnormal traveling detection unit 611 receives signals of acceleration values in the traveling direction of the overhead crane 100 from the triaxial acceleration sensors 150a and 150b, and the input acceleration values in the traveling direction of the overhead crane 100 are abnormal traveling determination value storage units. It is determined whether or not the upper and lower limit values stored in 612 are within the range.

  If the overhead crane 100 behaves differently than usual due to an abnormality in the track 210, the behavior affects the acceleration value in the traveling direction of the overhead crane 100, and the acceleration value in the traveling direction of the overhead crane 100 is There is a possibility that an abnormal acceleration value is larger than the traveling ability of the crane 100. Therefore, in this embodiment, in order to detect such an abnormal acceleration value, a value larger than the traveling capacity of the overhead crane 100 is stored in advance in the abnormal traveling determination value storage unit 612 as the upper and lower limit values. For example, when the overhead crane 100 gets over the joint of the rail 211, the abnormal acceleration value shows a positive or negative value. When the abnormal acceleration value is a positive value, the upper limit value of the upper / lower limit value is exceeded (above), and when the negative acceleration value is a negative value, the lower limit value of the upper / lower limit value is exceeded (below). The abnormal running determination value storage unit 612 is realized by using, for example, an HDD. Moreover, you may use an absolute value instead of an upper / lower limit value.

  Here, in the present embodiment, an example in which the information processing device 610 processes a signal from one of the three-axis acceleration sensors 150a and 150b based on an input instruction from the operator using the input device 620 is taken as an example. Will be described. That is, when it is desired to detect an abnormality in the trajectory 210a, the operator operates the input device 620 to instruct to process a signal from the triaxial acceleration sensor 150a among the triaxial acceleration sensors 150a and 150b. On the other hand, when it is desired to detect an abnormality in the trajectory 210b, the operator operates the input device 620 to instruct to process a signal from the three-axis acceleration sensor 150b among the three-axis acceleration sensors 150a and 150b. In the present embodiment, the information processing device 610 processes a signal from one of the three-axis acceleration sensors 150a and 150b based on these instructions.

<Position signal deriving unit 613>
When the position signal deriving unit 613 determines that the acceleration value in the traveling direction of the overhead crane 100 is within the range of the preset upper and lower limit values by the abnormal traveling detection unit 611, the position signal deriving unit 613 The acceleration is time-integrated to derive the traveling direction speed of the overhead crane 100, and the derived speed is multiplied by the CPU clock period to derive the change in the traveling direction position of the overhead crane 100.
In the present embodiment, the “position in the traveling direction of the overhead crane 100” of the north limit striker 330a is defined as the origin (x = 0), and the position in the traveling direction of the overhead crane 100 is represented. The amount of change in the position of the overhead crane 100 in the traveling direction is either a positive value or a negative value. The amount of change in the position in the traveling direction of the overhead crane 100 is assumed to be a value that is positive in the x-axis direction (arrow direction) shown in FIG. 3, for example.
The position signal deriving unit 613 may integrate the acceleration in the traveling direction of the overhead crane 100 for two times to derive a change in the position of the overhead crane 100 in the traveling direction.

<Current position deriving unit 614, limit switch position storage unit 615>
The limit switch position storage unit 615 stores in advance the “position in the traveling direction of the overhead crane 100” (x-axis coordinates) of the north limit striker 330a, the entrance striker 330b, and the south limit striker 330c. The limit switch position storage unit 615 is realized by using, for example, an HDD.

As described above, the north limit switch 132a, the entrance limit switch 132b, and the south limit switch 132c output an ON signal indicating that the movable portion is operating (turning).
The current position deriving unit 614 determines whether or not an ON signal indicating that the movable unit has been actuated (turned) is received from the north limit switch 132a, the entrance limit switch 132b, or the south limit switch 132c.

  As a result of this determination, if the ON signal indicating that the movable part is activated (turned) is not received from the north limit switch 132a, the entrance limit switch 132b, or the south limit switch 132c, the current position deriving unit 614 Adds the “change in position of the overhead crane 100 in the traveling direction” derived by the position signal deriving unit 613 to the “previous position of the overhead crane 100 in the traveling direction” stored in the previous position storage unit 616. The obtained position is derived as the current position in the traveling direction of the overhead crane 100. At this time, if the abnormal traveling detection unit 611 determines that the acceleration value in the traveling direction of the overhead crane 100 is not within the upper and lower limit values, the change in the traveling direction position of the overhead crane 100 is set to 0. As (zero), the current position in the traveling direction of the overhead crane 100 is derived.

  On the other hand, when the ON signal is received from the north limit switch 132a, the boarding limit switch 132b, or the south limit switch 132c, the current position deriving unit 614 limits the limit switch 132a, 132b that is the transmission source of the ON signal, or The “position in the traveling direction of the overhead crane 100” of 132c is read from the limit switch position storage unit 615, and the read position is determined as the current position in the traveling direction of the overhead crane 100.

As described above, the current position deriving unit 614 derives the position signal once in one clock cycle when the ON signal is not received from the north limit switch 132a, the entrance limit switch 132b, or the south limit switch 132c. The “change in position of the overhead crane 100 in the traveling direction” derived by the unit 613 is added. If there is an error in the acceleration value or the like in the traveling direction of the overhead crane 100, the error is accumulated every time this addition is performed. Therefore, in the present embodiment, when an ON signal is received from the north limit switch 132a, the boarding limit switch 132b, or the south limit switch 132c, the limit switch 132a, 132b, or 132c that is the transmission source of the ON signal. This error is corrected by setting the “position in the traveling direction of the overhead crane 100” as the current position in the traveling direction of the overhead crane 100.
The current position deriving unit 614 determines the “current position in the traveling direction of the overhead crane 100” once in one clock cycle as described above, and outputs a current position signal indicating the determined position to the display 630.

<Position update unit 617, previous position storage unit 616>
The position updating unit 617 uses the “previous position in the traveling direction of the overhead crane 100” stored in the previous position storage unit 616 as the “current position in the traveling direction of the overhead crane 100” determined by the current position deriving unit 614. And the “previous position in the traveling direction of the overhead crane 100” stored in the previous position storage unit 616 is updated. The previous position storage unit 616 is realized by using, for example, a RAM or a CPU register.

<Abnormal Vibration Determination Unit 618, Abnormal Vibration Determination Value Storage Unit 619>
The abnormal vibration determination unit 618 receives an acceleration value signal in the height direction of the overhead crane 100 from the three-axis acceleration sensor 150a or 150b, and the input acceleration value in the height direction of the overhead crane 100 is an abnormal vibration determination value. It is determined whether the upper and lower limit values stored in the storage unit 619 are within the range.
If an abnormality occurs in the track 210 due to an increase in the distance between the joints of the track 210 (rail 211) or a large deformation of the track 210 (rail 211) (bending in the vertical or horizontal direction), the abnormality The overhead crane 100 that travels in various places mainly has vibrations in the height direction that are different from normal vibrations. Therefore, in this embodiment, it is determined whether or not the track 210 has an abnormality by determining whether or not the acceleration value in the height direction of the overhead crane 100 is within the range of the upper and lower limit values.

  For example, the height direction of the overhead crane 100 when structural analysis of the overhead crane 100 and the equipment for operating the overhead crane 100 is performed or the overhead crane 100 is caused to travel on a track 210 that is in a simulated abnormal state. The upper limit value and the lower limit value of the “acceleration value in the height direction of the overhead crane 100” when the trajectory 210 can be considered normal are stored in the abnormal vibration determination value storage unit 619. The lower limit can be set. Here, since the acceleration value indicates a positive or negative value, when the acceleration value in the height direction of the overhead crane 100 is a positive value, the track 210 is exceeded when the upper limit value of the upper and lower limit values is exceeded (exceeded). It is determined that there is an abnormality in the trajectory 210. When the value is negative, it is determined that the trajectory 210 is abnormal when the lower limit value of the upper and lower limit values is exceeded (below). The abnormal vibration determination value storage unit 619 is realized by using, for example, an HDD. Moreover, you may use an absolute value instead of an upper / lower limit value.

  The abnormal vibration determination unit 618 inputs the signal of the acceleration value in the height direction of the overhead crane 100 from the triaxial acceleration sensor 150a or 150b once in one clock cycle as described above, and inputs the input “ceiling crane 100 It is determined whether or not the “acceleration value in the height direction” exceeds the upper and lower limit values. Then, the abnormal vibration determination unit 618 uses the acceleration value signal in the height direction of the overhead crane 100 as a vibration value signal indicating the vibration value in the height direction of the overhead crane 100 (once every clock cycle). To 630. In addition, when the acceleration value in the height direction of the overhead crane 100 exceeds the upper and lower limit values, the abnormal vibration determination unit 618 outputs an abnormality presence signal indicating that the track 210 is abnormal to the display 630. When the acceleration value in the height direction of the overhead crane 100 does not exceed the upper and lower limit values, an abnormality non-signal indicating that there is no abnormality in the track 210 is output to the display 630. Any one of these abnormal presence signals and abnormal absence signals is output to the display 630 as an abnormality presence / absence signal (once every clock cycle). Furthermore, when the acceleration value in the height direction of the overhead crane 100 exceeds the upper and lower limit values, the abnormal vibration determination unit 618 outputs an abnormal presence signal to the alarm device 640 (once every clock cycle).

(Display 630)
<Position / Vibration / Abnormality Intake Unit 631>
The position / vibration / abnormality presence / absence capturing unit 631 captures the current position signal, vibration value signal, and abnormality presence / absence signal from the information processing device 610 once in one clock cycle of the CPU of the information processing device 610, and outputs these signals. Are sequentially stored in the internal memory. In the present embodiment, the memory inside the position / vibration / abnormality presence / absence capturing unit 631 is provided with an area for storing a set of values of the current position signal, vibration value signal, and abnormality presence / absence signal for a predetermined time. It shall be. The position / vibration / abnormality presence / absence capturing unit 631 stores the captured “current position signal, vibration value signal, and abnormality presence / absence signal value” in order from the top of the memory area. After the position / vibration / abnormality presence / absence capturing unit 631 stores a set of “current position signal, vibration value signal, and abnormality presence / absence signal value” for a predetermined time, "Current position signal, vibration value signal, and abnormality value signal value" stored earlier, "Current position signal, vibration value signal" , And the value of the abnormality presence / absence signal ”.

<Position / vibration / abnormality display 632>
The position / vibration / abnormality presence / absence display unit 632 displays the abnormality of the track 210 based on the “current position signal, vibration value signal, and abnormality presence / absence signal value” stored by the position / vibration / abnormality presence / absence capturing unit 631 Display data for displaying information on the computer is generated and displayed on the computer screen.
FIG. 7 is a diagram illustrating an example of a display screen 700 for information related to an abnormality in the trajectory 210.
In the display screen 700 shown in FIG. 7, a display area 710 showing the relationship between the position of the trajectory 210 and vibration in a graph, and a display area for displaying the occurrence location and occurrence time of the abnormality in the trajectory 210 in characters (text). 720.

In the example shown in FIG. 7, in the display area 710, an arrow 711 is displayed for a place where an abnormality is detected in order to display the place where the abnormality is detected separately from other places. However, the method of displaying the place where the abnormality is detected separately from other places is not limited to such a method. For example, a place where an abnormality is detected may be displayed in a different color from other places.
If no abnormality is detected, a message (text) is displayed in the display area 720.
The inspector refers to such a display screen 700 and roughly checks the place where the abnormality has occurred, and visually identifies the place where the abnormality has actually occurred.
As long as the place where the abnormality occurs in the track 210 is displayed, as shown in FIG. 7, it is not always necessary to display the vibration information of the overhead crane 100 and the information such as the time when the abnormality occurred. Good.

(Alarm 640)
<Alarm output unit 641>
When the alarm output unit 641 receives an abnormality signal from the information processing device 610, the alarm output unit 641 indicates that an abnormality has occurred in the track 210 by a buzzer or a lamp provided in the alarm device 640. To inform. These notifications are canceled when the driver turns off a buzzer or a lamp, for example.

(Operation flowchart)
Next, an example of the operation of the information processing apparatus 610 will be described with reference to the flowchart of FIG.
First, in step S <b> 801, the information processing device 610 inputs a triaxial acceleration value (triaxial acceleration signal) in the traveling direction of the overhead crane 100 from the triaxial acceleration sensor 150.
Next, in step S <b> 802, the abnormal traveling detection unit 611 determines whether or not the acceleration value in the traveling direction of the overhead crane 100 is within the range of the upper and lower limit values stored in the abnormal traveling determination value storage unit 612. To do.

As a result of the determination, if the acceleration value in the traveling direction of the overhead crane 100 is within the range of the upper and lower limit values, the process proceeds to step S803. In step S803, the position signal deriving unit 613 time-integrates the acceleration in the traveling direction of the overhead crane 100 to derive the speed in the traveling direction of the overhead crane 100, and multiplies the derived speed by the clock period of the CPU. Thus, a change in the position of the overhead crane 100 in the traveling direction is derived. Then, the process proceeds to step S804.
On the other hand, when the acceleration value in the traveling direction of the overhead crane 100 is not within the range of the upper and lower limit values, the process of step S803 is omitted and the process proceeds to step S804.

In step S804, has the current position deriving unit 614 received an ON signal indicating that the movable unit has been actuated (rotated) from the north limit switch 132a, the entrance limit switch 132b, or the south limit switch 132c? Determine whether or not. If it is determined that an ON signal has been received, the process proceeds to step S805.
In step S805, the current position deriving unit 614 determines the “position in the traveling direction of the overhead crane 100” of the limit switch 132a, 132b, or 132c that is the transmission source of the ON signal as the current position in the traveling direction of the overhead crane 100. Determine as the position. Then, the process proceeds to step S807.

On the other hand, if the ON signal has not been received, the process proceeds to step S806. When the process proceeds to step S806, the current position deriving unit 614 calculates the “travel direction of the overhead crane 100” derived in step S803 to the “previous position in the travel direction of the overhead crane 100” stored in the previous position storage unit 616. The position obtained by adding the “change in position of” is determined as the current position in the traveling direction of the overhead crane 100. Then, the process proceeds to step S807. In step S802, when it is determined that the acceleration value in the traveling direction of the overhead crane 100 is not within the upper and lower limit values, the change in the position in the traveling direction of the overhead crane 100 is set to 0 (zero). The process of step S806 is performed.
In step S807, the position updating unit 617 determines that the “previous position in the traveling direction of the overhead crane 100” stored in the previous position storage unit 616 is “the traveling of the overhead crane 100” determined in step S805 or S806. The “current position in the direction” is rewritten, and the “previous position in the traveling direction of the overhead crane 100” stored in the previous position storage unit 616 is updated.

Next, in step S808, the current position deriving unit 614 outputs a current position signal indicating the “current position in the traveling direction of the overhead crane 100” determined in step S805 or A806 to the display 630.
Next, in step S809, the abnormal vibration determination unit 618 determines whether the acceleration value in the height direction of the overhead crane 100 is within the range of the upper and lower limit values stored in the abnormal vibration determination value storage unit 619. judge.

As a result of the determination, if the acceleration value in the height direction of the overhead crane 100 is not entered, the process proceeds to step S810. In step S 810, the abnormal vibration determination unit 618 outputs an abnormality presence signal indicating that the track 210 is abnormal to the alarm device 640. Then, the process proceeds to step S811.
On the other hand, when the acceleration value in the height direction of the overhead crane 100 is included, the process of step S810 is omitted and the process proceeds to step S811.

In step S811, the abnormal vibration determination unit 618 outputs a vibration value signal indicating a vibration value in the height direction of the overhead crane 100 and an abnormality presence / absence signal to the display 630.
The processes in steps S801 to S811 are performed once per clock cycle of the CPU of the information processing device 610. Then, returning to the process of step S801, the processes of steps S801 to S811 are repeatedly performed in units of the clock cycle of the CPU of the information processing device 610.
Note that the processing order of the information processing device 610 is not limited to the order shown in FIG. For example, the order of the processes in steps S802 to S808 and the processes in steps S809 to S811 may be interchanged.

(Summary)
As described above, in the present embodiment, the saddles 130 a and 130 b of the overhead crane 100 are moved to the traveling direction (x axis) of the overhead crane 100, the transverse direction (y axis) of the saddle 130 of the overhead crane 100, and the overhead crane 100. Three-axis acceleration sensors 150a and 150b for detecting respective acceleration values in the height direction (z-axis) are attached. From the triaxial acceleration sensors 150a and 150b, the acceleration in the traveling direction and the height direction of the overhead crane 100 is taken, the current position in the traveling direction of the overhead crane 100 is derived using the acceleration value in the traveling direction, and the height direction The presence or absence of an abnormality in the trajectory 210 is detected using the acceleration value. Then, the location of the abnormality is displayed on the computer screen, or a buzzer or a lamp is used to notify that the track 210 is abnormal.

  Therefore, as hardware, the abnormality of the track 210 can be automatically and quantitatively detected only by attaching the three-axis acceleration sensors 150a and 150b to the existing overhead crane 100. In addition, the length of the track 210 is limited to the length according to the facility where the overhead crane 100 is laid, and the traveling direction of the overhead crane 100 is limited to the positive and negative directions of the x axis in FIG. It is only necessary to roughly detect the location detected as an abnormality. Therefore, the detection accuracy may be about ± 50 cm, for example. For this reason, it is possible to derive the position in the traveling direction of the overhead crane 100 using the acceleration value in the traveling direction of the overhead crane 100 as it is, and it is not necessary to perform complicated arithmetic processing.

  Therefore, by constantly determining whether or not there is an abnormality in the track 210, it is possible to detect that there is an abnormality in the track 210 at an early stage, and it is possible to easily and inexpensively identify the place where the abnormality has occurred. it can. As described above, according to this embodiment, since it is not necessary to introduce a large-scale facility, a mechanism for automatically and quantitatively detecting an abnormality in the track 210 is introduced into a large number of overhead cranes in a short period of time. can do. For example, since there are many overhead cranes in one factory at an ironworks, even if the mechanism described in the present embodiment is introduced to all of the overhead cranes at an ironworks, it does not take much cost and time. Therefore, it is possible to extend the life of aging overhead cranes and extend the life of newly installed overhead cranes.

(Modification)
<Modification 1>
In the present embodiment, the case where the information processing device 610 processes a signal from one of the triaxial acceleration sensors 150a and 150b has been described as an example. However, this is not always necessary. That is, the information processing device 610 may capture both signals of the three-axis acceleration sensors 150a and 150b (within one clock cycle of the CPU). In this case, the information processing apparatus 610, for example, each of “current position signal, vibration value signal, and abnormality presence / absence signal” output to the display unit 630 and “abnormal presence signal” output to the alarm unit 640, respectively. A trajectory identification signal for identifying which of the signals of the trajectories 210a and 201b is given. In this way, the display device 630 can display a graph indicating the relationship between the position of the track 210 and the vibration in the display area 710 for each track 210a and 210b, and the location and occurrence of the abnormality in the track 210. The time can be displayed in the display area 720 for each of the trajectories 210a and 210b. The alarm device 640 can also notify that an abnormality has occurred in the track 210 in a different manner depending on the track 210a, 210b in which the abnormality occurred.

<Modification 2>
Even when there is an abnormality in the track 210, it is difficult to assume that the acceleration in the height direction of the overhead crane 100 greatly exceeds the acceleration of gravity. Therefore, for example, when the absolute value of the acceleration value in the height direction of the overhead crane 100 exceeds a predetermined value, the same signal (vibration value) as before is performed without performing the processing of steps S809 and S810 in FIG. A signal, an abnormality presence / absence signal, and an abnormality presence signal at the time of abnormality).
<Modification 3>
In the present embodiment, when the acceleration value in the traveling direction of the overhead crane 100 is not within the range of the upper and lower limit values set in advance, the acceleration value in the traveling direction of the overhead crane 100 is the traveling ability of the overhead crane 100. Assuming that the acceleration value is larger than that, the change in the position of the overhead crane 100 in the traveling direction is set to “0 (zero)”. However, this is not always necessary. For example, when the “change in position in the traveling direction of the overhead crane 100” derived by the position signal deriving unit 613 is an abnormal value larger than the traveling capacity of the overhead crane 100, The change in position may be “0 (zero)”.

<Modification 4>
In the present embodiment, the current position signal, the vibration value signal, and the abnormality presence / absence signal are stored in association with each other on the display device 630, but these signals are stored in association with each other on the information processing device 610. May be.
<Modification 5>
In the present embodiment, the vibration value of the overhead crane 100, the presence / absence of abnormality of the track 210, the location of occurrence of the abnormality, the information on the occurrence time of the abnormality, and the notification that the track 210 is abnormal are displayed. It was done with the equipment inside. However, at least one of these displays and notifications may be performed in a place different from the cab 140. For example, at least one of these displays and notifications may be performed by an apparatus in a management room that performs overall operation management of the plurality of overhead cranes 100. In this case, wireless communication can be performed between the overhead crane 100 side and the management room side.
<Modification 6>
If the three-axis acceleration sensors 150a and 150b are attached to the saddles 130a and 130b as in the present embodiment, the three-axis acceleration sensors 150a and 150b can be easily arranged near the wheels 131a to 131d, and the track 210 is abnormal. However, the triaxial acceleration sensors 150a and 150b are not necessarily attached to the saddles 130a and 130b. In this case, it is preferable to arrange the triaxial acceleration sensors 150a and 150b near the wheels 131a to 131d. When the triaxial acceleration sensors 150a and 150b are attached to the saddles 130a and 130b, the triaxial acceleration sensors 150a and 150b can be attached to any position of the saddles 130a and 130b as long as the triaxial acceleration sensors 150a and 150b can be attached. It may be attached.
<Modification 7>
Although it is preferable to use the three-axis acceleration sensors 150a and 150b as in this embodiment because it is easy to obtain, it is not always necessary to detect the acceleration value in the transverse direction (y-axis) of the girder 110 of the overhead crane 100. Therefore, instead of the three-axis acceleration sensors 150a and 150b, two-axis acceleration sensors that detect acceleration values in the traveling direction (x-axis) of the overhead crane 100 and the height direction (z-axis) of the overhead crane 100 are used. May be. Also, a uniaxial acceleration sensor that detects an acceleration value in the traveling direction (x axis) of the overhead crane 100 and a uniaxial acceleration sensor that detects an acceleration value in the height direction (z axis) of the overhead crane 100 (a set). May be used instead of the three-axis acceleration sensors 150a and 150b.

The embodiment of the present invention described above can be realized by a computer executing a program. Further, a means for supplying the program to the computer, for example, a computer-readable recording medium such as a CD-ROM in which such a program is recorded, or a transmission medium for transmitting such a program may be applied as an embodiment of the present invention. it can. A program product such as a computer-readable recording medium that records the program can also be applied as an embodiment of the present invention. The programs, computer-readable recording media, transmission media, and program products are included in the scope of the present invention.
In addition, the embodiments of the present invention described above are merely examples of implementation in carrying out the present invention, and the technical scope of the present invention should not be construed as being limited thereto. Is. That is, the present invention can be implemented in various forms without departing from the technical idea or the main features thereof.

(Correspondence with claims)
<Claims 1 and 7>
The position deriving unit is realized by using, for example, a position signal deriving unit 613, a current position deriving unit 614, a previous position storing unit 616, and a position updating unit 617. Further, the position deriving step is realized by performing the processes of steps S801, S803, S806, and S807, for example.
The abnormal vibration determination means is realized by using, for example, the abnormal vibration determination unit 618 and the abnormal vibration determination value storage unit 619. Also, the abnormal vibration determination step is realized by performing the process of step S809, for example. Here, the abnormal vibration determination value is realized by using upper and lower limit values stored in the abnormal vibration determination value storage unit 619, for example.
The display means is realized by using, for example, a position / vibration / abnormality presence / absence capturing unit 631 and a position / vibration / abnormality presence / absence display unit 632. The display process is realized, for example, when the position / vibration / abnormality display unit 632 performs processing for displaying the display screen 700 shown in FIG.
<Claims 2 and 9>
The position storage means is realized by using a limit switch position storage unit 615, for example. The position storing step is realized, for example, by performing processing for storing the “position in the traveling direction of the overhead crane 100” (x-axis coordinates) of the northern limit striker 330a, the entrance striker 330b, and the southern limit striker 330c in the HDD. .
The position deriving unit is realized by using, for example, a position signal deriving unit 613, a current position deriving unit 614, a previous position storing unit 616, and a position updating unit 617. Further, the position deriving step is realized by performing the processes of steps S801, S803, S804, S805, and S807, for example.
<Claims 4 and 11>
The abnormal running determination unit is realized by using, for example, an abnormal running detection unit 611 and an abnormal running determination value storage unit 612. The abnormal running determination step is realized by performing the process of step S802, for example.
The position deriving unit is realized by using, for example, a position signal deriving unit 613, a current position deriving unit 614, a previous position storing unit 616, and a position updating unit 617. The position deriving step is realized, for example, by performing the process in step S803 when it is determined Yes in step S802.
<Claims 6 and 13>
The notification means is realized by using, for example, an alarm output unit 641. The notification step is realized by, for example, sounding a buzzer or emitting a lamp in response to an input of an abnormality presence signal.

DESCRIPTION OF SYMBOLS 100 Overhead crane 110 Girder 120 Trolley 130 Saddle 131 Wheel 132 Limit switch 140 Driver's cab 150 Three-axis acceleration sensor 210 Track 211 Rail 310 Bumper stopper 320 Entrance 330 Striker 610 Information processing device 620 Input device 630 Indicator 640 Alarm device

Claims (11)

A crane track abnormality detection system for detecting an abnormality in a track on which an overhead crane travels,
An acceleration sensor attached to the overhead crane, wherein the acceleration sensor detects acceleration in the traveling direction of the overhead crane and acceleration in the height direction of the overhead crane;
Position deriving means for deriving a current position in the traveling direction of the overhead crane based on the acceleration in the traveling direction of the overhead crane detected by the acceleration sensor;
Abnormal vibration determination means for determining whether or not there is an abnormality in the track based on a result of comparing the acceleration in the height direction of the overhead crane detected by the acceleration sensor and a preset abnormal vibration determination value; ,
Display means for displaying on a display device information indicating a location determined to be abnormal by the abnormal vibration determination means;
A limit switch attached to the overhead crane, the limit switch operating when the overhead crane passes a predetermined position;
Have a, a position storage means for storing in advance the information of the predetermined position,
When the position deriving means detects that the overhead crane has passed a predetermined position by the limit switch, the position deriving means detects the acceleration without detecting the acceleration in the traveling direction of the overhead crane detected by the acceleration sensor. Deriving a predetermined position as a current position in the traveling direction of the overhead crane,
The predetermined position includes a position corresponding to one end of the track, a position corresponding to the other end of the track, and a position corresponding to the entrance of the overhead crane,
In the position deriving means, the acceleration in the traveling direction of the overhead crane is time-integrated twice to derive a change in the position in the traveling direction of the overhead crane, and the change is calculated as a current value in the traveling direction of the overhead crane. A crane trajectory abnormality detection system , wherein the position added to the position is derived and updated as a current position in the traveling direction of the overhead crane . An abnormal traveling determination means for determining whether the acceleration in the traveling direction of the overhead crane detected by the acceleration sensor is abnormal;
The position deriving means detects the overhead crane detected by the acceleration sensor when the abnormal traveling determination means determines that the acceleration in the traveling direction of the overhead crane detected by the acceleration sensor is not abnormal. crane track anomaly detection system according to claim 1, in the running direction of the based on the acceleration, characterized by deriving a current position in the running direction of the overhead crane. The crane trajectory abnormality detection system according to claim 1 or 2 , wherein the acceleration sensors are respectively attached to saddles located at both ends of the overhead crane. If it is determined that there is an abnormality by said abnormal vibration determining means that the, in any one of claim 1 to 3, characterized in that it comprises a notifying means for notifying a different form from that of the display means The crane trajectory abnormality detection system described. The crane trajectory abnormality detection system according to any one of claims 1 to 4 , wherein the acceleration sensor is a triaxial acceleration sensor. A crane track abnormality detection method for detecting an abnormality in a track on which an overhead crane travels,
An acceleration sensor attached to the overhead crane, the acceleration detecting step of detecting acceleration in the traveling direction of the overhead crane and acceleration in the height direction of the overhead crane by an acceleration sensor;
A position deriving step for deriving a current position in the traveling direction of the overhead crane based on the acceleration in the traveling direction of the overhead crane detected by the acceleration detecting step;
An abnormal vibration determination step of determining whether or not there is an abnormality in the track based on a result of comparing the acceleration in the height direction of the overhead crane detected in the acceleration detection step and a preset abnormal vibration determination value. When,
A display step of displaying information indicating a location determined to be abnormal in the abnormal vibration determination step on a display device;
A limit switch attached to the overhead crane, and a passage detection step for detecting that the overhead crane has passed a predetermined position by a limit switch that operates when the overhead crane passes a predetermined position; ,
Have a, a position storage step of storing in advance the information of the predetermined position,
In the position deriving step, when it is detected by the passage detection step that the overhead crane has passed a predetermined position, the acceleration in the traveling direction of the overhead crane detected by the acceleration detection step is not used. , The predetermined position is derived as the current position in the traveling direction of the overhead crane,
The predetermined position includes a position corresponding to one end of the track, a position corresponding to the other end of the track, and a position corresponding to the entrance of the overhead crane,
In the position deriving step, the acceleration in the traveling direction of the overhead crane is integrated twice over time, a change in the position in the traveling direction of the overhead crane is derived, and the change in the current direction in the traveling direction of the overhead crane is derived. A crane trajectory abnormality detection method, wherein a position added to a position is derived and updated as a current position in a traveling direction of an overhead crane . An abnormal traveling determination step of determining whether or not the acceleration in the traveling direction of the overhead crane detected by the acceleration detection step is abnormal;
Wherein the position deriving step, by the abnormal running determination step, said detected by the acceleration detecting step, when the acceleration in the running direction of the overhead crane is not determined to be abnormal, is detected by the pre-Symbol acceleration detecting step The crane track abnormality detection method according to claim 6 , wherein a current position in the traveling direction of the overhead crane is derived based on acceleration in the traveling direction of the overhead crane. The crane acceleration detection method according to claim 6 or 7 , wherein the acceleration sensors are respectively attached to saddles located at both ends of the overhead crane. If it is determined that there is an abnormality by said abnormal vibration determining step, that the, in any one of claims 6-8, characterized in that it has a notification step of notifying a different form from that of the display step The crane trajectory abnormality detection method described. The crane trajectory abnormality detection method according to any one of claims 6 to 9 , wherein the acceleration sensor is a triaxial acceleration sensor. A computer program for causing a computer to detect an abnormality in a track on which an overhead crane travels,
An acceleration sensor attached to the overhead crane, the acceleration sensor detecting an acceleration in the traveling direction of the overhead crane and an acceleration in the height direction of the overhead crane. A position deriving step for deriving a current position in the traveling direction of the overhead crane based on acceleration;
An abnormal vibration determination step of determining whether or not there is an abnormality in the track based on a result of comparing the acceleration in the height direction of the overhead crane detected by the acceleration sensor and a preset abnormal vibration determination value; ,
A display step of displaying information indicating a location determined to be abnormal in the abnormal vibration determination step on a display device;
A position storage step of previously storing information on a predetermined position through which the overhead crane passes in a storage medium;
To the computer,
The position deriving step is a limit switch attached to the overhead crane, and the overhead crane has passed the predetermined position by a limit switch that operates when the overhead crane has passed the predetermined position. Is detected, the predetermined position is derived as the current position in the traveling direction of the overhead crane without using the acceleration in the traveling direction of the overhead crane detected by the acceleration sensor,
The predetermined position includes a position corresponding to one end of the track, a position corresponding to the other end of the track, and a position corresponding to the entrance of the overhead crane,
In the position deriving step, the acceleration in the traveling direction of the overhead crane is integrated twice over time, a change in the position in the traveling direction of the overhead crane is derived, and the change in the current direction in the traveling direction of the overhead crane is derived. the position obtained by adding the position, the computer program characterized that you derive as the current position in the running direction of the overhead crane update.

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