JP6428572B2 - Metal plate overlay apparatus and overlay method - Google Patents

Description

  The present invention relates to a metal plate superimposing apparatus and a superimposing method using an indoor crane using an indoor position measurement system.

  In recent years, steel production lines are generally highly automated, but there are still manufacturing and inspection processes that require operator intervention. Specifically, clad steels are steel materials in which two types of metal plates having different properties are bonded together, but many of the manufacturing processes depend on manual work. Specifically, there are various methods such as explosive welding for bonding different metal plates, but in the manufacturing process of clad steel, the metal plates stacked at room temperature are heated and hot-rolled for pressure bonding. It has become common. In addition, as a pre-treatment, electron beam welding (Electron Beam welding) is performed on the peripheral edge of the metal plate in a vacuum environment so as not to cause poor bonding due to the bonding failure or displacement of the stacked metal plates in this crimping process. Welding (EBW) has become common practice.

  In addition, for metal plate superposition work when bonding metal plates, the size and type of metal plates, the number of metal plates to be bonded, and the combination pattern such as inside and outside differ depending on the order, and generally a small lot. Since it is a made-to-order manufacturing, it is difficult to introduce an automated manufacturing machine online. For this reason, generally, the metal plate overlaying operation is performed off-line. Specifically, the metal plate superimposing operation is performed by superimposing the metal plates on the work table by operating a crane that handles the metal plates. Since misalignment between the metal plates induces poor welding and poor quality in the crimping process, the operator needs to be careful when stacking the metal plates.

  In addition, the fact that the operator is not allowed to directly touch the metal plate, which is the crane's suspended load, due to safety rules makes the metal plate superposition work more difficult. Here, as a general case, it is assumed that two metal plates having a size of 2 m × 5 m are overlaid on a work table with an error within 5 mm. In this case, the horizontal direction at the peripheral edge of the metal plate close to the worker alone is due to the necessity of ensuring the retreat distance from the crane's suspended load based on safety rules and the large size of the metal plate. It is difficult to confirm the positional deviation. Moreover, it is practically difficult to carry out delicate position adjustment including a turning operation of a crane for adjusting a rotation component in a horizontal plane of a metal plate by one person. For this reason, a method for facilitating the overlapping work of metal plates has been proposed.

  Specifically, as a conventional metal plate superimposing method, a guide plate for assisting the metal plate superposition before the superposition operation is provided at any number of locations around the lower metal plate 4. There is a method of fixing by welding and removing the guide plate after superposition is completed. Further, Patent Document 1 discloses a method of controlling a handling device only by relative coordinates so that a component is handled at the assembly position by a measurement device for measuring the relative coordinate of the assembly position and a handling device for positioning the component. Is described. In the method described in Patent Document 1, the relative coordinates of the assembly position in the coordinate system of the measuring device are measured based on the slit light projection method using a measuring device including a slit light projector and a CCD camera.

Japanese Patent Laid-Open No. 11-81686

  However, in the metal plate superimposing method using the guide plate, the work efficiency relating to the welding fixation and removal of the guide plate is required, so that the work efficiency is lowered. Even when a guide plate is installed, the operator still needs to finely adjust the crane position so that an overload does not act on the guide plate. In addition, the fine adjustment of crane operation largely depends on the ability of the operator, and when an unskilled worker is engaged, the guide plate may come off due to improper crane operation and the series of operations will be repeated. Can be considered. Furthermore, there is a possibility that a quality defect may occur due to interference with the metal plate to which the guide plate is bonded, and there is a safety risk such as an accident in which the interfered metal plate falls from the work table.

  On the other hand, when a metal plate is overlaid using a measuring device for measuring relative coordinates of an assembly position as described in Patent Document 1, it is necessary to see two metal plates to be overlaid from the measuring device. . However, when handling a 2 m x 5 m size metal plate with a crane, the lower material to be overlapped is covered with the upper material just before the overlaying operation is completed, and is almost in a blind spot state. In addition, the metal plates cannot be superposed. On the other hand, when the measuring device described in Patent Document 1 including a CCD camera is installed so as to cover the work area, it is realistic to install the measuring device so as to look down on the work area above the building column.

  In this case, if a typical factory building column span is 20 m, it is desirable that the measuring device can image at least 10 m far away with a horizontal viewing angle of 90 °. However, even if a high-resolution CCD camera with a resolution of 3200 dpi (4416 × 2844 pixels) is adopted at this time, the spatial resolution in the horizontal direction at a distance of 10 m from the center of the visual field is about 4.52 mm (= 10 m × 2/4416). . For this reason, when image processing such as distortion correction in a wide-angle region and arithmetic processing for relative position calculation are added, the measurement accuracy of the relative coordinates of the two objects is 10 mm or more. Therefore, in the method described in Patent Document 1, it is difficult to perform an operation of superimposing two metal plates on a work table with an error within 5 mm.

  The present invention has been made in view of the above problems, and its purpose is to efficiently and safely superimpose two metal plates on a work table with an error within 5 mm by an indoor crane. An object of the present invention is to provide a metal plate superimposing apparatus and a superimposing method capable of superimposing metal plates.

  The metal plate superimposing apparatus according to the first aspect of the present invention is such that the metal plate is engaged with a hanging jig provided in a work area for performing an operation of superimposing two metal plates. An indoor crane that moves a plate, a plurality of navigation transmitters that emit a rotating fan beam provided in the work area, and the rotating fan beam that is mounted on the hanging jig is received as a positioning signal. A first navigation receiver, a second navigation receiver mounted on a worker who works in the work area and receiving the rotating fan beam as a positioning signal; and the first navigation reception. The indoor position is calculated such that the current position of the hanging jig is calculated based on the positioning signal received by the machine, and the current position of the hanging jig becomes the target position based on the deviation between the calculated current position and the target position. Crane traveling autonomously By overlapping the two metal plates, when the indoor crane is autonomously moved, a retreat area in which an operator should retreat is calculated based on the current position of the suspension jig, and the second Control that calculates the current position of the worker based on the positioning signal received by the navigation receiver and controls the autonomous movement operation of the indoor crane based on the position of the retreat area and the current position of the worker And means.

  According to a first aspect of the present invention, there is provided the metal plate overlapping apparatus according to the above-described invention, further comprising an alarm unit attached to the worker, wherein the control unit has the current position of the worker within the retreat area. In some cases, the alarm is notified to the worker by controlling the alarm means.

  The metal plate superimposing device according to the second aspect of the present invention is such that the metal plate is engaged with a hanging jig provided in a work area where the operation of superimposing two metal plates is performed. An indoor crane that moves a plate, a plurality of navigation transmitters that emit a rotating fan beam provided in the work area, and the rotating fan beam that is mounted on the hanging jig is received as a positioning signal. A navigation receiver, a distance measuring sensor mounted on the suspension jig for measuring the distance between the suspension jig and a landmark existing in the vicinity, and a positioning signal received by the navigation receiver By calculating the current position of the hanging jig based on the above and autonomously running the indoor crane so that the current position of the hanging jig becomes the target position based on the deviation between the calculated current position and the target position. 2 sheets With superposed genus plate, characterized in that it comprises a control means for controlling the autonomous movement of the indoor crane based on the magnitude relationship between the measured distance with a predetermined threshold value by the distance measuring sensor.

  The metal plate superimposing method according to the first aspect of the present invention is a step in which a plurality of navigation transmitters provided in a work area for performing an operation of superposing two metal plates emit a rotating fan beam. And the first navigation receiver mounted on the hanging jig of the indoor crane that moves the metal plate by locking the metal plate to the hanging jig receives the rotating fan beam as a positioning signal. A second navigation receiver mounted on a worker who works in the work area receives the rotating fan beam as a positioning signal, and a control means is used for the first navigation. The current position of the hanging jig is calculated based on the positioning signal received by the receiver, and the current position of the hanging jig is set to the target position based on the deviation between the calculated current position and the target position. Indoor clerk By automatically traveling the two metal plates, a retreat area in which an operator should retreat is calculated based on the current position of the suspension jig when the indoor crane is autonomously moved. Calculating the current position of the worker based on the positioning signal received by the second navigation receiver, and autonomously moving the indoor crane based on the position of the retreat area and the current position of the worker And a step of controlling.

  The metal plate superimposing method according to the first aspect of the present invention is the above invention, wherein the control means includes an alarm means attached to the operator when the current position of the operator is within the retreat area. The method includes a step of notifying the worker of an alarm by controlling.

  The metal plate superimposing method according to the second aspect of the present invention is a step in which a plurality of navigation transmitters provided in a work area for performing an operation of superposing two metal plates emit a rotating fan beam. And a navigation receiver mounted on the suspension jig of an indoor crane that moves the metal plate by locking the metal plate to a suspension jig, and receives the rotating fan beam as a positioning signal; A step in which a second navigation receiver attached to a worker who works in the work area receives the rotating fan beam as a positioning signal, and a distance measuring sensor attached to the suspension jig, A step of measuring a distance between the suspension jig and surrounding landmarks, and a control unit calculates a current position of the suspension jig based on a positioning signal received by the navigation receiver; The Based on the deviation between the current position and the target position, the indoor crane is allowed to travel autonomously so that the current position of the hanging jig becomes the target position, thereby superimposing two metal plates and using the distance measuring sensor. Controlling the autonomous movement operation of the indoor crane based on the magnitude relationship between the measured distance and a predetermined threshold value.

  According to the metal plate superimposing apparatus and the superimposing method of the present invention, the metal plate can be efficiently and safely used in the operation of superimposing two metal plates on the work table with an error within 5 mm by an indoor crane. Can be superimposed.

FIG. 1 is a schematic diagram showing an overall configuration of a metal plate superposing apparatus according to an embodiment of the present invention. FIG. 2 is a block diagram showing a configuration of a metal plate superposing apparatus according to an embodiment of the present invention. FIG. 3 is a flowchart showing a flow of global coordinate system setting processing according to an embodiment of the present invention. FIG. 4 is a perspective view showing positions of measurement points measured in the global coordinate system setting process shown in FIG. FIG. 5 is a plan view showing the positions of the measurement points measured in the global coordinate system setting process shown in FIG. FIG. 6 is a flowchart showing a flow of position / posture information acquisition processing according to an embodiment of the present invention. FIG. 7 is a diagram showing an example of a rectangular shape calculated by the position / posture information acquisition process shown in FIG. FIG. 8 is a flowchart showing the flow of target trajectory calculation processing according to an embodiment of the present invention. FIG. 9 is a diagram showing an example of a rectangular shape calculated by the target trajectory calculation process shown in FIG. FIG. 10 is a schematic diagram for explaining the indoor crane control process according to the first embodiment of the present invention. FIG. 11 is a schematic diagram for explaining an indoor crane control process according to the second embodiment of the present invention. FIG. 12 is a schematic diagram for explaining an indoor crane control process according to the second embodiment of the present invention.

  Hereinafter, with reference to the drawings, the configuration and operation of a metal plate superposing apparatus according to an embodiment of the present invention will be described.

[Configuration of the metal plate overlay device]
First, with reference to FIG. 1 and FIG. 2, the structure of the metal plate superimposing apparatus which is one embodiment of the present invention will be described. FIG. 1 is a schematic diagram showing an overall configuration of a metal plate superposing apparatus according to an embodiment of the present invention. FIG. 2 is a block diagram showing a configuration of a metal plate superposing apparatus according to an embodiment of the present invention.

  As shown in FIG. 1, a metal sheet superposing apparatus 1 according to an embodiment of the present invention is superposed on a material to be superposed P1 placed on a work table T using an indoor crane 2. It is an apparatus for performing the operation | work which overlaps the bonding material P2. Here, the stacked material P1 and the stacked material P2 are each composed of a metal plate such as a steel plate having different properties.

  As shown in FIGS. 1 and 2, a metal plate superposing apparatus 1 according to an embodiment of the present invention includes an indoor crane 2 and an indoor position measuring system 3 as main components. The indoor crane 2 includes a hanging jig 21, a carriage 22, and an operator controller 23.

  The hanging jig 21 includes a gripping device 21a for gripping the overlapping material P2 and a frame 21b for fixing the gripping device 21a, and has a function of gripping and fixing the overlapping material P2. In order to avoid interference with the overlay material P1 when the overlay material P2 is overlaid on the overlay material P1, the overlay material P2 is gripped from the left and right directions and is placed on the convex portion at the tip of the gripping portion. A so-called tong-type gripping device that hooks and lifts P2 cannot be used. Moreover, since the stainless steel plate which is a nonmagnetic material may be handled as a metal plate which forms the overlapping material P2, a magnet crane cannot be used as a gripping device. For this reason, as the gripping device 21a, it is desirable to use a vacuum lift type gripping device that generates a negative pressure between the overlapping material P2 and generates an adsorption force with the surface of the overlapping material P2.

  The carriage 22 includes an on-board computer 22a, a motor control unit 22b, and a drive unit 22c. The on-board computer 22a is configured by an information processing device and controls the motor control unit 22b according to an operation command transmitted from the operator controller 23. The motor control unit 22b controls the drive unit 22c according to the control signal output from the onboard computer 22a. In accordance with the control current output from the motor control unit 22b, the drive unit 22c winds and lowers the lifting jig 21 in the direction of arrow 50, traverses the hanging jig 21 in the direction of arrow D2, and the arrow of the carriage 22 on the rail R. The traveling in the direction D3 and the turning operation of the hanging jig 21 in the arrow D4 direction are performed.

  The operator controller 23 is operated by the operator O and has a function of transmitting a winding, traversing, traveling, or turning operation command transmitted from the host computer 33 described later to the on-board computer 22a. Further, when the worker O sets the autonomous movement mode to the on state by operating the autonomous movement mode ON / OFF switch, the operator controller 23 indicates that the autonomous movement mode has been set to the on state. Is transmitted to the on-board computer 22a. When the signal indicating that the autonomous movement mode is set to the on state is received, the on-board computer 22a controls the motor control unit 22b based on the operation command information transmitted from the operator controller 23 to change the cart 22 Let it run autonomously.

  The indoor position measurement system 3 includes a plurality of navigation transmitters 31, a navigation receiver 32, and a host computer 33.

  The navigation transmitter 31 is installed in a work area where the work of superposing the superposed material P2 on the superposed material P1 is performed, and emits two rotating fan beams (fan-shaped beams) FB. The rotating fan beam FB may be a laser fan beam or other light emitting means.

  The navigation receiver 32 is attached to the hanging jig 21 and receives the rotating fan beam FB emitted from the plurality of navigation transmitters 31. The navigation receiver 32 recognizes the received rotating fan beam FB as an IGPS (Indoor Global Positioning System) signal, and wirelessly transmits information related to the recognized IGPS signal to the host computer 33 as reception information. Generally, a GPS (Global Positioning System) recognizes and determines a three-dimensional coordinate value (hereinafter referred to as “coordinate value”) that matches the position of a GPS receiver using three or more GPS artificial satellites. The indoor position measurement system (IGPS) applies such a concept to the room. Details of the indoor position measurement system are described in detail in US Pat. No. 6,501,543.

  The host computer 33 includes a computer main body 33a, a keyboard 33b, and a receiving device 33c. The storage means of the computer main body 33a stores a current position calculation program 33d, a target trajectory calculation program 33e, an overlap material surrounding area calculation program 33f, and an area determination program 33g. The keyboard 33b outputs an operation input signal of the work vehicle O to the computer main body 33a. The receiving device 33c outputs the reception information wirelessly transmitted from the navigation receiver 32 to the computer main body 33a.

  The computer main body 33a calculates the current position of the navigation receiver 32 based on the reception information from the navigation receiver 32 by executing the current position calculation program 33d. Specifically, the rotation fan beam FB emitted from the navigation transmitter 31 is shifted by a predetermined angle between the navigation transmitters 31, so that the coordinates of the navigation receiver 32 are based on the received rotation fan beam FB. The value, i.e. position or height can be measured. Information received from the navigation receiver 32 is transmitted to the computer main body 33a via the receiver 33c, and the computer main body 33a calculates the position of the navigation receiver 32 in the global coordinate system from the received information according to the principle of triangulation. .

  Then, the computer main body 33a defines global coordinate systems corresponding to the traveling, transverse, hoisting, and turning direction components of the indoor crane 2 in the work area as (X, Y, Z) and (θx, θy, θz), respectively. Thus, the position of the navigation receiver 32 can be directly associated with the control direction of the indoor crane 2. Since the direction of the building itself including the crane garter does not change greatly, it is sufficient that the setting operation of the global coordinate system is performed when the installation position of the navigation transmitter 31 is shifted due to maintenance work or the like.

  Here, a global coordinate system setting method will be described with reference to FIGS. FIG. 3 is a flowchart showing a flow of global coordinate system setting processing according to an embodiment of the present invention. 4 and 5 are a perspective view and a plan view, respectively, for explaining the positions of the measurement points A1, B1, and C1 measured in the global coordinate system setting process. As shown in FIG. 4, when setting the global coordinate system, first, the operator O provides the contact probe 51 of the jig 50 including the navigation receiver 32 on the surface of the factory building column T1. The position of the measurement point A1 of the landmark L1 is measured by contacting the received landmark L1 and transmitting the reception information from the navigation receiver 32 to the host computer 33 (step S1).

  In order to measure the position of the landmark with high accuracy, it is desirable that the geometric positional relationship between the navigation receiver 32 and the contact probe 51 is determined with high accuracy within ± 50 micrometers. Since the position information (X, Y, Z) and attitude (θx, θy, θz) of the navigation receiver 32 can be obtained by the indoor position measurement system, the geometry of the navigation receiver 32 and the contact type probe unit 51 is obtained. If the target positional relationship is determined, the received information of the navigation receiver 32 can be converted into the position information (landmark position information) of the contact probe 51.

  Next, the worker O brings the contact probe 51 of the jig 50 into contact with the landmark L2 provided on the surface of the column T2 adjacent to the factory building column T1 in the traveling direction D3 of the indoor crane 2 for navigation. By transmitting reception information from the receiver 32 to the host computer 33, the position of the measurement point B1 of the landmark L2 is measured (step S2). Next, the worker O brings the contact probe 51 of the jig 50 into contact with the landmark L3 provided on the surface of the column T3 adjacent to the factory building column T1 in the transverse direction D2 of the indoor crane 2 for navigation. By transmitting reception information from the receiver 32 to the host computer 33, the position of the measurement point C1 of the landmark L3 is measured (step S3). Finally, based on the information received from the navigation receiver 32, the host computer 33 includes a coordinate system that includes the positions of the measurement points A1, B1, and C1 in the corner and the position of the measurement point A1 as the origin. A system (see FIG. 5) is defined (step S4).

  Although it depends on the intensity of the rotating fan beam, a commercially available indoor position measurement system can obtain positioning accuracy within ± 50 micrometers within a radius of 20 to 30 m. For this reason, when the navigation transmitter 31 is installed so as to cover the entire work area, it is realistic to install the navigation transmitter 31 overlooking the work area above the building column. Therefore, positioning can be performed with sufficient accuracy even when a typical factory building column span is 20 m.

  In the present embodiment, the worker O wears a navigation receiver 41 having the same configuration as the navigation receiver 32 and a portable crane approach alarm 42. The navigation receiver 41 and the portable crane approach alarm 42 function as a second navigation receiver and alarm means according to the present invention, respectively.

  The metal plate superposition apparatus 1 having such a configuration performs the following position / posture information acquisition processing and target trajectory calculation processing, so that the two indoor metal plates 2 can be moved with an error within 5 mm by the indoor crane 2. In the operation of superimposing on the work table, the metal plates are superposed efficiently and safely. Hereinafter, the operation of the metal plate overlaying apparatus 1 when executing the position / posture information acquisition process and the target trajectory calculation process will be described.

[Position / Attitude Information Acquisition Processing]
First, with reference to FIGS. 6 and 7, the operation of the metal plate superimposing apparatus 1 when the position / posture information acquisition process is executed will be described. FIG. 6 is a flowchart showing a flow of position / posture information acquisition processing according to an embodiment of the present invention. FIG. 7 is a diagram showing an example of a rectangular shape calculated by the position / posture information acquisition process shown in FIG. The flowchart shown in FIG. 6 starts when the operator O instructs the host computer 33 to execute position / posture information acquisition processing by operating the keyboard 33b. The host computer 33 executes the position / posture information acquisition process by executing the current position calculation program 33d in response to an instruction to execute the position / posture information acquisition process.

  As shown in FIG. 6, in the position / orientation information acquisition process, first, the operator O places the contact probe 51 of the jig 50 to which the navigation receiver 32 is attached at the corner of the material P1 to be stacked. Contact is made and the reception information is transmitted from the navigation receiver 32 to the host computer 33, thereby measuring the position of the measurement point A2 at the corner of the superposed material P1 (step S11). Next, the worker O brings the contact probe portion 51 of the jig 50 into contact with the corner adjacent to the measurement point A2 in the rolling direction of the stacked material P1, and receives information from the navigation receiver 32 to the host computer 33. Is transmitted to measure the position of the measurement point B2 at the corner of the stacked material P1 (step S12).

  Next, the worker O brings the contact probe 51 of the jig 50 into contact with the corner adjacent to the measurement point A2 in the diagonal direction of the stacked material P1, and receives information from the navigation receiver 32 to the host computer 33. Is transmitted to measure the position of the measurement point C2 at the corner of the stacked material P1 (step S13). Finally, the host computer 33 calculates a rectangular shape (see FIG. 7) including the positions of the measurement points A2, B2, and C2 in the corner based on the received information from the navigation receiver 32, and calculates the calculated rectangle. Based on the shape, the (X1, Y1, Z1) and the posture (θ1x, θ1y, θ1z) of the stacked material P1 are recognized. The host computer 33 has a coordinate system (stacked metal plate coordinate system) in which the measurement point A2 is the origin, the vector direction from the measurement point A2 to the measurement point B2 is the X direction, and the direction orthogonal to the X direction is the Y direction. Is set (step S14). As a result, the series of position / posture information acquisition processing ends.

[Target trajectory calculation processing]
Next, with reference to FIGS. 8 and 9, the operation of the metal plate overlaying apparatus 1 when executing the target trajectory calculation process will be described. FIG. 8 is a flowchart showing the flow of target trajectory calculation processing according to an embodiment of the present invention. FIG. 9 is a diagram showing an example of a rectangular shape calculated by the target trajectory calculation process shown in FIG. The flowchart shown in FIG. 8 starts when the operator O instructs the host computer 33 to execute the target trajectory calculation process by operating the keyboard 33b. In response to an instruction to execute the target trajectory calculation process, the host computer 33 executes the target trajectory calculation process by executing the target trajectory calculation program 33e.

  As shown in FIG. 8, in the target trajectory calculation process, first, the operator O brings the contact probe portion 51 of the jig 50 to which the navigation receiver 32 is attached into contact with the corner of the overlapping material P2. By transmitting the reception information from the navigation receiver 32 to the host computer 33, the position of the measurement point A3 at the corner of the overlapping material P2 is measured (step S21). Next, the worker O brings the contact probe 51 of the jig 50 into contact with the corner adjacent to the measurement point A3 in the rolling direction of the overlapping material P2, and receives the received information from the navigation receiver 32 to the host computer 33. By transmitting, the position of the measurement point B3 at the corner of the overlapping material P2 is measured (step S22).

  Next, the worker O brings the contact probe 51 of the jig 50 into contact with the corner adjacent to the measurement point A3 in the diagonal direction of the overlapping material P2, and receives the reception information from the navigation receiver 32 to the host computer 33. By transmitting, the position of the measurement point C3 at the corner of the overlapping material P2 is measured (step S23). Next, the host computer 33 calculates a rectangular shape including the positions of the measurement points A3, B3, and C3 in the corner based on the information transmitted from the navigation receiver 32, and superimposes based on the calculated rectangular shape. The position (X2, Y2, Z2) and posture (θ2x, θ2y, θ2z) of the laminated material P2 are recognized (see FIG. 9). The host computer 33 uses a coordinate system (stacked metal plate coordinate system) in which the measurement point A3 is the origin, the vector direction from the measurement point A3 to the measurement point B3 is the X direction, and the direction orthogonal to the X direction is the Y direction. Set (step S24).

  Next, the host computer 33 converts the position (X3, Y3, Z3) and attitude (θ3x, θ3y, θ3z) information of the navigation receiver 32 attached to the hanging jig 21 and the information of the overlapping metal plate coordinate system. Based on this, the relative position (X3-X2, Y3-Y2, Z3-Z2) and posture (θ3x-θ2x, θ3y-θ2y, θ3z-θ2z) between the hanging jig 21 and the overlapping material P2 are calculated (step S25). ). Next, the host computer 33 determines the relative position (X1-X2, Y1-Y2, Z1-Z2) and orientation (θ1x-θ2x, θ1y-θ2y, θ1z-θ2z) of the stacked metal plate coordinate system and the stacked metal plate coordinate system. ) Is calculated (step S25).

  Next, the host computer 33 uses the information on the position and orientation of the navigation receiver 32 mounted on the hanging jig 21 to target movement positions (X3 + X1-X2, Y3 + Y1-Y2, Z3 + Z1-Z2) of the hanging jig 21 and The target postures (θ3x + θ1x−θ2x, θ3y + θ1y−θ2y, θ3z + θ1z−θ2z) are calculated as target movement components of the hanging jig 21. Then, the host computer 33 sets the target trajectory so that the position and posture information of the navigation receiver 32 attached to the hanging jig 21 becomes the target movement position and the target posture. Specifically, the host computer 33 winds up the suspension jig 21 by 3 m so that the overlapping material P2 does not interfere with the surrounding structure and the worker O, and then follows the target trajectory through the simultaneous operation of traversing, running, and turning. Then, the hanging jig 21 is moved. After that, the host computer 33 performs the lowering operation of the hanging jig 21, then decelerates the lowering speed 10 cm before contacting the material to be overlapped P1, and finely adjusts the position and posture of the overlapping material P2. The superimposing material P2 is superposed on the superposed material P1 while adding (step S26).

  As is apparent from the above description, in the metal plate superimposing apparatus 1 according to the embodiment of the present invention, a plurality of navigation transmitters provided in a work area for performing an operation of superposing two metal plates. A navigation receiver 32 mounted on the hanging jig 21 of the indoor crane 2 that moves the metal plate by injecting the rotating fan beam 31 and locking the metal plate to the hanging jig 21 includes a rotating fan beam. Is received as an IGPS signal, and the host computer 33 calculates the current position of the hanging jig 21 based on the IGPS signal received by the navigation receiver 32, and based on the deviation between the calculated current position and the target position. By making the indoor crane 2 autonomously travel so that the current position of the hanging jig 21 becomes the target position, the two metal plates are overlapped. Thereby, in the operation | work which piles up two metal plates on a work bench with the error within 5 mm with an indoor crane, a metal plate can be piled up efficiently and safely.

  By the way, when the indoor crane 2 is autonomously moved along the shortest route giving priority to the efficiency as described above, there may be a case where the indoor crane 2 passes above the worker O who works in the work area. . That is, while priority is given to efficiency, a case may occur in which the safety rule of ensuring the retreat distance from the indoor crane 2 is not observed. Moreover, when a metal plate falls from the indoor crane 2, there exists a risk which leads to a serious work accident. Furthermore, when the target trajectory of the indoor crane 2 is set on the assumption that there is no obstacle above the work area, when an unexpected obstacle such as a temporary scaffold for equipment inspection exists in the work area. There is a possibility that the obstacle and the overlapping material P2 come into contact with each other. In this case, as in the case described above, there is a risk of causing a disaster.

  Therefore, in the present embodiment, the occurrence of the risk as described above is suppressed by executing the indoor crane control processing that is the first and second embodiments of the present invention described below. The indoor crane control process described below is realized by the host computer 33 reading and executing the overlapped material surrounding area calculation program 33f and the area determination program 33g.

  FIG. 10 is a schematic diagram for explaining the indoor crane control process according to the first embodiment of the present invention. As shown in FIG. 10, in the indoor crane control process according to the embodiment of the present invention, the host computer 33 executes the area determination program 33 g so that the navigation receiver 41 attached to the worker O causes the worker to operate. The position information of O is acquired in real time. In addition, the host computer 33 executes the overlay material surrounding area calculation program 33f to obtain the lifting height of the overlay material P2 from the position and orientation information of the overlay material P2 recognized using the navigation receiver 32. Accordingly, a work floor area that is a measure of the retreat distance of the worker O is calculated.

  For example, the host computer 33 calculates, as the dangerous area RA, an area in which the retreat distance is secured by the lifting height H from the periphery of the overlapping material P2. In addition, the host computer 33 calculates an area in which an allowance for an arbitrary amount of evacuation distance is secured from the danger area RA as the alarm area RB. When the area determination program 33g determines that the position of the worker O is within the warning area RB, the host computer 33 slows down the target speed of the indoor crane 2 in the autonomous movement control to, for example, 1/3. Perform the action.

  Further, the host computer 33 controls the portable crane approach alarm 42 worn by the worker O to generate an alarm for notifying that the indoor crane 3 is approaching, and evacuates the worker O. Encourage the distance. Further, when the area determination program 33g determines that the position of the worker O is in the danger area RA, the host computer 33 turns off the autonomous movement control mode of the indoor crane 2 and urgently stops the indoor crane 2. . Thereby, the risk that the worker O approaches the overlapping material P2 can be reduced.

  Although the indoor position measurement system can perform positioning with high accuracy, positioning accuracy within ± 50 micrometers is over-spec for monitoring the position of the operator. For the position monitoring of the worker, it is sufficient if the positioning accuracy is within ± 1 m, and it is not limited to the indoor position measuring system. For example, indoor positioning systems that perform three-point surveys using Wifi signals and ultra-wideband UWB (UltraWideBand), indoor GPS systems that use satellite GPS signals (IMES system), and other systems that are under development to improve accuracy There are many. Therefore, in the future, the position of the metal plate can be considered to use an indoor position measurement system, and other positioning systems can be used in combination for monitoring the position of the worker.

  11 and 12 are schematic views for explaining the indoor crane control process according to the second embodiment of the present invention. In the indoor crane control process according to the second embodiment of the present invention, first, the mounted computer 22a is scanned by a scanning distance measuring laser emitted from a sensor light projecting unit mounted on the hanging jig 21 of the indoor crane 2. The distance between the hanging jig 21 and the obstacle 60 is measured by the distance measuring sensor 24 that measures the distance between the hanging jig 21 and the surrounding landmarks at a wide angle. In the examples shown in FIGS. 11 and 12, a temporary scaffold for device inspection is illustrated as an obstacle. The on-board computer 22a converts the measured distance data into data in the global coordinate system based on the relative positional relationship between the navigation receiver 32 and the suspension jig 21 calculated by the host computer 33.

  Next, the host computer 33 determines the distance between the overlay material P2 and the obstacle 60 based on the information regarding the position and orientation of the overlay material P2 and the distance between the suspension jig 21 and the obstacle 60. The proximity distance D is calculated, and the magnitude relationship between the proximity distance D and a predetermined threshold is determined. For example, the host computer 33 sets a circular area having a radius of 3 m centered on the position of the distance measuring sensor 24 as the danger areas R1 and R2, and further, the position of the distance measuring sensor 24 that secures an allowance for an arbitrary amount of retreat distance. A circular area with a radius of 5 m centering on is set as an alarm area. If the proximity distance D is less than 5 m and 3 m or more as a result of the determination, the host computer 33 determines that the obstacle 60 is in the alarm area, and reduces the target speed in the autonomous movement control to, for example, 1/3. To do. Further, when the proximity distance D is smaller than 3 m, the host computer 33 determines that the obstacle 60 is in the danger areas R1 and R2, and turns off the autonomous mobile control mode of the indoor crane 2 to urgently stop the indoor crane 2. . Thereby, the contact accident with non-stationary surrounding obstacles, such as a temporary scaffold, and the laminated material P2 can be prevented.

  The embodiment to which the invention made by the present inventors is applied has been described above, but the present invention is not limited by the description and the drawings that constitute a part of the disclosure of the present invention. For example, although this embodiment uses an indoor position measurement system (IGPS), any indoor position measurement system based on the principle of triangulation having a measurement range and accuracy that can withstand this application can be applied to the present invention. Is possible. As described above, other embodiments, examples, operation techniques, and the like made by those skilled in the art based on the present embodiment are all included in the scope of the present invention.

DESCRIPTION OF SYMBOLS 1 Metal plate superposition apparatus 2 Indoor crane 3 Indoor position measurement system 21 Lifting jig 21a Grasping apparatus 21b Frame 22 Cart 22a On-board computer 22b Motor control part 22c Drive part 23 Operator controller 24 Distance sensor 31 Navigation transmitter 32 , 41 Navigation receiver 33 Host computer 33a Computer main body 33b Keyboard 33c Receiver 33d Current position calculation program 33e Target trajectory calculation program 33f Laminated material surrounding area calculation program 33g Area determination program 42 Portable crane approach alarm FB Rotating fan beam P1 Overlay material P2 Overlay material

Claims (6)

An indoor crane for moving the metal plate by locking the metal plate to a hanging jig, provided in a work area where two metal plates are overlapped;
A plurality of navigation transmitters for emitting a rotating fan beam provided in the work area;
A first navigation receiver mounted on the suspension jig for receiving the rotating fan beam as a positioning signal;
A second navigation receiver that is mounted on a worker who works in the work area and receives the rotating fan beam as a positioning signal;
The current position of the suspension jig is calculated based on the positioning signal received by the first navigation receiver, and the current position of the suspension jig is determined based on the deviation between the calculated current position and the target position. By moving the indoor crane autonomously so as to be in a position, the two metal plates are overlapped, and the worker is retracted based on the current position of the hanging jig when the indoor crane is autonomously moved. A retreat area to be calculated is calculated, a current position of the worker is calculated based on a positioning signal received by the second navigation receiver, and based on the position of the retreat area and the current position of the worker Control means for controlling the autonomous movement operation of the indoor crane;
An apparatus for stacking metal plates, comprising:   Alarm means attached to the worker, and the control means, when the current position of the worker is within the retreat area, to notify the worker of an alarm by controlling the alarm means The metal plate superimposing apparatus according to claim 1, wherein An indoor crane for moving the metal plate by locking the metal plate to a hanging jig, provided in a work area where two metal plates are overlapped;
A plurality of navigation transmitters for emitting a rotating fan beam provided in the work area;
A navigation receiver that is mounted on the suspension jig and receives the rotating fan beam as a positioning signal ;
A distance measuring sensor mounted on the hanging jig for measuring a distance between the hanging jig and a landmark existing in the vicinity;
Based on the positioning signal received by the navigation receiver, the current position and orientation of the hanging jig are calculated, and based on the deviation between the calculated current position and attitude and the target position and target attitude , By autonomously running the indoor crane so that the current position and posture become the target position and target posture , the two metal plates are overlapped and the distance measured by the distance measuring sensor is larger or smaller than a predetermined threshold value. Control means for controlling the autonomous movement operation of the indoor crane based on the relationship;
An apparatus for stacking metal plates, comprising: A plurality of navigation transmitters provided in a work area for performing an operation of superimposing two metal plates, and emitting a rotating fan beam;
The first navigation receiver mounted on the hanging jig of the indoor crane that moves the metal plate by locking the metal plate to the hanging jig receives the rotating fan beam as a positioning signal. When,
A second navigation receiver mounted on a worker who works in the work area receives the rotating fan beam as a positioning signal;
The control means calculates the current position of the hanging jig based on the positioning signal received by the first navigation receiver, and based on the deviation between the calculated current position and the target position, By making the indoor crane autonomously travel so that the current position becomes the target position, the two metal plates are overlapped, and when the indoor crane is moved autonomously, based on the current position of the hanging jig A evacuation area where the worker should be evacuated is calculated, a current position of the worker is calculated based on a positioning signal received by the second navigation receiver, and the position of the evacuation area and the current position of the worker are calculated. Controlling the autonomous movement operation of the indoor crane based on
A method for superimposing metal plates, comprising:   The control means includes a step of notifying the worker of an alarm by controlling an alarm means attached to the worker when the current position of the worker is within the retreat area. Item 5. The method for overlaying metal plates according to Item 4. A plurality of navigation transmitters provided in a work area for performing an operation of superimposing two metal plates, and emitting a rotating fan beam;
A navigation receiver mounted on the hanging jig of an indoor crane that moves the metal plate by locking the metal plate to a hanging jig, receiving the rotating fan beam as a positioning signal;
A second navigation receiver mounted on a worker who works in the work area receives the rotating fan beam as a positioning signal;
A distance measuring sensor mounted on the hanging jig measures the distance between the hanging jig and a surrounding landmark;
The control means calculates the current position and posture of the hanging jig based on the positioning signal received by the navigation receiver, and based on the deviation between the calculated current position and posture and the target position and target posture. By making the indoor crane autonomously run so that the current position and posture of the hanging jig become the target position and the target posture , the two metal plates are overlapped, and the distance measured by the distance measuring sensor is set to a predetermined value. Controlling the autonomous movement operation of the indoor crane based on a magnitude relationship with a threshold;
A method for superimposing metal plates, comprising:

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