JP6438094B1 - crane - Google Patents

Abstract

In an operation using an illumination device, a suspended load can be suitably visually confirmed.
A crane operates a boom and a winch to move a suspended load suspended from the boom to a target position, an illumination device that illuminates the suspended load, and a specific position of the crane By including a specifying unit that specifies distance information regarding a distance from the suspended load to the suspended load, and an adjusting unit that adjusts an output mode of the lighting device according to the identified distance information, It can be visually recognized.
[Selection] Figure 2

Description

  The present invention relates to operation control of a lighting device provided in a crane.

  In order to perform night work safely, there is a crane equipped with a lighting device.

  As a prior art, a crane illumination device that irradiates light toward the center of an imaging target is disclosed (for example, Patent Document 1). This crane lighting device calculates the optical axis of the camera according to the attitude of the crane and the camera, calculates the optical axis of the searchlight according to the attitude of the crane and the searchlight, and the optical axis of the searchlight is the light of the camera. The inclination of the searchlight is controlled so as to be parallel to the axis. By this operation, the crane lighting device can always illuminate the light following the suspended load.

JP 2014-201431 A

  The crane moves the suspended load to the target position by operating the boom and winch while changing the boom undulation angle and the wire rope feed length. When the hoisting angle of the boom and the feeding length of the wire rope change, the distance from the crane body to the suspended load also changes.

  When the suspended load is located far from the crane body, there is a case where it is difficult to visually check an operator or an operator because the light quantity from the lighting device is insufficient. On the other hand, when the suspended load is near the crane body, there is a difference in the amount of light between the light illuminated by the suspended load (reflected light from the suspended load) and the darkness around the suspended load, making the suspended load stand out. I feel dazzling. In this case, the visibility is deteriorated.

  In Patent Document 1, the light can be illuminated following the suspended load, but no mention is made of the difference in visibility depending on the distance as described above.

  This invention is made | formed in view of the said problem, and it aims at providing the technique which can visually recognize a suspended load suitably in the operation | work using an illuminating device.

In order to solve the above problems, a representative crane of the present invention operates a boom and a winch to move a suspended load suspended from the boom to a target position, and illuminates the suspended load. The lighting device, a specifying unit that specifies distance information about the distance from the specific position of the crane to the suspended load that is suspended from the boom , and the lighting device according to the specified distance information. having an adjustment unit for adjusting the light quantity, as the output mode.
A crane according to the present invention is a crane that operates a boom and a winch to move a suspended load suspended from the boom to a target position, and includes an illumination device that illuminates the suspended load, and a specific position of the crane. A specifying unit that specifies distance information related to a distance from the boom to the suspended load, and an adjustment that adjusts an irradiation range angle as an output mode of the illumination device according to the specified distance information Part.
The crane according to the present invention is a crane that operates a boom and a winch to move a suspended load suspended from the boom to a target position, and illuminates the suspended load with at least an output light amount and an irradiation range angle. A plurality of lighting devices , one of which is different from each other, each of which is configured as a separate casing, and the suspended load suspended from the boom from a specific position of the crane And a adjusting unit that adjusts at least one of the output light amount and the irradiation range angle by switching the illumination device according to the specified distance information.

ADVANTAGE OF THE INVENTION According to this invention, it becomes possible to perform adjustment suitable for visual observation in the operation | work using an illuminating device, and a suspended load can be visually recognized suitably.
Problems, configurations, and effects other than those described above will become apparent from the following description of embodiments.

It is a side view of the mobile crane of an embodiment. It is a block diagram which shows the main structural examples for controlling the output mode of the illuminating device of embodiment. It is a figure explaining the calculation method of the distance to the suspended load of embodiment. It is a figure which shows the example of an aspect which controls an irradiation angle (spot / wide) according to the distance to the suspended load of embodiment. It is a figure which shows the example of an aspect irradiated previously according to the turning direction of the crane of embodiment. It is a figure which shows the aspect which irradiates simultaneously the hanging load and target position of embodiment.

  The crane of this embodiment changes the output mode of the lighting device according to the distance from the specific position of the main body to the suspended load. In this embodiment, as an example of the change in the output mode, the amount of light emitted from the lighting device is increased when the suspended load is far away, and the amount of light is suppressed when the suspended load is nearby. Further, in the case of being far away, the irradiation range angle is controlled to be narrow and the spot irradiation is performed, and in the case of being close, the irradiation range angle is set to a wide angle and controlled to be wide irradiation. The light amount adjustment and the irradiation range angle adjustment may be performed in combination.

  Hereinafter, the crane according to the embodiment will be described with reference to the drawings. The coordinate axes of the X-axis, Y-axis, and Z-axis shown in each figure indicate a common direction. The positive direction of the X-axis is the right direction, the negative direction is the left direction, the positive direction of the Y-axis is upward, and the negative direction. The direction is downward. Also, the positive direction of the Z axis is the front and the negative direction is the rear. Each direction is defined based on the working posture of FIG.

  FIG. 1 is a side view of a mobile crane according to an embodiment. The crane 100 includes a traveling unit 10 and a main body unit 1 that can turn with respect to the traveling unit 10. Further, the crane 100 has a boom 2 having one end connected to the main body 1, and the boom 2 undulates in the vertical direction by rotating around the one end. A wire rope 3 is fed out from the other end of the boom 2, and a hook block 4 is suspended from the lower end of the wire rope 3. The suspended load 6 is supported by the sling wire rope 5 and connected to the hook block 4.

  The suspended load 6 moves in the vertical direction 7 when the winch performs a feeding operation and a winding operation of the wire rope 3. The suspended load 6 moves even when the boom 2 moves in the undulation direction 8. From this, if the irradiation range 11 of the illuminating device 9 is fixed at the position shown in FIG. 1, the suspended load 6 cannot be irradiated at a portion exceeding the irradiation range 11. Therefore, the crane 100 is provided with a mechanism in which the lighting device 9 swings up, down, left, and right so as to follow the movement of the suspended load 6 using conventional technology. Thereby, the suspended load 6 can be always illuminated according to the movement of the suspended load 6.

  The crane 100 controls the output mode of the lighting device 9 according to the distance from the specific position of the crane 100 to the hanging load 6 in addition to causing the irradiation direction of the lighting device 9 to follow the hanging load 6. FIG. 2 is a block diagram showing a configuration example for performing this control. The crane 100 includes a turning angle meter 61, a undulation angle meter 62, a feeding length measuring device 63, an arithmetic device 64, an illumination drive control unit 65, and an illumination device 9.

  The turning angle meter 61 is a device that measures the turning angle of the main body unit 1 with respect to the traveling unit 10 by measuring the rotation angle of a turning bearing that connects the traveling unit 10 and the main body unit 1. The hoisting angle meter 62 is a device that measures the hoisting angle of the boom 2, and in the present embodiment, a measuring instrument attached to a moment limiter for preventing overturning is used. The feeding length measuring device 63 is a device that measures the feeding length of the wire rope 3 fed from the winch. The head length from the ground to the hook block 4 can be derived from the length measured by the feeding length measuring device 63. Note that the turning angle meter 61, the undulation angle meter 62, and the feeding length measuring device 63 are all measuring devices that are conventionally provided in the crane.

  The computing device 64 inputs measurement values from the undulation angle meter 62 and the feed length measuring device 63 and uses these to calculate the distance from the specific position of the crane 100 to the suspended load 6. Specific positions include, but are not particularly limited to, the position of the lighting device 9, the position of the driver's seat where the operator is seated, the position of the shaft portion of the boom 2 for raising and lowering. The arithmetic device 64 includes a processor 102, a RAM 103, and an EEPROM 104. The processor 102 develops a program stored in advance in the EEPROM 104 in the RAM 103 and executes it, thereby realizing each function described below. The RAM 103 is a main storage device that stores data and programs in a volatile manner, and the EEPROM 104 stores data and programs in a rewritable manner.

  The arithmetic device 64 outputs a signal indicating the irradiation direction and the amount of light to the illumination drive control unit 65 based on the derived distance to the suspended load 6.

  The illumination drive control unit 65 receives a signal from the arithmetic device 64 and controls the vertical and horizontal directions and the output light amount of the illumination device 9 so that the irradiation direction and the light amount correspond to the value indicated by the signal. The illumination device 9 changes the direction while following the suspended load 6 according to the control of the illumination drive control unit 65, and changes the output mode such as the light amount and the irradiation range angle of spot / wide irradiation.

  In addition, the illuminating device 9 and the illumination drive control part 65 have a structure of 2 sets each with the code | symbol A and B attached | subjected. In the present embodiment, a right illumination device 9A is provided on the front right side of the main body 1 and a left illumination device 9B is provided on the front left side. Further, the illumination drive control unit 65A controls the right illumination device 9A, and the illumination drive control unit 65B controls the left illumination device 9B.

  FIG. 3 is a diagram illustrating an example of a method for calculating the distance from the specific position of the crane 100 to the suspended load 6. In the example of FIG. 3, in order to facilitate the calculation, the specific position on the crane 100 side is the shaft portion (P1) of the boom 2, and the distance Lx from the shaft portion of the boom 2 to the suspended load 6 (P4) is calculated. It will be explained as a thing. Also, let P2 be the tip side of the boom 2, and let P3 be the intersection of the direction suspended vertically from P2 (Y-axis minus direction) and the direction extended horizontally from P1 (Z-axis plus direction). Therefore, the triangles P1, P2, and P3 are right triangles with P3 being a right angle.

Here, the total length of the boom 2 is set to a specified value L1, and the angle P1 obtained from the undulation angle meter 62 is set to θ. Accordingly, the length of the side from P1 to P3 is L1 × cos θ, and the length of the side from P2 to P3 is L1 × sin θ. If the length L2 from P2 to P4 is a specified value obtained from the measured value of the feeding length measuring device 63 and the lengths of the vertical components of the sling wire rope 5 and the suspended load 6, the length from P4 to P3. L3 is as follows.
L3 = ((L1 × sin θ) −L2) (Equation 1)
Since the length L3 from P4 to P3 and the length (L1 × cos θ) from P1 to P3 are obtained, Lx is as follows according to the three-square theorem (“^” means a power).
Lx = ((L1 × sin θ−L2) ^ 2 + (L1 × cos θ) ^ 2) ^ (1/2)
... (Formula 2)
Thus, the distance Lx from the position of the shaft part (P1) of the boom 2 to the suspended load 6 (P4) based on the measured value of the undulation angle meter 62, the measured value of the feeding length measuring device 63, and the specified values L1 and L2. Can be requested. Note that the position of the lighting device 9 and the position of the driver's seat (or other positions) can be derived from the position of the shaft portion (P1) of the boom 2 by the shape of the crane 100. Therefore, even when the lighting device 9 and the driver's seat are set to the specific position of the crane 100, the distance from the specific position to the suspended load 6 can be obtained by geometric calculation.

  In the above example, in order to calculate the distance to the suspended load 6 strictly, L2 is calculated in consideration of the length of the vertical components of the sling wire rope 5 and the suspended load 6, but the approximate value of the distance may be used. In this case, L2 may be obtained in consideration of only the measurement value of the feeding length measuring device 63. In this case, L2 including the length of the vertical component of the hook block 4 may be obtained.

  FIG. 4 is a diagram illustrating an example of the irradiation range angle according to the distance. When the suspended load 6 is at a distant position A, the light from the illuminating device 9 can reach farther by narrowing the irradiation range angle to about 10 ° and performing spot irradiation. Moreover, when the suspended load 6 exists in the position B used as an intermediate distance, it controls so that an irradiation range angle | corner will be about 15 degrees. In addition, when the suspended load 6 is present at the short distance C, the suspended load 6 and its surroundings can be illuminated in a wide range by irradiating the irradiation range angle to a wide angle of about 25 °. By using wide-angle irradiation, the amount of light applied to the suspended load 6 is suppressed, and the surroundings are also illuminated, so that the difference in the amount of light between the suspended load 6 and its surroundings can be reduced.

  The EEPROM 104 shown in FIG. 2 stores in advance data associating the distance with the irradiation range angle, or stores in advance a calculation formula for deriving the irradiation range angle from the distance. The processor 102 derives the irradiation range angle from the distance Lx to the suspended load 6 using this association data or calculation formula.

  Moreover, you may increase / decrease an output light quantity as an output mode of the illuminating device 9 according to distance. When the suspended load 6 is located far away, the computing device 64 increases the output light amount of the lighting device 9, and when the suspended load 6 is located nearby, the computing device 64 reduces the output light amount of the lighting device 9. The EEPROM 104 shown in FIG. 2 stores in advance data that associates the distance with the output light amount, or stores in advance a calculation formula for deriving the output light amount from the distance. The processor 102 derives the output light amount from the distance Lx to the suspended load 6 using this correspondence or calculation formula. As another example of increasing or decreasing the amount of output light, the LED array built in the lighting device 9 is divided into a plurality of sections, and when there is a suspended load 6, the number of LED sections that emit light is increased, and the LED is suspended nearby. If the load 6 is present, the number of LED sections that emit light may be reduced.

  In the above example, as an example of the distance acquisition method, the distance Lx from the specific position of the crane 100 to the suspended load 6 is acquired based on the total length of the boom 2, the undulation angle of the boom 2, and the extension length of the wire rope 3. Was implemented. With this implementation, since existing measuring instruments and control devices can be used, it can be realized only by renovating or updating software, and can be implemented at low cost. On the other hand, for example, a sensor such as a distance sensor for irradiating infrared rays or a CCD image sensor is provided, and a distance Lx from a specific position (for example, the sensor position) of the crane 100 to the suspended load 6 is obtained using these sensors. It doesn't matter. Moreover, in the said example, the distance Lx from the specific position of the crane 100 to the suspended load 6 was calculated using numerical formula. In addition to this, data in which the hoisting angle of the boom 2, the feeding length of the wire rope 3, and the distance to be obtained are associated is stored in the EEPROM 104, and the measurement result and the corresponding data of the hoisting angle meter 62 and the feeding length measuring device 63 are The implementation for acquiring the distance Lx may be used.

  Next, a mounting example in which the illumination device 9 performs irradiation in the turning direction prior to the turning operation of the main body 1 will be described. FIG. 5 is a diagram showing an example of this aspect. In each drawing in FIG. 5, the irradiation direction of the right illumination device 9 </ b> A is indicated by a solid arrow, and the irradiation range 11 </ b> A is indicated by a solid line. Further, the irradiation direction of the left side illumination device 9B is indicated by a broken line arrow, and the irradiation range 11B is indicated by a broken line. FIG. 5 (A) shows the irradiation state of the right illumination device 9A and the left illumination device 9B when the turning is stopped, and FIG. 5 (B) shows the right illumination device 9A and the left illumination during the right turn. The irradiation state of the illuminating device 9B is shown. FIG. 5C shows the irradiation state of the right side lighting device 9A and the left side lighting device 9B when turning left.

  When turning is stopped, the irradiation directions of the right illuminating device 9A and the left illuminating device 9B are both substantially parallel to the longitudinal direction of the boom 2 (see FIG. 5A). When turning right, the irradiation directions of the right illumination device 9A and the left illumination device 9B are both directed to the right with respect to the longitudinal direction of the boom 2 (see FIG. 5B). When turning left, the irradiation directions of the right illumination device 9A and the left illumination device 9B are both leftward with respect to the longitudinal direction of the boom 2 (see FIG. 5C).

  The arithmetic device 64 determines whether the operation is stopped or in which direction the turning operation is performed based on the measurement value of the turning angle meter 61, and outputs a signal so as to irradiate a predetermined angle in advance according to the determination result. To do. Accordingly, the illumination drive control units 65A and 65B control the irradiation directions of the right illumination device 9A and the left illumination device 9B, and the right illumination device 9A and the left illumination device 9B are preceded by a right turn and a left turn. Then irradiate the front of the turning direction. The preceding irradiation direction (angle) may be varied depending on the turning speed. That is, the arithmetic unit 64 sets the irradiation direction (angle) so that the preceding degree increases when the main body 1 turns at high speed, and the irradiation direction (angle) so as to suppress the leading degree when turning at a low speed. Set.

  Next, referring to FIG. 6, a mounting example in which one of the right side lighting device 9 </ b> A and the left side lighting device 9 </ b> B is irradiated with the hanging load 6 and the other is irradiated with the target position serving as the transport destination of the hanging load 6. explain. Each drawing of FIG. 6 illustrates a state in which the left side lighting device 9B irradiates the suspended load 6 and the right side lighting device 9A irradiates the target position. That is, the case where the right illumination device 9A constitutes the second illumination device is illustrated. FIG. 6A shows an example of a state at the time of initial setting, and FIG. 6B shows an example of a state during a turning movement.

  As shown in FIG. 6A, first, as an initial setting, the irradiation direction (θ1) of the right illumination device 9A is adjusted so that the right illumination device 9A irradiates the target position. This adjustment is performed by, for example, an operator operating an operation lever (not shown) for manually adjusting the vertical and horizontal directions of the right illumination device 9A. Or you may adjust automatically by designating a target position. The arithmetic device 64 temporarily stores the irradiation direction (θ1) as an initial value in the RAM 103 or the like.

  FIG. 6B is a diagram illustrating a situation when the suspended load 6 is moved to the target position. Based on the initial value (θ1) and the value (θ2) indicated by the turning angle meter 61, the arithmetic device 64 calculates the irradiation direction (θx) of the right illumination device 9A using a pre-defined calculation formula. To do. The illumination drive controller 65A and the right illumination device 9A change the irradiation direction according to this calculated value. That is, the illumination drive control unit 65A and the right illumination device 9A adjust the irradiation direction of the right illumination device 9A so as to illuminate the target position regardless of the crane operation (turning operation).

  In addition to the calculation formula, according to the value indicated by the turning angle meter 61 using a table in which the value (θ2) indicated by the turning angle meter 61 is associated with the irradiation direction (θx) of the right illumination device 9A to be obtained. The irradiation direction of the right illumination device 9A may be derived. Although the right illumination device 9A is mentioned here, the same control can be performed for the left illumination device 9B. For example, when turning left, the right illumination device 9A illuminates the suspended load, and the left illumination device 9B constitutes a second illumination device that illuminates the target position.

  In addition to the above embodiment, there is an obstacle in the movement range of the boom 2, and when the suspended load 6 passes over it, or the side wall of the building is in the movement range of the boom 2, When there is a possibility of contact with the side wall, the color of the irradiation light may be changed for alerting. For example, polar coordinate values above the obstacle and side walls (angle and distance information with the pivot axis center of the main body 1 in the XZ plane as a reference point) are set in advance. The computing device 64 calculates the distance from the set polar coordinate value to the polar coordinate value at the tip of the boom 2 in the XZ plane (that is, the polar coordinate value of the suspended load 6). When the calculated distance is within the specified range, the arithmetic device 64 controls the illumination drive control unit 65 to cause the illumination device 9 to emit light in red, for example. When it is outside the specified range, the arithmetic device 64 controls the illumination drive control unit 65 to cause the illumination device 9 to emit light in a normal color (white light). Here, the two-dimensional coordinates of the XZ plane are used, but the present invention is not limited to this, and a two-dimensional coordinate system of the YZ plane or a three-dimensional coordinate system of X, Y, and Z may be used.

  In the above embodiment, the crane including the two lighting devices, the right lighting device 9A and the left lighting device 9B, and the lighting drive control units 65A and 65B for controlling these lighting devices has been described. The number is not limited to this. One or a plurality of illumination devices and one or a plurality of illumination drive control units may be used. In addition, one or a plurality of illumination devices may be controlled by one illumination drive control unit.

  In addition, instead of adjusting the output mode such as the amount of light and the illumination range angle, one lighting device may be mounted with a plurality of lighting devices having different output modes, and the lighting device to be illuminated may be switched according to the distance.

  In the said embodiment, although the mobile crane was mainly referred, the kind is not ask | required and a stationary crane etc. may be sufficient.

  The specifying unit corresponds to the calculation device 64 of the present embodiment, and may include a turning angle meter 61, a undulation angle meter 62, and a feeding length measuring device 63. The adjustment unit corresponds to the arithmetic device 64 and the illumination drive control unit 65 of this embodiment.

  As described in detail above, according to the present embodiment, the suspended load can be suitably viewed in the work using the lighting device.

1: Main unit 2: Boom 3: Wire rope 4: Hook block 5: Catch wire rope 6: Suspended load 9: Illuminating device 10: Traveling unit 61: Turning angle meter 62: Relief angle meter 63: Feeding length measuring device 64: Arithmetic unit 65: Lighting drive control unit 100: Crane

Claims (6)

A crane that operates a boom and a winch to move a suspended load suspended from the boom to a target position,
A lighting device for illuminating a suspended load;
A specifying unit for specifying distance information regarding a distance from the specific position of the crane to the suspended load in a state of being suspended from the boom ;
Depending on the distance information is identified, an adjustment unit that adjusts the light amount as the output mode of the lighting device,
Crane with. A crane that operates a boom and a winch to move a suspended load suspended from the boom to a target position,
A lighting device for illuminating a suspended load;
A specifying unit for specifying distance information related to a distance from the specific position of the crane to the suspended load suspended from the boom;
In accordance with the identified distance information, an adjustment unit that adjusts an irradiation range angle as an output mode of the lighting device;
Crane with. The crane according to claim 1 or 2 ,
The specifying unit specifies the distance information based on a boom raising / lowering angle and a feeding length from the boom,
crane. The crane according to claim 1 or 2 ,
The adjusting unit adjusts the color of the irradiation light according to the distance information;
crane. The crane according to claim 1 or 2 ,
A second illumination device that illuminates the target position;
The adjustment unit adjusts the irradiation direction of the second illumination device so as to illuminate the target position regardless of the operation of the crane.
crane. A crane that operates a boom and a winch to move a suspended load suspended from the boom to a target position,
A plurality of lighting devices that illuminate a suspended load, each of which is different in at least one of the output light amount and the irradiation range angle, each of which is configured as a separate housing; and
A specifying unit for specifying distance information regarding a distance from the specific position of the crane to the suspended load in a state of being suspended from the boom ;
An adjustment unit that adjusts at least one of the output light amount and the irradiation range angle by switching the illumination device according to the identified distance information;
Crane with.

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