JP6467321B2 - Moving body fall prevention device - Google Patents

Description

  The present invention relates to a mobile body fall prevention device.

  Development of humanoid robots (bipedal walking robots) that autonomously walk on two legs is underway. Therefore, as a device that assists in the development, for example, a hoist that moves in coordination with the movement of a mobile robot via a wire is controlled by a controller based on a movement detection signal of the mobile robot, or a preset movement setting of the mobile robot A technique (hereinafter referred to as “first prior art”) is known (referred to as “Patent Document 1” below) in which the mobile robot is caused to follow the movement of the mobile robot based on a signal and travel in two axes.

  In the first prior art described above, a constant tension is applied to the hoist wire (suspension cable) to follow the up and down movement of the mobile robot, so that the operation of the mobile robot is affected. Further, a technique (Patent Document 2) has been proposed in which a non-contact distance measuring device (laser distance meter) is used to follow the vertical movement of the mobile robot without affecting the operation of the mobile robot. In addition, as a non-contact distance measurement method, an ultrasonic sensor, a distance detection method using a three-dimensional image, and the like are assumed, but there are problems in terms of use environment restrictions, misrecognition, responsiveness, high cost, and the like. is there.

  Also, instead of a non-contact distance measuring device, a mobile robot and position (distance) with respect to the hoist are measured using a wire encoder as a contact type (mechanical) distance measuring device, and the hoist is suspended by the measured position (distance). A technique of following the movement of the mobile robot with the vertical movement (elevating movement) of the cable can be considered.

JP 2004-90126 A JP 2011-31375 A

  However, if the automation is advanced, there are many restrictions on the contents of the test, and the above-mentioned careful attention is required to cope with the manual operation, so that the operation is not easy. In addition, when a wire encoder is used as a method (apparatus) for measuring the position of the mobile robot, there is a risk that the hoist rope and the wire of the wire encoder may be entangled when the mobile robot changes its orientation. Various operations corresponding to the movement of the mobile robot must be performed while carefully monitoring the cord and the wire of the wire encoder so as not to get tangled. Furthermore, there is a problem that the operation of the mobile robot is also restricted.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a mobile body overturn prevention device that makes an operator's operation easy.

  In order to solve the above-described problems, the present invention provides a hoisting mechanism unit that is disposed on an upper part of a moving body, includes a hoisting machine that connects the moving body with a suspension member and winds or unwinds the suspension member. And a turning device for turning a turning portion attached below the hoisting machine, and a relative distance between the moving body and the hoisting mechanism portion. A first detector for performing the operation, an imaging device that is provided in the swivel unit and photographs the moving body, a display unit that displays an image photographed by the imaging device, the hoisting machine, and the swivel device And an operating device provided with a control unit that controls the operation of the hoisting machine and the swiveling device, and the control unit detects the hoisting mechanism unit from the detection output of the first detector. The hoisting machine is wound up by the relative position of the moving body with respect to It performs vertical position tracking hoist control is let down winding, and said in the orientation of the moving object is turning the swivel unit provides a mobile fall prevention system, characterized in that.

  Here, it is preferable that the first detector is a wire encoder that measures a feeding amount of the wire, and the wire encoder is provided on a lower surface of the turning portion and is connected to a moving body via the wire. .

  A second detector comprising an ultrasonic distance sensor for detecting a distance between the hoisting mechanism unit and the movable body, the first detector and the hoisting mechanism unit; You may make it judge the abnormality of the said mobile body from the detection result of a 2nd detector.

  Furthermore, a load detection unit for detecting a load applied to the suspension member is provided, and the control unit lifts the moving body when the load detected by the load detection unit exceeds a predetermined load. It is also preferable to control it.

Further, the hoisting mechanism unit is attached to be movable in a horizontal direction by a horizontal direction moving unit disposed above the moving body, and the control unit is configured to change the moving direction of the horizontal direction moving unit from the change in the moving direction. It is preferable to determine whether the turning device needs to be turned.

  ADVANTAGE OF THE INVENTION According to this invention, the mobile body fall prevention apparatus which makes an operator's operation easy can be provided.

It is the figure which showed the whole structure of the mobile body fall prevention apparatus which concerns on one embodiment of this invention. It is the figure which showed the winding mechanism of FIG. It is the fragmentary sectional view which showed the structure of the winding mechanism part. It is the figure which showed the other example of the attachment position of a camera. It is the figure which showed the example using a wire encoder and an ultrasonic distance sensor. It is the figure which showed the structure of the operation part and display part which comprise an operating device. It is the figure which showed the driving | running screen displayed on the operation | movement setting display part. It is a figure for demonstrating direction selection operation. It is the figure which showed an example of the turning operation | movement of a turntable when it is set as turning start position (theta) ₀ and operation direction (theta) ₁ .

  Hereinafter, a mobile body fall prevention device according to an embodiment of the present invention will be described with reference to FIGS. In the following description, an XYZ orthogonal coordinate system will be used as necessary. For convenience of explanation, the upper and upper directions in FIG. 1 are upper and upper, the lower and lower sides are lower and lower, the left and left are left and left, the right and right are right and right, Sometimes called.

  The mobile body overturn prevention device 1 includes an overhead crane unit 3 and an operation device 30.

[Overhead crane section]
The overhead crane unit 3 includes a crane unit (horizontal movement means) 4 including a traveling rail 5, a crane saddle 7, a crane girder 9 and an electric trolley 11, and a hoisting mechanism unit 6 including an electric chain block (winding machine) 13. And. The overhead crane unit 3 does not require a horizontal moving unit depending on the moving range of a moving body that is to be prevented from falling, and can be configured to include only a hoisting mechanism unit.
<Crane part>
A pair of traveling rails 5, 5 formed of I-shaped steel is provided with a crane girder 9 extending in the left-right direction formed of I-shaped steel, and both sides of the crane girder 9 are connected to the traveling rails 5, 5. 5 is supported by each crane saddle 7, 7 capable of traveling. The pair of running rails 5, 5 are arranged in parallel with each other at a predetermined interval above the head of the mobile robot 29. The crane girder 9 is constructed so as to be slid on the lower surfaces of the pair of traveling rails 5 and 5 while being spanned between the pair of traveling rails 5 and 5. Note that the shape of the traveling rails 5 and 5 is not limited to the I shape, and may be an H shape, for example.

  The crane saddle 7 is configured such that the driving wheel (not shown) of the crane saddle 7 is rotationally driven by an electric motor (not shown) via a speed reducer (not shown), thereby moving the traveling rail 5 in the front-rear direction. It is structured to run. When the electric trolley 11 travels along the longitudinal direction of the crane girder 9, the electric chain block 13 suspended by the electric trolley 11 travels.

<Hoisting mechanism>
The hoisting mechanism unit 6 includes the crane unit 4 in the longitudinal direction of the pair of traveling rails 5 and 5 (referred to as “X-axis direction” for convenience) and the longitudinal direction of the crane girder 9 (referred to as “Y-axis direction” for convenience). The hoisting mechanism 6 is installed in such a manner that it can move in a two-dimensional manner (on the XY plane). The hoisting mechanism unit 6 is a wire for detecting the positions of the electric chain block 13, the turntable device 16, and the mobile robot 29. It has an encoder (first detector) 21 and a camera 19.

  The hoisting mechanism 6 is suspended from the electric trolley 11 via a suspension member that includes an upper suspension member 58, a lower suspension member 59, and a load cell 55 (see FIG. 3). Then, the electric chain block 13 of the hoisting mechanism unit 6 activates the hoisting motor 13a to transmit forward rotation force (winding force) or reverse rotation force (lowering force) to a load sheave (not shown). The load chain (suspending member) 23 is wound up or down (rewinded) by forward rotation or reverse rotation of the load sheave. The hoisting motor 13a employs a servo motor, and has a configuration that allows position control by a servo driver (not shown). In addition to the “suspending member”, a wire rope, a fiber rope, a belt, a roller chain, and the like correspond to the type of the hoisting machine. The configuration necessary for the position control of the hoisting machine is not limited to the servo motor and the servo drive. For example, a control apparatus combining an inverter control apparatus and an encoder may be used as long as the control apparatus can perform position control.

  A lightweight fiber sling 27 is connected to the lower end of the load chain 23, and the tip of the sling 27 is connected to the upper back position of the mobile robot (moving body) 29. In order to prevent a load from affecting the operation of the mobile robot 29 by the load chain 23, it is preferable that the sling 27 is slightly slackened (a margin of about 10 to 20 cm) and connected to the mobile robot 29. Note that the minute load on the slack portion of the sling acts on the mobile robot 29, but is almost offset with the winding force of the wire encoder, which will be described later, and thus does not affect the operation of the mobile robot 29. Further, in addition to the sling 27, it may be connected via a lightweight and flexible lifting tool such as a harness. It should be noted that the “moving body” includes not only the mobile robot 29 but also various mobile devices that are assumed to fall over during operation, and people and animals that require care or rehabilitation.

  The electric trolley 11 includes a travel motor (not shown), a drive gear mechanism (reduction gear), a control device, a travel wheel 12 and the like. When the travel motor is started, the forward rotation force or the reverse rotation force is transmitted via the reduction device. It is transmitted to the traveling wheel 12 and travels forward or backward along the crane girder 9.

  The upper end of the load cell 55 (load detection unit: see FIG. 3) is attached (connected) to one end of the upper suspension member 58, and the lower end of the load cell 55 is attached to one end of the lower suspension member 59. The other end of the lower suspension member 59 is connected to the upper suspension member 58, and the electric chain block 13 of the hoisting mechanism portion 6 is suspended via the lower suspension member 59. The concept of the load detection unit may include a configuration (for example, a control device) other than the load cell 55, but may not include it.

  Since the load by the mobile robot 29 applied to the load chain 23 is applied to the load cell 55 together with the weight of the hoisting mechanism 6, the load from the mobile robot 29 applied to the load chain 23 can be detected from the detection output of the load cell 55. Yes.

  The electric chain block 13 has a control device (not shown), and the operation abnormality detecting means constituting the control device receives the load data signal detected by the load cell 55 and detects the load applied to the load chain 23. Judgment is made as to whether or not the magnitude exceeds a predetermined threshold, and when the magnitude of the load exceeds the predetermined threshold, the lifting / lowering automatic follow-up function described later of the electric chain block 13 is canceled and operations other than lowering are stopped. Let

  As shown in FIG. 3, the turntable device (swivel device) 16 includes a turntable unit 17 and a turntable drive unit. The turntable unit 17 includes a hollow disk-shaped turntable (swivel unit) 18, an imaging device (hereinafter referred to as “camera”) 19, a wire encoder 21, a wire encoder 21 and a camera 19 on the turntable 18. And a substantially rectangular camera mounting plate 52 and a substantially rectangular plate 51 for mounting a cover body that accommodates the pulley 22. The turning unit of the turning device does not necessarily require a table-like mounting member, and may have a turning unit that can turn the camera 19 and the wire encoder 21 around the load chain 23 as a central axis.

  The turntable 18 is pivotally supported by the hoisting mechanism 6 so as to be horizontally pivotable by a bearing around a hollow shaft 24, and a cylindrical guide member 28 is inserted into the center of the hollow shaft 24. The load chain 23 of the electric chain block 13 is guided by the hollow inner surface of the cylindrical guide member 28 so as to pass through the turning center of the turntable 18.

  The plate 51 is attached to the lower side of the turntable 18 and in a range extending from the center of the turntable 18 to the outer edge. The camera mounting plate 52 is mounted in the vicinity of the center of the turntable 18 and in the vertical direction with respect to the turntable 18, and the camera 19 is mounted on the camera mounting plate 52 via a swing mechanism. Yes. With the configuration described above, the camera 19 is also turned by turning the turntable 18. The camera 19 can be adjusted to an optimum direction and angle for photographing the mobile robot 29 from directly above by a swing mechanism. Since the load chain 23 is connected on the upper back side of the mobile robot 29, the side where the camera 19 is disposed with respect to the load chain 23 is aligned with the front side of the mobile robot 29. It is preferable that the load chain 23 does not get in the way when observing 29 through the monitor.

  In the present embodiment, the camera 19 is attached to the camera mounting plate 52 located on the lower surface of the turntable 18. However, as shown in FIG. 4, the camera 19 is attached to the outer edge of the turntable 18. A rod-shaped attachment member 47 may be attached, and the camera 49 may be attached to the end of the rod-like attachment member 47. Further, the depression angle varying mechanism of the camera 49 may be provided at the camera attachment side end of the rod-shaped attachment member 47.

  According to the configuration shown in FIG. 4, the crane section 4 is viewed while checking the video displayed on the monitor 34 and checking the video in the vicinity of the connecting portion of the mobile robot 29 and the sling 27 (video other than the video from directly above). And the hoisting mechanism 6 can be operated. Further, the operation device 30 can be operated as if it is operated behind the mobile robot 29, and the operation direction is always captured forward.

  As shown in FIG. 3, the turntable 18 is swiveled using a belt drive driving device 48 that functions as a turntable driving unit. The belt drive driving device 48 includes a turning servo motor 50 and a belt driving unit 56. The rotation of the turning servo motor 50 is transmitted to the belt 54 via the pulley 57 by the speed reduction mechanism 53 and transmitted to the turning shaft (not shown) of the turntable 18. The turntable 18 is configured to be position-controllable by a servo driver (not shown).

  The wire encoder 21 is a detector for detecting the position (distance to the moving body) of the moving body connected to the wire 25 from the feed amount of the wire 25 (see FIG. 1). The wire encoder 21 has a winding drum (not shown) to which a minute winding force is applied, and the wire 25 is fed out from the winding drum following the movement of a moving body connected to the tip of the wire 25. There are two types: a type that outputs pulses according to the feed amount (incremental type) and a type that outputs signals according to the feed length (absolute type). In the type that outputs a pulse corresponding to the feed amount, the feed length can be detected by counting the output pulses. As shown in FIG. 3, the wire encoder 21 is attached to the lower surface of the turntable 18 so that the axis of the winding drum is vertical in order to keep the attachment height low. The feeding port of the wire 25 is directed in the horizontal direction, and the wire 25 fed in the horizontal direction is turned by the pulley 22 so as to be directed vertically downward. A spring member 26 is attached to the tip of the wire 25, and is connected to the same position as the position where the sling 27 of the mobile robot 29 is connected via the spring member 26. The connecting portion may move at an instantaneous speed due to the shaking of the mobile robot 29, but the instantaneous movement is mitigated / suppressed by the spring member 26 and transmitted to the wire 25. This has a preferable effect that the vertical position following hoisting control of the electric chain block 13 performed by the output becomes easy. This effect can also be dealt with by adding control logic to control whether the output of the wire encoder 21 is filtered or to follow the output of the wire encoder 21.

  A crane control unit (not shown) in the operation device 30 described later is obtained from the height position (distance) of the mobile robot 29 obtained from the output of the wire encoder 21 and the position control of the hoisting machine servo driver. The difference in the lower end height position of the load chain 23 obtained from the extended length of the load chain 23 is displayed on the operation setting display unit (for example, touch panel) 84 of the operation unit 32. In the case of manual operation, the operator operates the hoisting and lowering operation of the electric chain block 13 so that the difference in position does not exceed a predetermined range.

  In addition, when an up / down automatic follow-up mode, which will be described later, is selected, the hoisting / lowering operation of the electric chain block 13 is controlled following the change in the height position of the mobile robot 29 obtained from the output of the wire encoder 21. Thereby, slack of sling 27 can always be made constant. Details will be described later.

  Further, as will be described later, the camera attached to the turntable 18 turns the turntable 18 so that the mobile robot can be projected on the monitor 34 in the same direction, so that monitoring becomes easy. Similarly, by rotating the turntable 18, the wire encoder 21 can maintain the positional relationship on the horizontal plane with respect to the mobile robot 29 within a certain range. Therefore, when the conventional mobile robot changes its direction, the wire 25 Can be solved. Details will be described later.

  In the present embodiment, the wire encoder 21 has been described as an example of the method for measuring the relative position (distance) in the vertical direction between the hoisting mechanism 6 and the mobile robot 29. A non-contact type sensor such as a distance sensor may be used. The ultrasonic distance sensor may be attached to the lower surface of the turntable 18, or the wire encoder 21 is attached to the turntable 18 as shown in FIG. A sonic sensor 45) may be further attached to the hoisting machine 43.

[Operating device]
The operation device 30 includes an operation unit 32 that controls operations of the crane unit 4 and the hoisting mechanism unit 6 and a monitor 34 that displays a mobile robot 29 photographed by the camera 19. As shown in FIG. 6, the operation unit 32 includes a power-on switch 60, an emergency stop button 61, a joystick with push buttons (joystick with PB) 63 for operating the XY axis (east, west, south, and north) traveling of the crane unit. (East, West, South) Up and down operation buttons 67 and 68 for operating the indicator lamp 65, winding up and down of the electric chain block 13 (following up and down movement of the mobile robot 29), low speed change volume of up and down (range: low (L : Low speed)-High (H: High speed) 70, High speed change volume for hoisting and lowering (Range: Low (L: Low speed)-High (H: High speed)) 71, XY axis of crane part 4 (East, West, North and South) ) Traveling speed change volume (low (L: low speed) to high (H: high speed)) 73, turning operation button (camera position button) for turning the turntable 18 ) 75, 76, automatic raising / lowering buttons 81, 82 for automatically following up / down movement of the mobile robot to follow up / down of the load chain 23, an operation setting display unit 84 capable of setting detailed operation of running, hoisting / lowering and turning, It has a crane control unit (control unit) (not shown) for controlling the hoisting and lowering speed of the electric chain block, the traveling speed of the crane unit 4, the turning speed of the turntable 18 and the automatic tracking control described later. . The crane control unit is preferably configured to be distributed and arranged in the overhead crane unit 3 and the operation device 30.

[Crane operation]
Hereinafter, the operation of the crane unit 4 will be described with reference to the drawings.
<Direction selection operation>
Direction selection is operated by the following procedure.

  After the power is turned on, a setting display screen (hereinafter referred to as “operation screen”) 86 as shown in FIG. Here, when the “azimuth selection” button is pressed, the “driving screen” is switched to the “azimuth selection screen” as shown in FIG. 8, and the area for displaying the current selected orientation is lit. In the example of FIG. 8, a region in which north-south is displayed on the top and bottom and west-east is displayed on the left and right is lit. When a desired installation orientation is pressed on this orientation selection screen, the screen is switched to the pressed installation orientation. The turntable automatically rotates so that the orientation of the camera image matches the selected orientation. In addition, it is desirable to make the actual direction and the selected direction the same before operating the crane unit 4.

<East-west operation (Y-axis direction)>
First, the east / west direction is confirmed with the azimuth indicator lamp 65 of the operation unit 32, and when the joystick 63 is tilted east while pushing the push button of the joystick 63, the hoisting mechanism unit 6 moves the crane unit 4 To move east. Before the hoisting mechanism unit 6 reaches the east end (east end position), the crane control unit forcibly decelerates the traveling drive of the crane unit 4 and stops it at the east end position. When the joystick is tilted to the west while pushing the push button of the joystick 63 and the traveling operation in the west direction is performed, the hoisting mechanism unit 6 is moved in the west direction by the crane unit 4. Before the hoisting mechanism section 6 reaches the west end (west end position), the crane control section forcibly decelerates the traveling drive of the crane section 4 and stops it at the west end position. The speed can be changed using the speed change volume 73 for the east, west, north and south traveling of the operation unit 32.

<North / South (X-axis direction) operation>
First, the south / north direction is confirmed by the direction indicator lamp 65 of the operation unit 32, and when the joystick 63 is tilted to the south side while pushing the push button of the joystick 63, the hoisting mechanism unit 6 performs the crane operation 4 To move south. Before the hoisting mechanism unit 6 reaches the south end (south end position), the crane control unit forcibly decelerates the traveling drive of the crane unit 4 and stops it at the south end position. When the joystick 63 is tilted to the north side while pushing the push button of the joystick 63 and the traveling operation in the north direction is performed, the hoisting mechanism unit 6 moves in the north direction by the crane unit 4. Before the hoisting mechanism section 6 reaches the north end (north end position), the crane control section forcibly decelerates the traveling drive of the crane section 4 and stops it at the north end position. Note that the speed can be changed using the speed change volume 73 for the east, west, north and south traveling of the operation unit 32.

[Operation of hoist]
<Hoisting / lowering operation>
The hoisting operation (upward movement of the mobile robot 29) of the electric chain block 13 of the hoisting mechanism unit 6 is performed by an “up” button (two-stage push-in type) 67 of the upper and lower operation buttons of the operation unit 32. In addition, before the lower end of the load chain 23 reaches the predetermined upper limit position, the crane control unit forcibly decelerates the lifting speed and stops it at the upper limit position. Further, the lowering operation (two-stage pressing type) 68 of the up / down operation buttons of the operation unit 32 is used to perform the lowering operation. In addition, before the lower end of the load chain 23 reaches a predetermined lower limit position, the crane control unit forcibly decelerates the lifting speed and stops it at the lower limit position. Further, the low speed can be changed by the low speed change volume 70 for raising and lowering, and the high speed can be changed by the high speed change volume 71.

<Turntable turning operation>
The case where the turntable 18 has a configuration of the turntable 18 that can turn only within a range from 0 degrees to not exceeding 360 degrees due to the handling of signal cables such as the wire encoder 21 and the camera 19 will be described as an example. When the “←” button 75 of the camera position button of the operation unit 32 is pressed, the turntable 18 turns left (counterclockwise). Even if the “←” button 75 is kept pressed, the crane control unit forcibly decelerates the turntable 18 immediately before the turning position becomes 0 degree, and stops at the 0 degree position. When the “→” button 76 of the camera position button of the operation unit 32 is pressed, the turntable 18 turns to the right (clockwise). Even if the “→” button 76 is kept pressed, the crane control unit forcibly decelerates the turntable 18 immediately before the turning position is 360 degrees, and stops it at the end of the turnable range, for example, at a position of 359 degrees. When it is positioned at each end of the turning range in the left-right direction, “turn left end” and “turn right end” are displayed on the operation screen so that the operator can recognize them.

  Thus, when the turntable 18 is turned, the camera 19 and the wire encoder 21 are also turned simultaneously. Accordingly, the turntable 18 can be operated while confirming the change in the direction of the mobile robot 29 through the monitor 34, and images can be taken from the same direction by the camera. Similarly, the wire 25 is entangled with the load chain 23 when the turntable 18 is turned in accordance with the change of the direction of the mobile robot 29 so that the direction of the mobile robot 29 is the same. The problem can be solved. Further, if the travel direction is controlled by converting the operation direction of the joystick 63 to XY based on the angle information of the turntable 18, it is possible to make the operation direction coincide with the orientation of the camera image. The crane can be easily operated.

The above-described turning operation is an example, and the present invention is not limited to this. Although the turnable range of the turntable 18 is exemplified as a range not exceeding 0 to 360 degrees, it can be appropriately set to a range not exceeding 540 degrees or 720 degrees.
Alternatively, it is possible to output the signal of the wire encoder 21 or the camera 19 to the crane control unit wirelessly so that the turning angle is not limited.

<Automatic lift / follow operation>
Hereinafter, the up and down automatic follow-up operation will be described.

  The up / down automatic follow-up buttons 81 and 82 of the operation unit 32 have an on button 81 and an off button 82. When the on button 81 is pressed, the up / down automatic follow-up mode is entered. Position following hoisting control) is released.

Here, the vertical movement follow-up mode refers to the lifting and lowering operation of the electric chain block 13 based on the relative position (distance) between the mobile robot 29 and the hoisting mechanism 6 detected by the wire encoder 21. An operation mode that follows up and down movements.
The operation in the vertical direction refers to an operation accompanied by movement in the vertical direction with respect to the hoisting mechanism portion 6 at a portion where the suspension member is connected to the mobile robot 29 to prevent the mobile robot 29 from falling. In other words, when the load chain 23 constituting the suspension member is coupled to the mobile robot 29 via the sling 27, the mobile robot 29 is maintained so that the sling 27 maintains a certain range of slack even when the mobile robot 29 operates. That is, the control of hoisting and lowering the electric chain block 13 is performed in accordance with the operation.

  When the ON / OFF button 81 among the up / down automatic follow-up buttons 81 and 82 is pressed to enter the up / down automatic follow-up mode, the distance to the connection position of the wire encoder 21 of the mobile robot 29 measured and detected by the wire encoder 21 and the electric chain block The hoisting and lowering of the electric chain block is controlled so that the difference in the length of the load chain obtained from the position control 13 is within a predetermined range. Thereby, the slack of the sling 27 can be kept within a certain range, and the influence on the mobile robot 29 can be further reduced.

  Since the slack amount of the sling 27 is always kept constant automatically, the operator can concentrate on the operation of positioning the hoisting drive unit above the mobile robot 29, thereby reducing the number of test personnel. Can be achieved. In addition, in the test of only raising and lowering without horizontal movement, it is not necessary for the operator to be resident with respect to the crane operation, and various tests such as a durability test can be performed without an operator (operator).

  In the following cases (1) to (4), it is possible to set (control) the follow-up start to be disabled and stopped in consideration of the prevention of the overturn.

(1) When it is determined that the load detected by the load cell 55 exceeds the predetermined upper limit of the followable load that can be followed, the followup start is disabled.
(2) When it is determined that the load detected by the load cell 55 after the start of tracking exceeds a predetermined load, the tracking is stopped. Furthermore, the “deceleration stop”, “emergency stop”, and “lifting” operations may be selected and executed according to the magnitude of the load and the rate of increase of the load.
(3) When it is determined that the follow-up speed exceeds a predetermined follow-up speed upper limit value after the start of follow-up, the follow-up is stopped. The follow-up speed is detected by the wire encoder 21 or speed detection means (not shown) in the electric chain block 13.
(4) If the position (distance) of the mobile robot 29 detected by the wire encoder 21 after the start of tracking exceeds a predetermined range, the tracking is stopped.
(5) When it is determined that a dangerous fall has occurred from the load detected by the load cell 55 and the position and speed of the mobile robot 29 obtained from the output of the wire encoder 21, not only the follow-up is stopped, but the mobile robot is operated by the electric chain block 13. 29 is lifted to prevent the mobile robot 29 from being damaged due to falling.

<Second distance sensor>
The ultrasonic sensor 45 detects ultrasonic waves reflected from the detection area of the ultrasonic sensor 45 and measures the distance to the detected object. The crane control unit detects the hoisting mechanism unit detected by the ultrasonic sensor 45. When the difference between the distance from 6 to the mobile robot 29 in the detection area and the extension length of the load chain 23 exceeds a predetermined value, the ultrasonic guide 89 shown in FIG. Whether the load chain is to be rolled up or down is indicated by Δ ▽ on the display unit to guide the operator. Also, when the mobile robot 29 cannot be detected by the ultrasonic sensor 45, or when it is determined that there is an abnormality even if it is detected, a warning is given on the operation screen or by a buzzer (not shown). The wire encoder 21 detects the vertical motion of the mobile robot 29, and the ultrasonic sensor 45 detects whether the mobile robot 29 is positioned within a predetermined horizontal range below the hoisting mechanism unit 6. Abnormalities that cannot be determined only by the encoder 21 can be determined. The reason why the mobile robot is not located within a predetermined range below the hoisting mechanism unit 6 includes that the operator is not operating the crane unit properly, and can alert the operator at that time. As described above, the wire encoder 21 as the first detector and the ultrasonic sensor 45 as the second detector are used in combination, and the operation abnormality of the mobile robot 29 is determined from the detection signals. Rather than determining the above, it is possible to correctly determine whether the mobile robot 29 is complex and diverse, normal or abnormal.

  The ultrasonic sensor 45 measures the height of the entire test area up to the floor before the test, and the normal operation range of the mobile robot 29 (the above-mentioned predetermined range) from the measured data and the height data of the mobile robot. Is preferably calculated (operation range map creation) and recorded. This saves labor in registering the floor height data in the control device.

<Automatic turning operation>
Hereinafter, the turning automatic follow-up operation will be described.

  When the camera follow button 88 is pressed on the operation screen 86 shown in FIG. 7, a turn automatic follow mode is set. In the automatic turning follow-up mode, the camera 19 is moved to the load chain 23 in accordance with the change in the direction of the mobile robot 29 in synchronization with the above-described east / west / south / north (XY direction) operation of the operator with the joystick 63. An operation mode in which the turn of the turntable 18 is followed to turn around.

  As shown in the example of FIG. 8 on the direction selection screen, the actual direction of the crane unit 4 selected so as to be north-south up and down coincides with the selected direction. Further, the orientation of the image on the monitor 34 also coincides with the orientation automatically selected as described above. In order to adjust the horizontal position, the crane unit 4 is operated with the joystick 63 to adjust the horizontal position of the hoisting mechanism unit 6.

  From this state, the turning automatic follow-up mode is turned on. As the mobile robot 29 advances in the north direction, the joystick 63 is tilted in the north direction to move the crane unit 4 and move the hoisting mechanism unit 6 in accordance with the progress of the mobile robot 29. At this time, since the direction of the turntable 18 and the direction of operating the joystick 63 coincide, the turntable 18 does not turn.

  Next, when the mobile robot 29 changes its direction to the east and proceeds to the east, the operator moves the hoisting mechanism unit 6 above the mobile robot 29 by the crane unit 4 by tilting the joystick 63 in the east direction. At this time, it is determined that the mobile robot 29 has changed its direction from north to east because the joystick 63 has been tilted east, and the turntable 18 is turned to the right (clockwise) until the turntable 18 faces east. .

  Next, when the mobile robot 29 turns to the north again and proceeds to the north, the operator moves the hoisting mechanism unit 6 above the mobile robot 29 by the crane unit 4 by tilting the joystick 63 in the north direction. At this time, when the joystick 63 is tilted northward, the mobile robot 29 determines that the direction has changed from eastward to northward, and turns left (counterclockwise) until the turntable 18 faces north. The turntable 18 is turned.

  In this way, the turning automatic follow-up operation automatically turns the turntable 18 to follow the operation of the joystick 63.

  When the turntable 18 can turn only 180 degrees left and right due to the routing of signal cables such as the wire encoder 21 and the camera 19, and when the mobile robot 29 further turns 90 degrees, that is, from the first direction, If the direction is changed to 270 degrees, the turntable 18 is not turned to the mobile robot 29 by 180 degrees left and right in the same direction as the turning direction, but is turned 90 degrees in the opposite direction from the first turning start position. It is also possible to match the direction of the mobile robot 29. This control may be performed automatically, or may be operated by the operator using the “←” button 75 and the “→” button 76 of the turning operation instruction button (camera position).

As an example of a simple control method when the turntable 18 can turn only in a range not exceeding 0 to 360 degrees (180 degrees to the left and right) as described above, refer to FIG. explain. The turntable 18 is an example of a turn operation (target position) of the turntable 18 when the turn position is θ ₀ and the operation direction selected by the joystick 63 is θ _{1. The} turn position θ ₀ is an operation start of the operation unit. An angle representing the direction in which the turntable 18 is facing forward, which is a clockwise angle from a reference direction (for example, the north direction), and the operation direction θ ₁ is a joystick 63 for instructing the moving direction of the crane unit 4. Is an operation instruction angle (0 degrees, 90 degrees, 180 degrees, 270 degrees). For example, when the north direction is set to 0 degrees, 0 degrees corresponds to the north, 90 degrees corresponds to the east, 180 degrees corresponds to the south, and 270 degrees corresponds to the west. The crane unit 4 moves the hoisting mechanism unit 6 in a direction corresponding to the operation instruction angle of the joystick 63.

  When the turning automatic follow-up mode is selected, the turn table 18 described below is automatically turned in conjunction with the operation instruction of the joystick 63 for operating the crane unit 4, and will be described below. Since the operation of the crane unit 4 is as described above, the operation is omitted.

When the turning direction θ ₀ of the turntable 18 is in the range of 0 ° ≦ θ ₀ <90 °, if the operator gives an operation instruction for the operation direction θ ₁ of 0 °, 90 °, or 180 °, the turn table 18 is turned. table 18 is pivoted to the theta _1, operating direction theta ₁ is in the case of 270-degree operation instruction turntable 18 pivots counterclockwise until 0 degrees (back). When the turning direction θ ₀ of the turntable 18 is in the range of 90 degrees ≦ θ ₀ <180 degrees, the operator gives an operation instruction for the operation direction θ ₁ of 0 degrees, 90 degrees, 180 degrees, and 270 degrees. turntable 18 is pivoted to the θ ₁ is in. When the turn position of the turntable θ ₀ is in the range of 180 degrees ≦ θ ₀ <270 degrees, and the operator gives an operation instruction of the operation direction θ ₁ of 0 degrees, the turn table 18 is up to 359 degrees. pivoted, operating direction theta ₁ is 90 degrees, 180 degrees, the turn table 18 in the case where there is an operation instruction for 270 degrees is pivoted to theta _1. When the turning position θ ₀ of the turntable 18 is in the range of 270 degrees ≦ θ ₀ <360 degrees, and the operation instruction θ ₁ is 0 degrees and 90 degrees by the operator, the turntable 18 is moves to 359 degrees, the operation direction theta ₁ is 180 degrees, the turn table 18 in the case of 270-degree operation instruction is moved to theta _1. Thereby, even if the turning range of the turntable 18 can turn only within a range not exceeding 0 to 360 degrees, the wire 25 of the wire encoder 21 and the load chain 23 can be prevented from being entangled with simple control.

  As described above, the camera 19 and the wire 25 of the wire encoder 21 and the load chain 23 are always in the same positional relationship only by operating the crane unit 4 with the joystick 63 so that the hoisting drive unit is positioned directly above the mobile robot 29. Since (the positional relationship with a predetermined interval between each other) is maintained, the wire 25 of the wire encoder 21 and the load chain 23 are not tangled. Further, since the camera 19 and the mobile robot 29 that capture the mobile robot 29 always maintain the same positional relationship, the orientation of the mobile robot 29 is always substantially constant on the monitor 34 (the upper direction of the screen of the monitor 34 is as shown in FIG. 6). It is possible to display an image of a basic posture) and assist crane operation.

  On the operation screen 86, “hanging hook height” displays the height from the reference floor of the lower end portion 23 a of the load chain 23, and “encoder” displays from the reference floor of the lower end portion 25 a of the wire 25 of the wire encoder 21. The height is displayed, "Encoder difference" indicates the amount of change in the difference between "Hanging hook height" and "Encoder", and "Ultrasonic sensor" indicates the detected object from the reference floor detected by the ultrasonic sensor. The height is displayed, the “ultrasonic sensor difference” indicates the change amount of the difference between the “ultrasonic sensor” and the “hanging hook height”, and the “turning position” indicates the turning position (azimuth) of the turntable 18. Is displayed as an angle.

  Although one embodiment of the present invention has been described above, the present invention is not limited to the above-described embodiment, and various modifications can be made besides this.

DESCRIPTION OF SYMBOLS 1 ... Mobile body fall prevention apparatus, 3 ... Overhead crane part, 4 ... Crane part, 5 ... Traveling rail, 6 ... Hoisting mechanism part, 7 ... Crane saddle, 9 ... Crane girder, 12 ... Traveling wheel, 13 ... Electric chain Block (winding machine), 11 ... Electric trolley, 16 ... Turntable device, 17 ... Turntable unit, 18 ... Turntable, 19 ... Camera, 21 ... Wire encoder, 22 ... Pulley, 23 ... Load chain, 24 ... Bearing , 25 ... wire rope, 26 ... spring member, 27 ... sling, 28 ... guide part, 29 ... mobile robot, 30 ... operation device, 32 ... operation part, 34 ... monitor, 47 ... attachment member (hook part), 48 ... Belt drive driving device 51... Plate 52. Camera mounting plate 53. Deceleration mechanism 55 55 Load cell 56 Belt drive unit 58 The upper suspension member, 59 ... lower hanging member

Claims (5)

A mobile body overturn prevention device that has a hoisting mechanism unit that is disposed on an upper part of a mobile body, includes a hoisting machine that connects the mobile body with a suspension member and winds or unwinds the suspension member,
A revolving device for revolving a revolving unit attached to the lower side of the hoisting machine;
A first detector provided in the swivel unit for detecting a relative distance of the moving body with respect to the hoisting mechanism unit;
An imaging device that is provided in the swivel unit and photographs the moving body;
An operation device including a display unit that displays an image captured by the imaging device, an operation unit that operates the hoisting machine and the turning device, and a control unit that controls operations of the hoisting machine and the turning device; Have
The control unit performs vertical position follow-up hoisting control for hoisting or lowering a hoisting machine according to a relative position of the moving body with respect to the hoisting mechanism unit from the detection output of the first detector, and the movement Swivel the swivel according to the direction of the body,
A mobile body fall prevention device characterized by the above. The first detector is a wire encoder for measuring a wire feed amount;
The wire encoder is provided on the lower surface of the swivel unit and is connected to the moving body via the wire.
The moving body overturn prevention device according to claim 1. A second detector comprising an ultrasonic distance sensor for detecting a distance between the hoisting mechanism part and the moving body;
An abnormality of the moving body is determined based on detection results of the first detector and the second detector.
The mobile body overturn prevention device according to claim 1 or 2. A load detection unit for detecting a load applied to the suspension member;
The control unit controls to lift the movable body when the load detected by the load detection unit exceeds a predetermined load;
The mobile body overturn prevention device according to claim 1, 2, or 3. The hoisting mechanism is attached to be movable in a horizontal direction by a horizontal movement means disposed above the movable body,
The control unit determines whether or not the turning device needs to be turned and a turning angle from a change in a moving direction of the horizontal direction moving unit;
The mobile body overturn prevention device according to claim 1, 2, 3 or 4.