JP6583900B1 - Rotation suppression device and crane work system - Google Patents

Abstract

The present invention provides a technique capable of suppressing rotation of a crane's suspended load and easily changing the direction thereof. A rotation suppression device for suppressing unintentional rotation of a suspended load 9 is provided on a hook 20 suspended from a jib 12 of a crane 10 by a wire 29. The rotation suppressing device is constituted by a drone 30 attached to the hook 20 via a gantry 50. The drone 30 feeds back its position information and posture information, and operates in a direction to cancel the rotation of the suspended load 9. [Selection] Figure 1

Description

  The present invention relates to a technique used when an object is suspended by a crane or the like and is used for work such as transportation, and in particular, an apparatus, system, and control method for suppressing unintentional rotation of an object suspended in the air. About.

  In construction sites such as high-rise buildings, a lot of work is carried out by using a climbing crane or the like to unload a suspended load such as a steel material or a panel and transport it to a predetermined place. Such a hanging work is very dangerous. For example, when the suspended load starts to rotate due to wind or the like, there is generally no way to stop the suspended load, which may induce wire breakage, collapse of the load, contact, or the like. In addition, when unloading at an upper point, the field worker will pull the rope attached in advance and position it, but there is a possibility that an unexpected accident may occur especially when the foot is unstable and unstable. .

  In response to such a background, conventionally, various techniques for suppressing the rotation of the hook have been proposed (for example, see Patent Document 1). In the technique disclosed in Patent Document 1, the hook does not rotate between a receiving seat that rotatably supports the hook and a mounting means to the receiving seat that is fixed to the hook. A friction member is arranged so that the hook is rotated when a force exceeding the force is applied. With this configuration, the crane hook is prevented from rotating during transfer, and is prevented from being damaged or damaged due to contact with other objects due to rotation of the suspended member.

JP 2007-1754 A

  However, for example, in the technique disclosed in Patent Document 1, the weight of the hook becomes excessive, and there is room for improvement in terms of portability and operability. In addition, since the structure is complicated, another technique is required from the viewpoint of cost. Further, even when the hook itself does not rotate, shaking may occur due to the influence of wind or the like, and countermeasures have been demanded for this phenomenon.

  The present invention has been made in view of the situation as described above, and its purpose is to provide a technique capable of suppressing the rotation or changing the direction of an airborne object suspended from a crane or the like. The purpose is to do.

The present invention is fixedly attached to the relative position of for the suspended object by the suspension device to the object, comprises suppress rotary blade unit rotating in the air of the object, said rotary blade unit It is a rotation suppression device which is a multicopter.
Further, the present invention is mounted to the hook to fix the relative positions of for a crane hook, it comprises a rotary blade device configured to suppress rotation of the suspended load hung on the hook, the rotating It is a rotation suppression device in which the wing device is a multicopter.
Rotation suppressing device, the rotary blade device, is connected to the frame extending outwardly from the mounting portion to the hook, that the are by operation of the rotary blade unit is configured to produce a rotational moment on the hook preferable.
Further, the present invention is to fix the relative position of for the suspended load carried by the crane attached to the suspended load, comprising a rotary blade device configured to suppress rotation of the suspended load, the rotary It is a rotation suppression device in which the wing device is a multicopter.
The rotation suppressing device controls the rotating blade so that the rotating blade device suppresses rotation of the suspended load based on the positioning unit that acquires its own position information and posture information and the position information and the posture information. It is preferable to include a rotating blade control unit.
The present invention also includes a rotating blade device attached to a hook of a crane and configured to suppress rotation of a suspended load hung on the hook, and the rotating blade device is removed from an attachment portion to the hook. A rotation suppressing device connected to a gantry extending in a direction, configured to generate a rotational moment in the hook by the operation of the rotary wing device, and configured to extend and contract by the operation of the rotary wing device. It is.
In the rotation suppressing device, the rotary blade device may be an axial fan or a tail rotor.
Moreover, it is preferable that a rotation suppression apparatus is further equipped with the camera which image | photographs the surrounding condition and transmits the image | photographed image information to the cab of the said crane.

Further, the present invention is a crane and, by fixing the relative position of for the suspended load to be carried by a person the crane attached to the suspended load, the rotation suppression device configured to suppress rotation of the suspended load with the door, said include rotation suppression device rotary blade unit is configured to suppress the rotation of the suspended load by the action of those the rotary blade unit, the rotary blade unit is multirotor is the crane work system .
The present invention also relates to a crane and a rotation restraint device that is fixed to the crane relative to the hook and attached to the hook, and is configured to restrain rotation of a suspended load hung on the hook. wherein the rotation control device comprises a rotary blade unit, configured to suppress the rotation of the suspended load by the operation of the rotary blade unit, the rotary blade unit is multirotor a crane operation system.
The present invention also includes a crane and a rotation suppression device configured to suppress rotation of a suspended load hung on a hook of the crane, the rotation suppression device including a rotary blade device, and the rotation suppression device Comprises a pedestal extending outward from the hook mounting portion, the rotary wing device is connected to the gantry, and configured to generate a rotational moment in the hook by the operation of the rotary wing device, It is a crane working system in which the rotary blade device is a multicopter.
The crane work system controls the rotor blade so that the rotor device suppresses rotation of the suspended load based on the positioning unit that acquires its own position information and posture information, and the position information and the posture information. It is preferable to include a rotating blade control unit. In that case, it is preferable that the rotary blade control unit controls the rotation of the suspended load from the position information of the destination of the suspended load and the posture information required at the destination.
The crane work system further includes a positioning device that acquires position information at a boom tip of the crane, and the rotary blade control unit reflects the position information measured by the positioning device in the posture control of the suspended load. It is preferable to make it. In that case, it is preferable that the crane has a function of controlling the movement of the boom so as to reduce the difference between the position of the tip of the boom and the position of the rotary blade device.
Further, the present invention comprises a crane, and a rotation control device that is configured to inhibit rotation of the suspended load carried by the person the crane, the rotation restraining device includes a rotary blade unit, those the rotary blade unit The rotating blade device is configured to suppress rotation of the suspended load by the operation of the positioning unit, the positioning unit that acquires its own position information and posture information, and the suspension load of the suspended load based on the position information and the posture information A rotary blade control unit that controls the rotary blade so as to suppress rotation, and further includes a positioning device that acquires position information at a boom tip portion of the crane, wherein the rotary blade control unit includes the positioning device. It is a crane work system which reflects the measured position information on the attitude control of the suspended load.
Moreover, it is preferable that the crane working system has a function of controlling the movement of the boom so that the crane reduces the difference between the position of the boom tip and the position of the rotary blade device.
In the crane work system, it is preferable that the rotation suppression device further includes a camera that images a surrounding situation and transmits the captured image information to a cab of the crane.

  According to the present invention, unintended rotation can be suppressed by introducing the rotary blade device to an object suspended in the air from a crane or the like.

It is a figure which illustrates schematic structure of the crane operation system by one Embodiment of this invention. It is a figure which illustrates the rotation suppression device provided in the hook suspended from the crane. It is a functional block diagram of a crane work system. It is a figure which shows the modification of the rotation suppression apparatus provided in the hook. It is a figure for demonstrating embodiment whose to-be-suspended thing is a reach balancer. It is a figure which shows the further another modification of the rotation suppression apparatus provided in the hook. It is a figure for demonstrating embodiment whose suspension apparatus is a helicopter. It is a figure for demonstrating other embodiment whose suspension apparatus is a helicopter.

  FIG. 1 is a diagram showing a schematic configuration of a crane work system (construction system) 1 according to an embodiment of the present invention. In this crane work system 1, the crane 10 corresponds to a suspension device according to the present invention. Here, a climbing type jib crane will be described as an example. Further, the hook 20 of the crane 10 is provided with a so-called drone 30 that is a rotary wing unmanned aircraft (multicopter). The drone 30 corresponds to the rotary blade device according to the present invention.

  The crane 10 has, as a general structure, a swivel body including a jib (boom) 12, a hoisting device, a hoisting device, a balance weight, and the like, and a mast is added as the jib construction progresses. It is equipped with a device for lifting up. The crane 10 performs hoisting, hoisting, and turning motions by the operation of the operator 93 in the cab 11 above the turning body.

  A hook 20 is suspended from the tip of the jib 12 by a wire 29. A hanging load 9 made of, for example, H-shaped steel is hung on the hook 20, and the hook 20 is lifted and lowered by winding and unwinding the wire 29 by a hoisting device (not shown). Further, a crane positioning device 19 is provided at the tip portion of the jib 12 to acquire position information of the tip portion of the jib 12.

  The hook 20 is attached with a rotation suppressing device according to the present invention. The rotation suppressing device according to the present embodiment includes a gantry 50 extending outward from the hook 20 and a drone 30 attached to the tip of the gantry 50. The drone 30 according to the present embodiment has a function of suppressing unintentional rotation of the hook 20 and a function of changing to a desired direction. The specifications (size and output) of the drone 30 can be selected as appropriate according to the weight of the hook 20 and the weight of the suspended load 9. The drone 30 is generally a fixed pitch propeller that changes the number of rotations and the direction of rotation. However, in order to respond more quickly, the drone 30 may have a variable pitch.

  Since the hook 20 is the same as the conventional configuration, it is not necessary to newly modify the hook 20 itself. Therefore, the introduction cost can be suppressed. Moreover, since it is the structure fixed through the mount frame 50, attachment and removal are easy and the portability and operativity of the hook 20 are not deteriorated.

  FIG. 2 is an enlarged view of the area A <b> 1 of FIG. 1, and shows the drone 30 attached to the hook 20 via the gantry 50. The hook 20 has a general structure, and is attached to a sheave base 21, a sheave (pulley) 24 provided on an upper portion of the sheave base 21, and a hook connecting portion 23 so as to be rotatable at a lower portion of the sheave base 21. Hook body 22.

  A mount 50 is attached to the hook neck 22a of the hook body 22 so as to extend outward. Specifically, the gantry 50 includes an attachment portion 51 attached to the hook neck portion 22a, an arm base portion 52 extending horizontally from the attachment portion 51, an arm portion 53 extending obliquely upward and outward from the arm base portion 52, an arm And a gantry body 54 extending outward in the horizontal direction at the tip of the portion 53.

  A drone connecting portion 55 formed of a universal joint or the like is provided on the upper portion of the gantry body 54, and fixes the position of the lower body portion 30a of the drone 30 by friction when not in operation.

  In addition, the drone 30 may be provided in a lower part of the gantry body 54 by a hanging method. In any aspect, the drone 30 can be freely tilted to a predetermined angle with the drone connecting portion 55 as a fulcrum, and the rotor blade is configured not to contact the gantry 50 even when tilted. Further, as shown in the figure, by extending the gantry 50 obliquely upward, the installation location of the drone 30 can be set above the hook body 22, and safety can be ensured.

  A battery 60 for supplying driving power to the drone 30 is provided on the upper surface of the attachment portion 51.

  The drone 30 has means (for example, the drone positioning unit 35 shown in FIG. 3) for grasping its own position information and posture information. Here, the acquired position information includes the latitude, longitude, and altitude information of the drone 30. Further, the posture information includes information on the acceleration of the drone 30 in the three-axis direction, angular velocity around the three axes, and information on the azimuth, and information on the tilt and direction calculated from the information. Note that an azimuth meter 56 may be provided on the gantry 50 (or the suspended load 9) to acquire information on the direction in which the drone 30 or the suspended load 9 faces.

  Although details will be described later, the drone 30 generates a rotational moment in the hook 20 when an unintended movement (rotation or swinging) occurs in the hook 20 or the suspended load 9 based on the position information and the posture information. , It operates to cancel and suppress such movement (rotation suppression function). Also, the drone 30 feeds back such information to the flight control unit 33, rotates the hook 20 in the direction instructed by the drone control device 80 or automatic programming, etc. The direction can also be changed (rotational positioning function).

  FIG. 3 is a functional block diagram of the crane work system 1 according to the present embodiment, and shows the crane 10, the drone 30, and the drone control device 80 mainly focusing on the rotation suppression function of the hook 20 by the drone 30.

  The crane 10 includes a crane control unit 13, a display unit 14, and a crane communication unit 15 with respect to the interlocking function with the drone 30.

  The crane control unit 13 controls the operation of the jib 12, the hoisting device, and the hoisting device. These operations are generally performed by the operation of the operator 93 in the cab 11, but may be performed by remote operation of the ground worker 91 or the field worker 92. Furthermore, automatic control can be performed so as to obtain a predetermined control value (target value) by interlocking with the drone 30.

  The display unit 14 displays various states of the crane 10, and displays various information such as an interlocking state with the drone 30 and image data transmitted from the drone 30. That is, the information on the actual suspended load 9 can be shared by the operator 93 in the same manner as other workers (the ground worker 91 and the field worker 92). The crane communication unit 15 communicates with the drone communication unit 34 of the drone 30 and the terminal communication unit 82 of the drone control device 80 by a wireless LAN or other wireless communication method (for example, Bluetooth (registered trademark)). The crane positioning device 19 includes a GPS sensor and an altimeter, and acquires position information of the mounting position of the crane positioning device 19.

  The drone 30 includes a main control unit 31, a drive unit 32, a flight control unit 33, a drone communication unit 34, a drone positioning unit 35, a camera 36, and a crane interlocking unit 37.

  The main control unit 31 comprehensively controls each component of the drone 30. The drive unit 32 acquires power from the battery 60 or an external power source, and drives the rotor blades of the drone 30. The flight control unit 33 controls the drive unit 32 based on an instruction from the drone control device 80 or a predetermined program. That is, by controlling the operation of the drone 30, the movement of the hook 20 connected to the drone 30 is controlled.

  The drone communication unit 34 communicates with the crane communication unit 15 of the crane 10 and the terminal communication unit 82 of the drone control device 80. That is, the drone 30 can be remotely operated by the drone control device 80 wirelessly, and can transmit various information of the drone 30 to the crane 10 and the drone control device 80.

  The drone positioning unit 35 acquires position information and posture information of the drone 30. Specifically, the drone positioning unit 35 includes a GPS device 35a, an inertial measurement device 35b, and an altitude measurement device 35c.

  The GPS device 35a three-dimensionally determines the installation position based on a signal emitted from a GPS satellite, and acquires position information. The inertial measurement device 35b includes a three-axis acceleration sensor and a three-axis gyro sensor, and acquires the flight state (speed information, acceleration information, and posture information) of the drone 30. The altitude measuring device 35c includes, for example, an altimeter such as a barometric type, a GPS type, a laser type, and a radar type.

  The camera 36 captures the situation around the drone 30 and transmits the captured image data to the drone control device 80 and the crane 10. The camera 36 may be a camera that can capture a wide angle of view (area) with a fixed-type wide-angle lens, or may be a turning type that can be controlled in direction from the drone control device 80 or the like.

  The crane interlocking unit 37 performs control corresponding to the movement of the hook 20 based on the measurement result of the drone positioning unit 35, and prevents the hook 20 from unintentionally moving (rotating or swinging). To control. Therefore, the crane interlocking unit 37 acquires position information and posture information from the drone positioning unit 35, and instructs the flight control unit 33 so as to obtain an appropriate position and posture. The flight control unit 33 controls the drive unit 32 based on the instruction. Thereby, the unintended movement of the hook 20 can be canceled and suppressed.

  The drone control device 80 may be configured as a dedicated transmitter, or may be configured as a tablet terminal into which a control application is introduced. Here, a tablet terminal is illustrated. The drone control device 80 includes a main control unit 81, a terminal communication unit 82, a display unit 83, an operation unit 84, and a drone control unit 85.

  The main control unit 81 comprehensively controls each component of the drone control device 80. The terminal communication unit 82 communicates with the drone communication unit 34 of the drone 30 and the crane communication unit 15 of the crane 10. The display unit 83 displays objects of various functions realized by the application, or displays an image taken by the camera 36 of the drone 30.

  The operation unit 84 receives operations of the ground worker 91 and the like. The drone control unit 85 acquires and records the flight mode setting of the drone 30, the input of target values (position information, attitude information), etc. of the suspended load 9, and the operation from the ground worker 91 etc. during manual operation. It is converted into a control amount for the drone 30 and notified to the drone 30 by radio.

  A specific operation / work by the crane work system 1 having such a configuration will be described. First, an example in which the information of the drone positioning unit 35 of the drone 30 is used and the information of the crane positioning device 19 is not used will be described.

  On the ground 3, the ground worker 91 hangs the suspended load 9 with a wire on the hook 20 of the crane 10 and operates the drone 30 at the timing when the suspended load 9 is lifted and grounded.

  In the drone 30, the crane interlocking unit 37 sets the current position as the home position and stores the angular position with respect to the vertical axis. As posture information, the drone 30 is kept horizontal, and coordinates (position information) on the ground 3 are stored from the detection result of the GPS device 35a.

  The wire 29 is wound up and the suspended load 9 is raised, and the drone 30 is also raised accordingly. At this time, the crane interlocking part 37 acquires altitude information from the altitude measuring device 35c and grasps a change in altitude of its own position.

  When the suspended load 9 is about to rotate due to the influence of wind or the like during the ascent, the crane interlocking unit 37 determines the occurrence of rotation from the acceleration information detected by the inertial measurement device 35b of the drone 30, and returns to the original state. The flight control unit 33 is instructed. The flight control unit 33 drives the drive unit 32 based on the instruction. Thereby, the drone 30 generates a rotational moment with respect to the hook 20 in a direction to cancel the unintended rotation of the suspended load 9. The suspended load 9 can maintain the initial direction fully automatically up to a specified altitude by feedback control of the drone 30.

  When it is necessary to change the direction when the swiveling body of the crane 10 turns and tries to bring the suspended load 9 close to a predetermined place, for example, the site in the upper layer part (the rooftop) of the construction 2 The operator 92 can change the direction of the suspended load 9 by manual operation using the drone control device 80. In addition, when the drone control apparatus 80 (or equivalent function) is set in the cab 11, the operator 93 in the cab 11 may operate.

  After the direction of the suspended load 9 is changed as desired, when the field worker 92 or the like who operates the drone control device 80 releases his hand from the drone control device 80, the drone 30 records and holds the direction as the next home angle position. To do. Such an operation makes it unnecessary or easy for the field worker 92 to pull the rope 9 by the rope to make the suspended load 9 close to the desired direction.

  Note that the follow-up operation of swinging up and down the wire 29 is a function in which the camera 36 of the drone 30 faces upward and a tracking target (for example, the tip portion of the jib 12) is selected from the captured image and is tracked by image processing. (For example, a function called an active track mode).

  In addition, by reflecting the information (position information and altitude information) of the drone positioning unit 35 of the drone 30 on the crane 1 in conjunction with the parallel movement (turning movement) of the suspended load 9, the tip of the jib 12 (the wire 29) The upper part can follow the lower part to achieve steady rest. That is, since the crane 10 grasps the turning amount from the home position, the steadying can be realized by feedback-controlling the turning amount so that the difference from the position information of the drone 30 becomes zero.

  Further, when the crane positioning device 19 is installed at the tip of the jib 12 of the crane 10, based on the measurement result of the crane positioning device 19 and the measurement result of the drone positioning unit 35 of the drone 30, By performing feedback control so that the amount of displacement becomes equal, steadying can be realized. That is, the movement of the jib 12 may be controlled so as to reduce the difference between the position of the tip of the jib 12 and the position of the drone 30. Further, the crane positioning device 19 may be used without using the drone positioning unit 35 of the drone 30.

  Furthermore, the vertical change (inclination) of the suspended load 9 can be suppressed. In general, a scene in which the suspended load 9 vibrates is not assumed, but it is also conceivable that it vibrates up and down due to weather, an earthquake, or the like. Therefore, the difference between the altitude information of the installation position of the drone 30 and the altitude information obtained from the drone 30 ascertained by the crane 10 with its own device (the operation amount of the crane positioning device 19 and the hoisting device) is zero. By controlling the drone 30, it is possible to achieve the up and down steadying.

  These operations may be performed by the operator 93 or the like in the cab 11 using the drone control device 80 to control the drone 30 or by the crane control unit 13 of the crane 10 by an automatic program.

  When the suspended load 9 reaches a desired position by turning the jib 12, the drone 30 controls the direction of the suspended load 9 to a target direction. When rotated in the target direction, the drone 30 controls to maintain that direction. Therefore, the amount of unloading rope attached to the suspended load 9 is also minimal, and the workability can be prevented from being lowered by the rope.

  FIG. 4 shows a modification of the gantry 150 shown in FIG. The pedestal 150 is a telescopic pedestal (extensible telescopic pedestal) so that a large moment can be obtained when the pedestal 150 is attached to the hook 20.

  That is, the pedestal 150 includes an attachment portion 151 attached to the hook neck portion 22a, an arm base portion 152 extending horizontally from the attachment portion 151 for a predetermined length, a telescopic arm portion 153 extending horizontally outward from the arm base portion 152, and a telescopic portion. And a gantry body 154 that extends further horizontally outward at the tip of the arm 153.

  A drone connecting portion 155 formed of a universal joint or the like is provided on the upper portion of the gantry body 154, and the body lower portion 30a of the drone 30 is fixed in position.

  The telescopic arm portion 153 can be expanded and contracted by the operation of the drone 30. For example, an electromagnetic locking device can be used as the locking mechanism. Further, the telescopic arm portion 153 may be expanded and contracted by electric power from the battery 60.

  While a typical embodiment has been described with respect to the present invention, various modifications can be made in implementing the present invention. For example, in the above embodiment, the number of drones 30 installed on the gantry 50 is one. However, by using a plurality of drones, a stable and powerful effect can be realized. In that case, a coordinated stable operation can be obtained by arranging a plurality of drones 30 equally and operating them with a single drone control device 80.

  The drone 30 may be provided on the suspended load 9 that is transported by the crane 10. When the suspended load 9 is a steel material, it is easy to attach and fix the gantry 50, so that the rotation suppression function by the drone 30 attached to the end of the suspended load 9 via the gantry 50 can be realized. In addition to the hook 20 and the suspended load 9, various objects to be suspended can be targeted for rotation control by the drone 30.

  For example, the drone 30 may be attached to a reach balancer 300 suspended by a single wire 311 as shown in FIG. In this embodiment, the reach balancer 300 includes balance arms 302 and 303 that extend in opposite directions around the eyebolt 301 to which the wire 311 is fixed. A weight 304 is fixed to the tip of one balance arm 302, and the suspended load 90 is suspended from the tip of the other balance arm 303. In the case of this embodiment, the drone 30 that operates to suppress the rotation of the reach balancer 300 as a whole and position the suspended load 90 in the intended direction is provided above the weight 304. Thereby, the suspended load 90 can be safely conveyed from the outside of the building under construction to the inside while suppressing unintended rotation of the reach balancer 300.

  In addition to the multi-rotor drone 30, for example, a single rotor type axial fan or tail rotor can be used as the rotary blade device according to the present invention.

  FIG. 6 is a modified example of the rotation suppression device that is further miniaturized, and includes two axial fans 70 as a rotary blade fan. The pedestal 250 on which the axial flow fan 70 is provided employs a rotary expansion / contraction type so that the entire size can be reduced and the moment for suppressing rotation can be increased.

  That is, the gantry 250 is rotatably attached to the attachment portion 251 attached to the neck portion of the hook, the rotation brackets 252 and 252 provided on the front and rear (or left and right) of the attachment portion 251, and the rotation brackets 252 and 252. , Arm base portions 253 and 253 extending outward, and telescore portions 254 and 254 that can be expanded and contracted in the arm base portions 153 and 253. Axial fans 70 and 70 are provided at the distal ends of the two telescore units 254 and 254, respectively.

  As described above, the embodiment has been described by taking the jib crane as an example of the suspension device according to the present invention. However, the present invention is also applied to other cranes such as an overhead crane, a bridge crane, a Telha, a stacker crane, and the like. Can do. Furthermore, the suspension device used in the present invention is not limited to a crane. For example, as shown in FIGS. 7 and 8, the suspension device is a helicopter 400 or a winch that is mounted on the helicopter 400. For example, an object or a person who is transported or rescued via a wire rope 402 lowered from the helicopter 400 during a disaster or the like can also rotate. It can be the target of suppression control.

  For example, FIG. 7 illustrates an embodiment in which rotation suppression devices including axial fans 410 and 410 and fixed wings 411, 411, and 412 are provided before and after the stretcher 401 on which a rescuer is placed. The two axial fans 410 are composed of rotary blade fans that generate moments in the opposite directions with respect to the stretcher 401. That is, the axial fans 410 and 410 can be operated so as to suppress unintentional rotation of the stretcher 401 when the stretcher 401 carrying the victim is suspended from the helicopter 400 in the sky. Further, the posture of the stretcher 401 can be further stabilized by the vertical fixed wings 411, 411, 412 evenly distributing the wind pressure from the main rotor of the helicopter 400 to the left and right.

  Moreover, FIG. 8 shows an embodiment of a rotation restraint device that is carried by a rescue member 491. This rotation suppressing device includes a tail rotor 420 and a fixed blade 421 which are variable pitch axial fans (rotary blade fans). The wire harness 402 suspended from the helicopter 400 is connected to the respective clothing harnesses worn by the rescue crew 491 and the rescuer 492, and the rescuer 492 is rescued in the helicopter 400 by winding the wire rope 402. . In the case of rescue, even if an unexpected rotation occurs in the rescue crew 491 holding the rescuer 492 in the air, the rotation can be suppressed by the tail rotor 420 operating so as to cancel the rotation. In addition, the vertical fixed wing 421 can also stabilize the posture using the wind pressure from the helicopter 400.

DESCRIPTION OF SYMBOLS 1 Crane work system 9, 90 Suspended load 10 Crane 11 Driver's cab 12 Jib (boom)
13 Crane Control Unit 14 Display Unit 15 Crane Communication Unit 19 Crane Positioning Device 20 Hook 29 Wire 30 Drone (Rotary Wing Device)
31 Main Control Unit 32 Drive Unit 33 Flight Control Unit 34 Drone Communication Unit 35 Drone Positioning Unit 36 Camera 37 Crane Interlocking Unit 50, 150, 250 Base 55, 155 Drone Connection Unit 56 Direction Meter 70, 410 Axial Fan (Rotary Wing Device) )
153 Telescopic arm unit 300 Reach balancer 302, 303 Balance arm 304 Weight 401 Stretcher 411, 412, 421 Fixed blade 420 Tail rotor (rotary blade device)

Claims (18)

Mounted the relative position of for the object that is suspended by suspension device is fixed to the object, comprises suppress rotary blade unit rotating in the air of the object, the rotary blade unit is a multirotor , Rotation suppression device. By fixing the relative position of for the crane hook is attached to the hook, it comprises a rotary blade device configured to suppress rotation of the suspended load hung on the hook, the rotary wing device in multirotor There is a rotation suppression device.   3. The rotary blade device according to claim 2, wherein the rotary blade device is connected to a pedestal extending outward from an attachment portion to the hook, and configured to generate a rotational moment in the hook by the operation of the rotary blade device. Rotation suppression device. By fixing the relative position of for the suspended load carried by the crane attached to the suspended load, comprising a rotary blade device configured to suppress rotation of the suspended load, the rotary wing device in multirotor There is a rotation suppression device. A positioning unit that acquires the position information and attitude information of the rotor unit, and a rotor control unit that controls the rotor so as to suppress the rotation of the suspended load based on the position information and the attitude information. And a rotation suppressing device according to claim 3 or 4 . A rotating blade device attached to a crane hook and configured to inhibit rotation of a suspended load hung on the hook;
The rotary blade device is connected to a pedestal extending outward from an attachment portion to the hook, and is configured to generate a rotational moment in the hook by operation of the rotary blade device;
The rotation suppressing device, wherein the gantry is configured to be extendable and contractable by the operation of the rotary blade device. The rotation suppression device according to claim 6 , wherein the rotary blade device is an axial fan or a tail rotor. The rotation suppression device according to any one of claims 2, 4, and 6 , further comprising a camera that photographs a surrounding situation and transmits photographed image information to a cab of the crane. Comprising a crane, by fixing the relative position of for the suspended load to be carried by a person the crane attached to the suspended load, and a rotation control device that is configured to inhibit rotation of the suspended load,
The rotation inhibiting device comprises a rotary blade unit, configured to suppress the rotation of the suspended load by the action of those said rotary blade device,
A crane working system, wherein the rotary blade device is a multicopter. A crane and a rotation suppression device fixed to the crane relative to the hook and attached to the hook, and configured to suppress rotation of a suspended load hung on the hook;
The rotation suppression device includes a rotary blade device, and is configured to suppress rotation of the suspended load by an operation of the rotary blade device.
A crane working system , wherein the rotary blade device is a multicopter . A crane, and a rotation suppressing device configured to suppress rotation of a suspended load hung on a hook of the crane,
The rotation suppression device includes a rotor device;
The rotation suppressing device includes a pedestal extending outward from an attachment portion to the hook, the rotary wing device is connected to the gantry, and a rotational moment is generated in the hook by the operation of the rotary wing device. Configured and
A crane working system , wherein the rotary blade device is a multicopter . A positioning unit that acquires the position information and attitude information of the rotor unit, and a rotor control unit that controls the rotor so as to suppress the rotation of the suspended load based on the position information and the attitude information. The crane work system according to any one of claims 9 to 11 , further comprising: The crane work system according to claim 12 , wherein the rotary blade control unit controls rotation of the suspended load from position information of the destination of the suspended load and attitude information required at the destination. Further comprising a positioning device for obtaining position information to the boom tip of the crane, the rotary blade control unit, to reflect the positional information the positioning device is measured attitude control of the suspended load, according to claim 12 or 13 Crane work system as described in. The crane operation system according to claim 14 , wherein the crane has a function of controlling movement of the boom so as to reduce a difference between a position of the tip of the boom and a position of the rotary blade device. Crane, and a rotation control device that is configured to inhibit rotation of the suspended load carried by the person the crane,
The rotation inhibiting device comprises a rotary blade unit, configured to suppress the rotation of the suspended load by the action of those said rotary blade device,
A positioning unit that acquires the position information and attitude information of the rotor unit, and a rotor control unit that controls the rotor so as to suppress the rotation of the suspended load based on the position information and the attitude information. And comprising
A crane operation system further comprising a positioning device that acquires position information at a boom tip portion of the crane, wherein the rotary blade control unit reflects position information measured by the positioning device in posture control of the suspended load. The crane operation system according to claim 16 , wherein the crane has a function of controlling movement of the boom so as to reduce a difference between a position of the boom tip portion and a position of the rotary blade device. The crane operation system according to any one of claims 9 to 17 , wherein the rotation suppression device further includes a camera that images a surrounding situation and transmits the captured image information to a cab of the crane.

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