JP6648714B2 - Indoor crane automatic driving device and automatic driving method - Google Patents

Description

  The present invention relates to an automatic operation device and an automatic operation method for an indoor crane using an indoor position measurement system.

  In recent years, steelmaking lines have become highly automated, but the accuracy of the transferred objects, such as the control of the stop position of the transferred objects, is controlled by an indoor crane that requires the operator to operate a remote control device. Manufacturing / inspection processes that require handling are also left. As such a manufacturing / inspection process, for example, there is a step work of rolling rolls in a hot rolling line. In this stage work, the upper and lower work rolls of the rolling mill are vertically overlapped in advance, and the upper and lower work rolls are assembled into the housing of the rolling mill. The used upper and lower work rolls are handled as a pair of upper and lower work rolls and taken out of the housing of the rolling mill. For this reason, in the column work, a handling operation is required in which an operator vertically overlaps the upper and lower work rolls. In addition, in order to grind the surface of a used rolling roll and reuse it, an operation of placing the used rolling roll on a grinder for roll polishing also requires an operator to handle the rolling roll.

  Here, in the handling work of the rolling rolls, it is necessary to secure the evacuation distance from the suspended load of the indoor crane based on the safety rules and the size of the rolling rolls is large, so that one worker alone is closer to the worker It is difficult to confirm the horizontal displacement at the end of the roll. Further, it is practically difficult for a single person to perform a delicate position adjustment including a turning operation of an indoor crane for adjusting a rotation component of a rolling roll in a horizontal plane. Further, in order to operate an indoor crane having a lifting load of 5 [t] or more, a crane operator license, which is one of the national qualifications defined by the Industrial Safety and Health Law, is required. Because there is a rule that three operations such as hoisting, traversing, and traveling of an indoor crane must not be performed at the same time, the trajectory of the suspended load cannot take the shortest route connecting the start point and the target point. Accordingly, the time required for the suspended load to reach the target point increases, and the work efficiency decreases.

  For this reason, a method for facilitating the handling operation of the rolling roll has been proposed. Specifically, Patent Literature 1 discloses a handling device for relative coordinates such that a component is handled at an assembly position by a measuring device for measuring relative coordinates of the assembly position and a handling device for positioning the component. A method of controlling is described. In the method described in Patent Literature 1, the relative coordinates of the to-be-assembled position in the coordinate system of the measuring device are measured based on the slit light projection method using a measuring device including a slit light projector and a CCD camera.

JP-A-11-81686

  However, when rolling rolls are overlapped using a measuring device for measuring relative coordinates of an assembling position as described in Patent Literature 1, it is necessary that two rolling rolls to be overlapped from the measuring device are visible. However, when handling rolling rolls with an indoor crane, the lower rolling rolls are covered by the upper rolling rolls immediately before the completion of the overlaying operation, and are almost blind spots. Can not be performed. On the other hand, when the measuring device described in Patent Document 1 including a CCD camera is installed so as to cover the work area, it is practical to install the measuring device above the support of the building so as to look down on the work area.

  In this case, assuming that a general factory building support span is 20 [m], it is desirable that the measuring apparatus can image a distance of at least 10 [m] at a horizontal viewing angle of 90 [°] at least. However, at this time, even if a high-resolution CCD camera with a resolution of 3200 [dpi] (4416 × 2844 pixels) is adopted, the spatial resolution in the horizontal direction at a distance of 10 [m] from the center of the field of view is 4.52 [mm] (= 10 [m] × 2/4416). For this reason, when image processing such as distortion correction in a wide-angle region and arithmetic processing for calculating a relative position are added, the measurement accuracy of the relative coordinates of the two objects becomes 10 [mm] or more. Therefore, in the method described in Patent Document 1, it is difficult to perform an operation of overlapping two rolling rolls.

  The present invention has been made in view of the above problems, and an object of the present invention is to accurately and efficiently move a current position of a transferred object to a target position in a work requiring handling of the transferred object by an indoor crane. Another object of the present invention is to provide an automatic operation device and an automatic operation method for an indoor crane that can be safely controlled.

In order to solve the above-described problems and achieve the object, an indoor crane automatic driving device according to the present invention is an indoor crane that controls an indoor crane that transports a conveyed object in a work area using an indoor position measurement system. The automatic driving device according to claim 1, wherein the rotating fan beam emitted from one or more navigation transmitters of the indoor position measurement system is mounted on a hanging jig of the indoor crane that grips the transported object. A first navigation receiver for receiving as a signal, a deviation between a current position and a target position of the conveyed object recognized based on the positioning signal, and calculating a deviation between the calculated current position and the target position. Control means for autonomously moving the indoor crane so that the current position of the conveyed object becomes the target position based on the conveyed object or the hanging jig. The robot arm is driven by the vertical movement of the hanging jig so that a vertical restraining force is not generated by the tip of the arm on the transferred object or the hanging jig. And one or more assist robots for assisting position adjustment and posture adjustment of the transferred object in a horizontal plane while performing force control , wherein the assist robot is configured to control the transferred object based on the positioning signal. It is characterized in that the assistance is performed autonomously using information on the current position, the target position, and the posture of the object.

  Further, the automatic driving device for an indoor crane according to the present invention, in the above invention, arranges the assist robot near a target position for transporting the transported object, and immediately before positioning the transported object at the target position. And the assist is performed by the assist robot.

  Further, the automatic driving device for an indoor crane according to the present invention, in the above-mentioned invention, wherein the rotation emitted from one or more navigation transmitters of the indoor position measurement system, which is mounted on a worker in the work area. A second navigation receiver for receiving a fan beam as a positioning signal, wherein the control means controls the current position and attitude of the transported object recognized based on the positioning signal received by the first navigation receiver. Calculating the evacuation area in the work area from the information, calculating the position of the worker in the work area recognized based on the positioning signal received by the second navigation receiver, the evacuation area and the The automatic moving operation of the indoor crane is controlled according to the positional relationship between the positions of the workers.

  In addition, the automatic operation device for an indoor crane according to the present invention, in the above invention, further includes an alarm unit attached to the worker, the alarm unit notifying that the indoor crane is approaching, and the control unit includes the evacuation unit. By controlling the warning means in accordance with the positional relationship between the area and the position of the worker, the worker is notified that the indoor crane is approaching.

Further, the automatic driving device for an indoor crane according to the present invention, in the above invention, the distance measuring sensor attached to the hanging jig, which measures a distance between the hanging jig and an obstacle present around. The control means controls an automatic movement operation of the indoor crane based on a magnitude relationship between a distance measured by the distance measuring sensor and a predetermined threshold value.

The automatic operation method of an indoor crane according to the present invention is an automatic operation method of an indoor crane that controls an indoor crane that conveys an object in a work area using an indoor position measurement system, A first navigation receiver mounted on a hanging jig of the indoor crane that grips the rotating fan beam emitted from one or more navigation transmitters of the indoor position measurement system as a positioning signal. And calculating the deviation between the current position and the target position of the conveyed object recognized based on the positioning signal received by the first navigation receiver, and the calculated current position and the target position. Autonomously moving the indoor crane so that the current position of the conveyed object becomes the target position based on the deviation from the position, and at least one assist robot, The conveyed object or the hanging jig is held by an arm tip of a robot arm, and the lifting jig is so controlled that the vertical end force of the arm end is not generated on the object to be conveyed or the hanging jig. while performing a force control for the follower of the robot arm to the vertical movement of the tool, viewed including the steps of: performing an auxiliary position adjustment and posture adjustment of the transported object in a horizontal plane, the assist robot, the positioning The assistance is performed autonomously using information on a current position, a target position, and a posture of the transported object based on a signal .

  Further, in the automatic driving method of the indoor crane according to the present invention, in the above invention, the assist robot is arranged near a target position for transporting the transported object, and immediately before the transported object is positioned at the target position. And the assist is performed by the assist robot.

  In addition, in the automatic driving method of the indoor crane according to the present invention, in the above-described invention, the second navigation receiver mounted on the worker in the work area may include at least one navigation device of the indoor position measurement system. Receiving the rotating fan beam emitted from the transmitter for positioning as a positioning signal; andthe control unit controls the current position and the current position of the conveyed object recognized based on the positioning signal received by the first navigation receiver. The evacuation area in the work area is calculated from the posture information, the position of the worker in the work area recognized based on the positioning signal received by the second navigation receiver is calculated, and the evacuation area and Controlling the automatic movement operation of the indoor crane according to the positional relationship of the position of the worker.

  Further, in the automatic driving method of the indoor crane according to the present invention, in the above invention, the worker is controlled by controlling a warning means attached to the worker according to a positional relationship between the retreat area and the position of the worker. The step of notifying that the indoor crane is approaching.

Further, in the automatic driving method of the indoor crane according to the present invention, in the above invention, the distance measuring sensor attached to the hanging jig measures a distance between the hanging jig and an obstacle present in the vicinity. And controlling the automatic movement operation of the indoor crane based on a magnitude relationship between a distance measured by the distance measuring sensor and a predetermined threshold value. is there.

  ADVANTAGE OF THE INVENTION According to the automatic driving device and the automatic driving method of the indoor crane according to the present invention, in a work requiring handling of the conveyed object by the indoor crane, the current position of the conveyed object is precisely, efficiently, and efficiently positioned at the target position. Thus, there is an effect that the control can be performed safely.

FIG. 1 is a schematic diagram illustrating an overall configuration of the indoor crane automatic driving device according to the first embodiment. FIG. 2 is a block diagram illustrating a configuration of the indoor crane automatic driving device according to the first embodiment. FIG. 3 is a flowchart illustrating a flow of a setting process of the global coordinate system according to the first embodiment. FIG. 4 is a perspective view showing the positions of measurement points measured in the setting process of the global coordinate system shown in FIG. FIG. 5 is a plan view showing the positions of the measurement points measured in the setting process of the global coordinate system shown in FIG. FIG. 6 is a flowchart illustrating the flow of the position / posture information acquisition process according to the first embodiment. FIG. 7 is a diagram showing the position of the measurement point of the upper roll in the position / posture information acquisition processing shown in FIG. FIG. 8 is a flowchart illustrating a flow of a target trajectory calculation process according to the first embodiment. FIG. 9 is a diagram showing the position of the measurement point of the lower roll in the target trajectory calculation processing shown in FIG. FIG. 10 is a schematic diagram for explaining the autonomous movement operation of the upper roll along the target trajectory in the first embodiment. FIG. 11 is a schematic diagram showing the movement locus of the upper roll according to the present invention and the related art. FIG. 12 is a schematic diagram for explaining an example of the indoor crane control process of the present invention. FIG. 13 is a schematic diagram for explaining another example of the indoor crane control process of the present invention. FIG. 14 is a schematic diagram for explaining another example of the indoor crane control process of the present invention. FIG. 15 is a block diagram illustrating a configuration of an automatic operation device for an indoor crane according to a reference configuration example . FIG. 16 is a schematic diagram for explaining the autonomous movement operation of the upper roll along the target trajectory in the reference configuration example .

[Embodiment 1]
Hereinafter, a first embodiment (hereinafter, referred to as a first embodiment) of an automatic operation device for an indoor crane according to the present invention will be described.

[Configuration of automatic driving device for indoor crane]
First, a configuration of the indoor crane automatic driving device 1 according to the present embodiment will be described with reference to FIGS. 1 and 2. FIG. 1 is a schematic diagram illustrating an overall configuration of an indoor crane automatic driving device 1 according to the first embodiment. FIG. 2 is a block diagram illustrating a configuration of the indoor crane automatic driving device 1 according to the first embodiment.

  As shown in FIG. 1, the indoor crane automatic driving device 1 according to the first embodiment is a device for performing an operation of superimposing an upper roll R2 on a lower roll R1 using an indoor crane 2. As shown in FIGS. 1 and 2, the indoor crane automatic driving device 1 according to the first embodiment includes an indoor crane 2 and an indoor position measurement system 3 as main components. The indoor crane 2 includes a hanging jig 21, a trolley 22, an operator controller 23, and a distance measuring sensor 24.

  The hanging jig 21 includes a holding device 21a for holding the upper roll R2, and a frame 21b for fixing the holding device 21a, and has a function of holding and fixing the upper roll R2. The carriage 22 includes an on-board computer 22a, a motor control unit 22b, and a drive unit 22c. The on-board computer 22a is configured by an information processing device, and controls the motor control unit 22b according to an operation command transmitted from the worker controller 23. The motor control unit 22b controls the driving unit 22c according to a control signal output from the on-board computer 22a.

  The drive unit 22c raises and lowers the suspension jig 21 in the direction of arrow D1, traverses the suspension jig 21 in the direction of arrow D2, and moves the carriage 22 on the rail R in accordance with the control current output from the motor control unit 22b. In the direction of arrow D3, the turning operation of the hanging jig 21 in the direction of arrow D4, and the opening / closing operation of the gripping device 21a in the direction of arrow D5.

  The worker controller 23 is operated by the worker O and has a function of transmitting a hoisting, lowering, traversing, running, turning, or opening / closing operation command transmitted from the host computer 33 to be described later to the on-board computer 22a. I have. In addition, when the worker O operates the autonomous movement mode ON / OFF switch 23a to set the autonomous movement mode to the ON state, the worker controller 23 indicates that the autonomous movement mode has been set to the ON state. The signal is transmitted to the on-board computer 22a. When receiving the signal indicating that the autonomous movement mode has been set to the ON state, the on-board computer 22a controls the motor control unit 22b based on the operation command information transmitted from the worker controller 23 to control the carriage 22. Drive autonomously.

  The distance measuring sensor 24 measures the distance between the suspending jig 21 and the surrounding landmarks at a wide angle by using a scanning distance measuring laser emitted from the sensor light projecting unit, and thereby measures the distance between the suspending jig 21 and the obstacle. Measure the distance.

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

  The navigation transmitter 31 is installed in a work area for performing an operation of superimposing the upper roll R2 on the lower roll R1, and emits two rotating fan beams (fan-shaped beams) FB. The rotating fan beam FB may be a laser fan beam or other light emitting means.

  The navigation receiver 32 is mounted on the suspension jig 21 and receives the rotating fan beams FB emitted from the plurality of navigation transmitters 31. The navigation receiver 32 recognizes the received rotating fan beam FB as an Indoor Global Positioning System (IGPS) signal, and wirelessly transmits information on the recognized IGPS signal to the host computer 33 as reception information. 2. Description of the Related Art In general, a GPS (Global Positioning System) uses three or more GPS satellites to recognize and determine three-dimensional coordinate values (hereinafter, referred to as “coordinate values”) corresponding to a position of a GPS receiver. An indoor position measurement system (IGPS) applies this concept indoors. Details of the indoor position measurement system are described in detail in US Pat. No. 6,501,543.

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

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

Then, the computer main unit 33a sets the global coordinate system corresponding to the traveling, traversing, hoisting, lowering, and turning direction components of the indoor crane 2 in the work area to (X, Y, Z) and (θ _x , θ _y , By defining θ _z ), the position of the navigation receiver 32 can be directly related to the control direction of the indoor crane 2. In addition, since the direction of the building itself including the crane garter does not change significantly, it is sufficient to set the global coordinate system when the installation position of the navigation transmitter 31 is shifted due to maintenance work or the like. .

  Here, a method of setting the global coordinate system will be described with reference to FIGS. FIG. 3 is a flowchart illustrating a flow of a setting process of the global coordinate system according to the first embodiment. 4 and 5 are a perspective view and a plan view, respectively, for explaining the positions of the measurement points A1, B1, and C1 measured in the setting process of the global coordinate system. As shown in FIG. 4, when setting the global coordinate system, first, the worker O sets the contact probe 71 of the jig 70 including the navigation receiver 32 on the surface of the factory building support T1. The position of the measurement point A1 of the landmark L1 is measured by bringing the navigation receiver 32 into contact with the landmark L1 and transmitting reception information from the navigation receiver 32 to the host computer 33 (step S1).

  In order to measure the position of the landmark with high accuracy, it is desirable to determine the geometrical positional relationship between the navigation receiver 32 and the contact probe 71 with high accuracy within ± 50 micrometers. Since the information of the position (X, Y, Z) and attitude (θx, θy, θz) of the navigation receiver 32 is obtained by the indoor position measurement system, the geometrical relationship between the navigation receiver 32 and the contact probe 71 is obtained. If the positional relationship is determined, the received information of the navigation receiver 32 can be converted into the positional information (landmark positional information) of the contact probe 71.

  Next, the worker O contacts the contact type probe 71 of the jig 70 with a landmark L2 provided on the surface of the column T2 adjacent to the column T1 of the factory building in the traveling direction D3 of the indoor crane 2, and By transmitting the reception information from the receiver 32 to the host computer 33, the position of the measurement point B1 of the landmark L2 is measured (step S2). Next, the worker O makes the contact type probe portion 71 of the jig 70 contact the landmark L3 provided on the surface of the column T3 adjacent to the column T1 of the factory building in the transverse direction D2 of the indoor crane 2, and By transmitting the reception information from the receiver 32 to the host computer 33, the position of the measurement point C1 of the landmark L3 is measured (step S3). Finally, based on the information received from the navigation receiver 32, the host computer 33 includes a coordinate system including the positions of the measurement points A1, B1, and C1 in the corners, and a coordinate system having the origin of the position of the measurement point A1. It is defined as a system (see FIG. 5) (step S4).

  Although it depends on the intensity of the rotating fan beam FB, a commercially available indoor position measurement system can obtain a positioning accuracy within ± 50 [μm] within a radius of 20 to 30 [m]. For this reason, when installing the navigation transmitter 31 so as to cover the entire work area, it is practical to install the navigation transmitter 31 overlooking the work column so as to look down on the work area. Therefore, positioning can be performed with sufficient accuracy even when a general factory building support span is set to 20 [m].

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

  The indoor crane automatic driving apparatus 1 having such a configuration performs the position / posture information acquisition processing and the target trajectory calculation processing described below, so that the indoor crane 2 superimposes the upper roll R2 on the lower roll R1. In the joining operation, the upper roll R2 is superposed on the lower roll R1 with high accuracy, efficiency, and safety. Hereinafter, the operation of the automatic driving device 1 for the indoor crane when executing the position / posture information acquisition processing and the target trajectory calculation processing will be described.

[Position / posture information acquisition processing]
First, with reference to FIGS. 6 and 7, an operation of the indoor crane automatic driving device 1 when executing the position / posture information acquisition processing will be described. FIG. 6 is a flowchart illustrating the flow of the position / posture information acquisition process according to the first embodiment. FIG. 7 is a schematic diagram showing the position of the measurement point of the upper roll in the position / posture information acquisition processing shown in FIG. The flowchart shown in FIG. 6 is started at a timing when the operator O instructs the host computer 33 to execute the position / posture information acquisition processing by operating the keyboard 33b. The host computer 33 executes the current position calculation program 33d in response to the instruction to execute the position / posture information acquisition processing, thereby executing the position / posture information acquisition processing.

  As shown in FIG. 6, in the position / posture information acquisition processing, first, the worker O causes the contact probe 71 of the jig 70 to which the navigation receiver 32 is attached to contact the corner of the lower roll R1. By transmitting the received information from the navigation receiver 32 to the host computer 33, the position of the measurement point A2 (see FIG. 7) of the corner of the lower roll R1 is measured (step S11). Next, the worker O brings the contact probe 71 of the jig 70 into contact with a corner adjacent to the measurement point A2 in the axial direction of the lower roll R1, and transmits the reception information from the navigation receiver 32 to the host computer 33. By doing so, the position of the measurement point (roll end measurement point) B2 (see FIG. 7) of the corner of the lower roll R1 is measured (step S12).

  Next, the worker O places the jig 70 at the corner of the lower roll R1 that includes the measurement point A2, is on a line segment orthogonal to the axial direction of the lower roll R1, and is in a horizontal plane that includes the measurement point A2. By bringing the contact type probe unit 71 into contact and transmitting reception information from the navigation receiver 32 to the host computer 33, the position of the measurement point (roll end measurement point) C2 (see FIG. 7) of the corner of the lower roll R1 is determined. Measure (Step S13). Next, the worker O includes the lower roll R1 that includes the measurement point A2, is on a line segment orthogonal to the axial direction of the lower roll R1, and is perpendicular to the horizontal plane that includes the measurement points A2, B2, and C2. By bringing the contact type probe portion 71 of the jig 70 into contact with the corner and transmitting the reception information from the navigation receiver 32 to the host computer 33, the measurement point (roll end measurement point) D2 (see FIG. 7) is measured (step S14).

  Next, the host computer 33 calculates a rectangular parallelepiped shape including the positions of the measurement points A2, B2, C2, and D2 in the corners based on the information received from the navigation receiver 32, and based on the calculated rectangular parallelepiped shape. The position (X1, Y1, Z1) and posture (θ1x, θ1y, θ1z) of the lower roll R1 are recognized. The host computer 33 sets the measurement point A2 as the origin, sets the vector direction from the measurement point A2 to the measurement point B2 in the X direction, sets the vector direction from the measurement point A2 to the measurement point C2 in the Y direction, and sets the measurement point A2 to the measurement point. A coordinate system (lower roll coordinate system) (see FIG. 7) in which the vector direction to D2 is the Z direction is set (step S15). Thus, a series of position / posture information acquisition processing ends.

[Target trajectory calculation processing]
Next, the operation of the indoor crane automatic driving apparatus 1 when executing the target trajectory calculation processing will be described with reference to FIGS. 8 and 9. FIG. 8 is a flowchart illustrating a flow of a target trajectory calculation process according to the first embodiment. FIG. 9 is a schematic diagram showing the position of the measurement point of the lower roll in the target trajectory calculation processing shown in FIG. The flowchart shown in FIG. 8 starts when the operator O instructs the host computer 33 to execute the target trajectory calculation process by operating the keyboard 33b. The host computer 33 executes the target trajectory calculation processing by executing the target trajectory calculation program 33e in response to the instruction to execute the target trajectory calculation processing.

  As shown in FIG. 8, in the target trajectory calculation process, first, the worker O makes the contact probe 71 of the jig 70 to which the navigation receiver 32 is attached contact the corner of the upper roll R2, and By transmitting the reception information from the application receiver 32 to the host computer 33, the position of the measurement point A3 (see FIG. 9) of the corner of the upper roll R2 is measured (step S21). Next, the worker O brings the contact probe 71 of the jig 70 into contact with the corner adjacent to the measurement point A3 in the axial direction of the upper roll R2, and transmits the reception information from the navigation receiver 32 to the host computer 33. Then, the position of the measurement point (roll end measurement point) B3 (see FIG. 9) of the corner of the upper roll R2 is measured (step S22).

  Next, the worker O touches the probe portion of the jig 70 at a corner including the measurement point A3, on a line segment orthogonal to the axial direction of the upper roll R2, and in a horizontal plane including the measurement point A3. 71, and the reception information is transmitted from the navigation receiver 32 to the host computer 33 to measure the position of the measurement point (roll end measurement point) C3 (see FIG. 9) of the corner of the upper roll R2 (step). S23). Next, the worker O places the jig on a corner that includes the measurement point A3, is on a line segment orthogonal to the axial direction of the upper roll R2, and is perpendicular to the horizontal plane that includes the measurement points A3, B3, and C3. By contacting the contact type probe section 71 of 70 and transmitting reception information from the navigation receiver 32 to the host computer 33, the measurement point (roll end measurement point) D3 (see FIG. 9) of the corner of the upper roll R2 is determined. The position is measured (Step S24).

  Next, the host computer 33 calculates a rectangular parallelepiped shape including the positions of the measurement points A3, B3, C3, and D3 in the corners based on the information transmitted from the navigation receiver 32, and based on the calculated rectangular parallelepiped shape. Then, the position (X2, Y2, Z2) and posture (θ2x, θ2y, θ2z) of the upper roll R2 are recognized. The host computer 33 sets the origin at the measurement point A3, sets the vector direction from the measurement point A3 to the measurement point B3 in the X direction, sets the vector direction from the measurement point A3 to the measurement point C3 in the Y direction, and sets the measurement point A3 to the measurement point. A coordinate system (upper roll coordinate system) in which the vector direction to D3 is the Z direction is set (step S25).

  Next, the host computer 33 converts the information of the position (X3, Y3, Z3) and attitude (θ3x, θ3y, θ3z) of the navigation receiver 32 attached to the hanging jig 21 and the information of the upper roll coordinate system. Based on this, the relative position (X3-X2, Y3-Y2, Z3-Z2) and posture (θ3x-θ2x, θ3y-θ2y, θ3z-θ2z) between the hanging jig 21 and the upper roll R2 are calculated (step S26). . Next, the host computer 33 calculates the relative position (X1−X2, Y1−Y2, Z1−Z2) and posture (θ1x−θ2x, θ1y−θ2y, θ1z−θ2z) of the lower roll coordinate system and the upper roll coordinate system. (Step S27).

  Next, the host computer 33 uses the information on the position and orientation of the navigation receiver 32 mounted on the hanging jig 21 to set the target movement position (X3 + X1-X2, Y3 + Y1-Y2, Z3 + Z1-Z2) of the hanging jig 21. ) And the target posture (θ3x + θ1x−θ2x, θ3y + θ1y−θ2y, θ3z + θ1z−θ2z) are calculated as target movement components of the hanging jig 21. Then, the host computer 33 sets a target trajectory such that the position and attitude information of the navigation receiver 32 mounted on the hanging jig 21 becomes the target moving position and the target attitude, and the hanging jig is moved along the target trajectory. 21 is moved autonomously.

  FIG. 10 is a schematic diagram for explaining the autonomous movement operation of the upper roll R2 along the target trajectory in the first embodiment. Here, when the length of the crane wire connecting the hanging jig 21 and the bogie 22 is long, or when the upper roll R2 is fanned by wind as an environmental disturbance, the swing of the upper roll R2 occurs, and the lower roll A situation may arise in which fine position adjustment of the upper roll R2 with respect to R1 cannot be performed. Therefore, in the indoor crane automatic driving device 1 according to the present embodiment, the position adjustment and the posture adjustment of the upper roll R2 are assisted around the lower roll R1 which is the target position where the upper roll R2 as the suspended load is installed. Two assist robots 50 to perform are arranged. Then, in the automatic operation device 1 for the indoor crane according to the present embodiment, the assist robot 50 assists the position adjustment and the posture adjustment of the upper roll R2 immediately before the upper roll R2 is installed on the lower roll R1. The number of assist robots 50 may be at least one in accordance with the degree of freedom of movement and turning of the upper roll R2 in the horizontal plane.

  The assist robot 50 includes a robot arm 51, a truck 52 on which the robot arm 51 is fixed, and a receiver 53 attached to a side surface of the truck 52. A caster 52a with a lock mechanism is attached to a lower portion of the cart 52. The worker O pushes the cart 52 at a necessary timing to move the assist robot 50 to a position near the target position, and the caster 52a is moved by the lock mechanism. Lock and install. As described above, the cart 52 can be fixed to the ground by a simple method such that the casters 52a are locked by the lock mechanism. Conventionally, a guide rope is tied to one end of the upper roll R2, and the position and posture of the upper roll R2 are adjusted such that the position and posture of the upper roll R2 are adjusted by an operator O pulling the guide rope. When performing the adjustment, since a pulling force exceeding human power is not required, the assist robot 50 does not need a large load capacity, and can be realized with a simple device configuration capable of operating the carriage 52 manually. It is.

  The robot arm 51 includes a first arm 51a, a second arm 51c, a third arm 51e, an arm tip 51g, a first joint 51b connecting the first arm 51a and the second arm 51c, and a second arm 51b. The first arm portion 51a includes a second joint portion 51d connecting the arm portion 51c and the third arm portion 51e, a third joint portion 51f connecting the third arm portion 51e and the arm tip portion 51g, and the like. Is fixed to the upper part of the carriage 52. Each of the first joint 51b, the second joint 51d, and the third joint 51f has an encoder (not shown) for detecting at least one of a movement amount and a rotation angle, and at least one of a horizontal direction and a rotation torque. Is mounted with a force sensor (not shown) for detecting the force. The arm tip 51g is configured to be fixed to the upper roll R2 or the hanging jig 21 which is a suspended load. In FIG. 10, the arm tip 51g is fixed to the upper roll R2. In addition, as a method of fixing the upper roll R2 or the hanging jig 21 and the arm tip 51g, for example, there are gripping by a so-called robot hand, suction by a magnet, connection by a wire, and the like.

  The receiver 53 transmits information on the current position, the target position, and the posture of the upper roll R2 for controlling the movement of the robot arm 51 when assisting the position adjustment and the posture adjustment of the upper roll R2 to the host computer 33. This is for receiving from the transmitting / receiving device 33c. The information on the current position, the target position, and the attitude of the upper roll R2 includes, based on the positioning signal of the indoor position measurement system 3, the current state of the navigation receiver 32 attached to the hanging jig 21 that grips the upper roll R2. It can be obtained by calculating from the information of the position, the target position, and the posture. Then, the assist robot 50 uses the information regarding the current position, the target position, and the posture of the upper roll R2 received by the receiver 53, and the like, by the control unit 54 (see FIG. 2) and the driving unit 55 (see FIG. 2). The movement of the robot arm 51 is controlled to assist position adjustment and posture adjustment of the upper roll R2.

  The amount of movement of the robot arm 51 when assisting the position adjustment and the posture adjustment of the upper roll R2 depending on the positional relationship such as the direction and the distance of the carriage 52 with respect to the upper roll R2 when the assist robot 50 is installed near the target position. And angles are different. Therefore, in the assist robot 50 according to the present embodiment, the rotating fan beam FB emitted from the plurality of navigation transmitters 31 is received by the receiver 53, and the received rotating fan beam FB is converted into an IGPS signal by the control unit 54. By recognizing it, the direction and distance of the carriage 52 with respect to the upper roll R2 are grasped, and the movement amount and angle of the robot arm 51 are adjusted.

  Then, when a situation occurs in which the fine position adjustment and posture adjustment of the upper roll R2 with respect to the lower roll R1 cannot be performed as described above, the assist robot prevents the upper roll R2 from being displaced or turned in the horizontal plane. By controlling the robot arm 51 of 50, the displacement and turning of the upper roll R2 in the horizontal plane are controlled. In parallel with this, the vertical movement of lowering the hanging jig 21 and mounting the upper roll R2 is restricted by the arm tip 51g against the upper roll R2 or the hanging jig 21 in the vertical direction. In order to prevent a force from being generated, force control for causing the robot arm 51 to follow the lowering of the hanging jig 21 is performed. Thus, it is possible to prevent the robot arm 51 from being damaged due to an excessive load.

  The host computer 33 sets a target trajectory such that the position and orientation information of the navigation receiver 32 mounted on the suspension jig 21 becomes the target movement position and the target orientation, and moves the suspension jig 21 along the target trajectory. At the time of autonomous movement, as shown in FIG. 10, the host computer 33 raises the lifting jig 21 to a height at which the upper roll R2 does not interfere with the peripheral structure and the worker O (A). The suspension jig 21 is moved at the shortest distance along the target trajectory by simultaneous traversing, running, and turning operations. Thereafter, the host computer 33 performs (C) the lowering operation of the hanging jig 21, and then (D) reduces and stops the lowering speed 10 cm before contacting with the lower roll R <b> 1.

  Next, the worker pushes the cart 52 to which the robot arm 51 is fixed, places the assist robot 50 around the lower roll R1 (upper roll R2), and positions the assist robot 50 with respect to the ground by fixing the casters 52a. I do. (F) The operator O operates the robot arm 51 to fix the upper roll R2 or the suspending jig 21 to the arm tip 51g. Next, the control unit 54 of the assist robot 50 autonomously uses (G) information on the current position, the target position, and the posture of the upper roll R2 received by the receiver 53 from the transmission / reception device 33c of the host computer 33. Control is performed to assist the robot arm 51 in adjusting the position and posture of the upper roll R2. Further, the control unit 54 of the assist robot 50 raises the robot arm 51 so that (H) a vertical restraining force is not generated between the upper roll R2 or the hanging jig 21 to which the arm tip 51g is fixed. A force control for following the movement of the roll R2 in the vertical direction is performed. The host computer 33 sets the upper roll R2 on the lower roll R1 while making fine adjustments to the position and orientation of the upper roll R2 in parallel with (I) (G) and (H).

  As is clear from the above description, in the automatic operation device 1 of the indoor crane according to the first embodiment, the plurality of navigation transmissions provided in the work area for performing the work of superimposing the upper roll R2 on the lower roll R1. The machine 31 emits a rotating fan beam, and the navigation receiver 32 attached to the hanging jig 21 of the indoor crane 2 that moves the upper roll R2 by locking the upper roll R2 to the hanging jig 21, The rotating fan beam is received as an IGPS signal, and the host computer 33 calculates the current position of the hanging jig 21 based on the IGPS signal received by the navigation receiver 32, and calculates a deviation between the calculated current position and the target position. The indoor crane 2 is made to autonomously travel so that the current position of the hanging jig 21 becomes the target position based on the above, so that the upper roll R2 is superimposed on the lower roll R1. . In addition, the assist robot 50 performs delicate position and posture adjustments of the upper roll R2 in the horizontal plane with respect to the deflection of the upper roll R2 according to the length of the crane wire. Accordingly, in the operation of superimposing the upper roll R2 on the lower roll R1 by the indoor crane 2, the upper roll R2 can be superimposed on the lower roll R1 with high accuracy, efficiently, and safely.

  Here, unlike the case of avoiding an unknown obstacle such as a worker or a temporary scaffold, the position of the known obstacle can be grasped in advance. Therefore, for a known obstacle, information on the position and orientation of the known obstacle is stored in advance in the host computer 33 based on the three-dimensional CAD information, and the coordinates of the position and orientation of the known obstacle are stored in global coordinates. The coordinates are converted according to the system, and the corner coordinates (for example, the coordinates (a, b, c), (d, e, f), (d, e, f), and (A, B) shown in FIG. , C), (D, E, F)) are preferably calculated in advance. As a result, as shown in FIG. 11, when calculating the target trajectory of the upper roll R2, the target trajectory is shorter than the target trajectory in the related art, and the upper roll R2 does not interfere with the known obstacles 80a and 80b in a three-dimensional space. It is possible to calculate a target trajectory capable of moving from the current position A3 to the target position A3 * while securing a sufficient distance.

  In addition, even if the obstacle is not provided with sufficient drawing information such as three-dimensional CAD information such as an obstacle installed after the construction of the safety passage, the corner coordinates of the obstacle are measured using the jig 70. By doing so, a similar measure can be taken. Further, if the position of the obstacle does not change significantly in the global coordinate system, it is not necessary to measure the corner coordinates of the obstacle many times, as in the calibration work when setting the global coordinate system. For example, it is sufficient to perform the operation when the installation position of the navigation transmitter 31 is shifted due to maintenance work or the like. Further, in the present embodiment, the target position of the upper roll R2 is determined based on the measurement result of the jig 70. However, when the target position is on a fixed structure in the work area, the target position is determined. If it does not change, the target position may be set on the host computer 33. Thereby, the measurement operation using the jig 70 becomes unnecessary, and the operation efficiency can be improved.

  FIG. 12 is a schematic diagram for explaining an example of the indoor crane control process of the present invention. In the indoor crane control process of the present invention shown in FIG. 12, the host computer 33 executes the area determination program 33g, so that the navigation receiver 41 attached to the worker O uses the navigation receiver 41 to transmit the position information of the worker O. Get in real time. Further, the host computer 33 executes the surrounding area calculation program 33f, thereby obtaining the worker O in accordance with the lifting height of the upper roll R2 from the position and orientation information of the upper roll R2 recognized using the navigation receiver 32. The work floor area, which is a measure of the evacuation distance, is calculated.

  For example, the host computer 33 calculates, as the danger area RA, an area in which the evacuation distance is secured by the lifting height H from the measurement point A3 of the upper roll R2. Further, the host computer 33 calculates, as an alarm area RB, an area in which an arbitrary amount of margin for the evacuation distance is secured from the dangerous area RA. When the area determination program 33g determines that the position of the worker O is within the warning area RB, the host computer 33 decelerates the target speed of the indoor crane 2 in the autonomous movement control to, for example, 1/3 and slows down. Perform the action.

  Further, the host computer 33 controls the portable crane approaching alarm 42 worn by the worker O to generate an alarm for notifying that the indoor crane 2 is approaching, and evacuates the worker O. Encourage distance. Further, when the area determination program 33g determines that the position of the worker O is within the danger area RA, the host computer 33 turns off the autonomous movement control mode of the indoor crane 2 and stops the indoor crane 2 urgently. . Thereby, the risk that the worker O approaches the upper roll R2 can be reduced.

  Note that the indoor position measurement system can perform positioning with high accuracy, but the positioning accuracy within ± 50 micrometers for monitoring the position of the worker O is over-spec. For monitoring the position of the worker, it is sufficient if the positioning accuracy is within ± 1 m, and it is not limited to the indoor position measurement system. For example, an indoor positioning system that performs three-point surveying using a Wifi signal or UWB (Ultra Wide Band) that is an ultra-wideband wireless communication, an indoor GPS (IMES method) that uses a satellite GPS signal, and the like, a system that is under development for improving accuracy. There are many. Therefore, in the future, it is fully conceivable to use the indoor position measurement system for the position of the metal plate and to use another positioning system for monitoring the position of the worker.

  13 and 14 are schematic diagrams for explaining another example of the indoor crane control process of the present invention. In the indoor crane control process of the present invention shown in FIGS. 13 and 14, first, the mounting computer 22 a is connected to the hanging jig 21 by the distance measuring sensors 24 a and 24 b mounted on the hanging jig 21 of the indoor crane 2. The distance to the obstacle 80 is measured. In the examples shown in FIGS. 13 and 14, a temporary scaffold for checking the device is illustrated as an obstacle. Then, the on-board computer 22a converts the measured distance data into data in the global coordinate system based on the relative positional relationship between the navigation receiver 32 and the suspension jig 21 calculated by the host computer 33.

  Next, the host computer 33 determines the distance between the upper roll R2 and the obstacle 80 as a close distance based on the information on the position and posture of the upper roll R2 and the distance between the hanging jig 21 and the obstacle 80. D is calculated, and the magnitude relationship between the proximity distance D and a predetermined threshold is determined. For example, the host computer 33 sets a circular area with a radius of 3 [m] centered on the positions of the distance measurement sensors 24a and 24b as the danger areas RC and RD, and further secures an arbitrary amount of margin for the evacuation distance. A circular area having a radius of 5 [m] centered on the positions of the distance sensors 24a and 24b is set as the alarm area. Then, as a result of the determination, when the proximity distance D is smaller than 5 [m] and equal to or larger than 3 [m], the host computer 33 determines that the obstacle 80 is in the alarm area, and sets the target speed in the autonomous movement control. For example, the speed is reduced to 1/3. Further, when the approach distance D is smaller than 3 [m], the host computer 33 determines that the obstacle 80 is in the dangerous areas RC and RD, sets the autonomous movement control mode of the indoor crane 2 to OFF, and stops the indoor crane 2. Make an emergency stop. This can prevent the unsteady peripheral obstacle such as the temporary scaffold from coming into contact with the upper roll R2.

  The above-described indoor crane control process is realized by the host computer 33 reading and executing the surrounding area calculation program 33f and the area determination program 33g.

[ Reference configuration example ]
The following describes Reference configuration example of the automatic operation device indoors crane. In the reference configuration example , the operation method of the robot arm 51 of the assist robot 50 is the same as that of the indoor crane automatic driving device according to the first embodiment, and thus the description of the common parts is omitted.

FIG. 15 is a block diagram showing a configuration of the indoor crane automatic driving device 1 according to the reference configuration example . FIG. 16 is a schematic diagram for explaining the autonomous movement operation of the upper roll R2 along the target trajectory in the reference configuration example . In the assist robot 50 according to the reference configuration example , (G) the worker O in a safe place away from the upper roll R2 visually operates the robot arm 51 by the controller 60 which is operation means for operating the robot arm. , The position and posture of the upper roll R2 are adjusted. Thus, the upper roll R2 can be safely connected to the lower roll R1 as compared with a case where a guide rope is tied to one end of the upper roll R2 and the worker O pulls the guide rope to adjust the position and posture of the upper roll R2. Can be superimposed on. In the reference configuration example , the robot arm 51 is operated by wireless communication between the controller 60 and the receiver 53. However, the robot arm is operated by wired communication in which the controller 60 and the receiver 53 are connected by a communication cable. 51 may be configured to be operated.

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

DESCRIPTION OF SYMBOLS 1 Automatic operation device of an indoor crane 2 Indoor crane 3 Indoor position measuring system 21 Hanging jig 21a Gripping device 21b Frame 22 Cart 22a Mounted computer 22b Motor control unit 22c Drive unit 23 Controller for workers 24 Distance sensor 31 Navigation transmitter 32 Navigation Receiver 33 Host Computer 33a Computer 33b Keyboard 33c Transceiver 33d Current Position Calculation Program 33e Target Trajectory Calculation Program 33f Surrounding Area Calculation Program 33g Area Judgment Program 41 Navigation Receiver 42 Portable Crane Approaching Alarm 50 Assist Robot Reference Signs List 51 Robot arm 52 Cart 52a Caster 53 Receiver 54 Control unit 55 Drive unit 60 Controller 70 Jig 71 Contact probe unit 80 Obstacle

Claims (10)

An automatic operation device of an indoor crane that controls an indoor crane that conveys a conveyed object in a work area using an indoor position measurement system,
A first navigation method for receiving, as a positioning signal, a rotating fan beam emitted from one or more navigation transmitters of the indoor position measurement system, which is mounted on a hanging jig of the indoor crane that grips the transported object. Receiver for
Calculate the deviation between the current position and the target position of the conveyed object recognized based on the positioning signal, and the current position of the conveyed object becomes the target position based on the deviation between the calculated current position and the target position. Control means for autonomously moving the indoor crane so that
The object to be transported or the hanging jig is held by an arm tip of a robot arm so that a vertical restraining force is not generated by the arm tip to the object to be transported or the hanging jig. One or more assist robots that assist in position adjustment and posture adjustment of the transferred object in a horizontal plane while performing force control for causing the robot arm to follow the vertical movement of the hanging jig,
Equipped with a,
The automatic operation device for an indoor crane, wherein the assist robot autonomously performs the assist using information on a current position, a target position, and a posture of the transported object based on the positioning signal . The automatic driving device for an indoor crane according to claim 1 ,
An automatic operation of an indoor crane, wherein the assist robot is arranged near a target position for transporting the transported object, and the assist robot performs the assistance immediately before positioning the transported object at the target position. apparatus. The indoor crane automatic driving device according to claim 1 or 2 ,
A second navigation receiver mounted on a worker in the work area and receiving a rotating fan beam emitted from one or more navigation transmitters of the indoor position measurement system as a positioning signal,
The control means calculates an evacuation area in the work area from current position and attitude information of the transported object recognized based on a positioning signal received by the first navigation receiver, and calculates the second navigation Calculate the position of the worker in the work area recognized based on the positioning signal received by the receiver for automatic movement operation of the indoor crane according to the positional relationship between the retreat area and the position of the worker. An automatic driving device for an indoor crane, which is controlled. The indoor crane automatic driving device according to claim 3 ,
An alarm unit mounted on the worker and notifying that the indoor crane is approaching is provided, and the control unit controls the alarm unit according to a positional relationship between the retreat area and the position of the worker. The operation of the indoor crane is notified to the worker by doing so. The automatic driving device for an indoor crane according to any one of claims 1 to 4 ,
A distance measuring sensor mounted on the suspending jig, for measuring a distance between the suspending jig and an obstacle present in the vicinity, wherein the control unit determines a distance measured by the distance measuring sensor to a predetermined distance; An automatic operation device for an indoor crane, wherein the automatic movement operation of the indoor crane is controlled based on a magnitude relationship with a threshold value of the indoor crane. An automatic operation method of an indoor crane that controls an indoor crane that conveys a conveyed object in a work area using an indoor position measurement system,
A first navigation receiver mounted on a hanging jig of the indoor crane that grips the transported object locates a rotating fan beam emitted from one or more navigation transmitters of the indoor position measurement system. Receiving as a signal;
The control means calculates a deviation between the current position and the target position of the transported object recognized based on the positioning signal received by the first navigation receiver, and calculates a difference between the calculated current position and the target position. Autonomously moving the indoor crane so that the current position of the conveyed object becomes the target position based on the deviation,
The object to be transported or the hanging jig is held at the arm tip of the robot arm by one or more assist robots, and the object to be transported or the hanging jig is vertically restrained by the arm tip. A step of assisting position adjustment and posture adjustment of the transported object in a horizontal plane while performing force control for causing the robot arm to follow the vertical movement of the hanging jig so that no force is generated,
Only including,
The automatic operation method of an indoor crane, wherein the assist robot autonomously performs the assist using information on a current position, a target position, and a posture of the transported object based on the positioning signal . The method of automatically operating an indoor crane according to claim 6 ,
An automatic operation of an indoor crane, wherein the assist robot is arranged near a target position for transporting the transported object, and the assist robot performs the assistance immediately before positioning the transported object at the target position. Method. The method for automatically operating an indoor crane according to claim 6 or 7 ,
A second navigation receiver mounted on a worker in the work area, receiving a rotating fan beam emitted from one or more navigation transmitters of the indoor position measurement system as a positioning signal; ,
The control means calculates a retreat area in the work area from current position and attitude information of the transported object recognized based on a positioning signal received by the first navigation receiver, and calculates the second navigation. Calculate the position of the worker in the work area recognized based on the positioning signal received by the receiver for automatic movement operation of the indoor crane according to the positional relationship between the retreat area and the position of the worker. Controlling the indoor crane automatic driving method. The method of automatically operating an indoor crane according to claim 8 ,
Controlling the warning means mounted on the worker according to the positional relationship between the retreat area and the position of the worker to notify the worker that the indoor crane is approaching. An automatic driving method for an indoor crane, characterized by the following. The method of automatically operating an indoor crane according to any one of claims 6 to 9 ,
A distance measuring sensor attached to the suspending jig, measuring a distance between the suspending jig and an obstacle present in the vicinity,
Controlling the automatic movement operation of the indoor crane based on the magnitude relationship between the distance measured by the distance measuring sensor and a predetermined threshold,
An automatic driving method for an indoor crane, comprising:

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