JP6809186B2 - crane - Google Patents

Description

The present invention relates to a crane. More specifically, the present invention relates to a crane equipped with a control device for calculating the crane installation location.

Conventionally, a crane that calculates a transport path in suspended transport has been known. Cranes are used for construction work of structures. Since the construction work of a structure is relatively large and the construction procedure is complicated, it is necessary to manage the construction by selecting the optimum procedure. Therefore, a crane equipped with a computer, which is a control device for calculating an optimum transport path in suspended transport, has become known. For example, as described in Patent Document 1.

The crane described in Patent Document 1 calculates a transport path using data on the three-dimensional shape of the structure. Specifically, the transport route is calculated using the three-dimensional shape data of the building, the three-dimensional shape data of the suspended load, the parameters of the mechanism of the transport device, and the waypoint information.

However, when using a crane at the work site, the priorities differ depending on the work situation. If the transport route is uniquely calculated, it may not be possible to obtain an appropriate transport route according to the priority. Further, when determining the transport route, the installation position of the crane may be determined in advance at the time of work planning. If the crane installation position is determined in advance at the time of work planning, it may not be possible to work at the crane installation position at the time of work planning due to the placement of unexpected obstacles due to changes over time at the work site. There was.

Japanese Unexamined Patent Publication No. 2015-68019

An object of the present invention is to provide a crane capable of selecting an installation position according to a situation at a work site.

The problem to be solved by the present invention is as described above, and next, the means for solving this problem will be described.

That is, it is a crane that performs work at a work site, and the crane includes a vehicle, an undulating and expandable boom, a three-dimensional sensor attached to the tip of the boom, and a control device. The device includes a storage unit that stores the performance information of the crane, and is an input means for inputting the position information of the crane at the time of work planning, the size and weight information of the suspended load, the start point position information, and the end point position information. A three-dimensional information input means for inputting the three-dimensional information of the work site measured by the three-dimensional sensor, the position information of the crane at the time of the work planning, and the tertiary of the work site measured by the three-dimensional sensor. Based on the original information, the installation position determining means for determining whether or not the crane can be installed at the position of the crane at the time of work planning, and the installation position determining means allow the crane to move to the position of the crane at the time of work planning. When it is determined that the crane cannot be installed, the workable range calculation means for calculating the workable range information of the crane based on the size and weight information of the suspended load and the performance information of the crane, and the workable range information of the crane. It has an installable range calculation means for calculating the installable range information of the crane based on the three-dimensional information of the work site, the start point position information, and the end point position information.

The control device further includes a calculated the installation range information, based on the performance information of the crane, the fuel consumption when performing the operation of conveying the suspended load is lowest in the installation range It has a modified installation position calculation means for calculating the modified installation position information.

Further, the control device further corrects the position of the crane at the time of work planning within the installable range based on the calculated installable range information and the position information of the crane at the time of work planning. It has a modified installation position calculation means for calculating installation position information.

Further, the control device further determines the crane when suspending the suspended load at the start point position when the crane is installed at an arbitrary position within the installable range based on the installable range information and the start point position information. It has a posture information calculation means for calculating the posture information.

The present invention has the following effects.

In the case of a crane, by calculating the installable range information, the crane can be moved from the position of the crane to the installable range at the time of work planning in response to changes over time at the work site to efficiently carry out the transfer work. Can be done.

In the crane, the crane can be moved to the correction installation position where the energy efficiency is minimized within the installable range, and the transport work can be performed more efficiently.

In the crane, by moving the crane to the correction installation position closest to the position of the crane at the time of the work plan within the installable range, the transport work close to the work plan can be performed.

In the crane, by calculating the posture of the crane when suspending the suspended load at the start point position, the transport work at the start point position becomes easy.

The side view which shows the whole structure of the crane which concerns on one Embodiment of this invention. The block diagram which shows the control device of the crane which concerns on one Embodiment of this invention. The flowchart which shows the calculation method of the installation position and posture which concerns on one Embodiment of this invention. The flowchart which shows the calculation method of the installable range which concerns on one Embodiment of this invention. The plan view which shows the crane and the work site which concerns on one Embodiment of this invention. The plan view which shows the working range of the crane which concerns on one Embodiment of this invention. The plan view which shows the calculation process of the installable range of the crane which concerns on one Embodiment of this invention. The plan view which shows the installable range of the crane which concerns on one Embodiment of this invention, the correction installation position, and the transport posture. The plan view which shows the installable range, the modified installation position, and the transport posture of the crane which concerns on another embodiment of this invention.

The crane 1 will be described below as an embodiment of the present invention.

As shown in FIG. 1, the crane 1 is a mobile crane that can move to an unspecified place. The crane 1 has a vehicle 2 and a crane device 6.

The vehicle 2 conveys the crane device 6. The vehicle 2 has a plurality of wheels 3 and travels by using the engine 4 as a power source. The vehicle 2 is provided with an outrigger 5. The outrigger 5 is composed of an overhang beam that can be extended by flood control on both sides of the vehicle 2 in the width direction and a hydraulic jack cylinder that can be extended in a direction perpendicular to the ground. The vehicle 2 can widen the workable range A (see FIG. 5) of the crane 1 by extending the outrigger 5 in the width direction of the vehicle 2 and grounding the jack cylinder.

The crane device 6 lifts the suspended load W with a wire rope. The crane device 6 includes a swivel 7, a telescopic boom 8, a jib 9, a main hook block 10, a sub hook block 11, a telescopic cylinder 12, an undulating cylinder 13, a main winch 14, a main wire rope 15, a sub winch 16, and a sub wire rope. 17. A stereo camera 18, a cabin 19, a control device 50 (see FIG. 2), and the like are provided.

The swivel base 7 is configured to allow the crane device 6 to swivel. The swivel base 7 is provided on the frame of the vehicle 2 via an annular bearing. The annular bearing is arranged so that its center of rotation is perpendicular to the installation surface of the vehicle 2. The swivel base 7 is configured to be rotatable in one direction and the other direction with the center of the annular bearing as the center of rotation. Further, the swivel base 7 is configured to be rotated by a hydraulic swivel motor 71 (see FIG. 2).

The telescopic boom 8 is configured to be horizontally rotatable and swingable on the frame of the vehicle 2. The telescopic boom 8 is composed of a plurality of boom members, a base boom member 8a, a second boom member 8b, a third boom member 8c, a force boom member 8d, a fifth boom member 8e, and a top boom member 8f. The telescopic boom 8 is configured to be rotatable in the axial direction by moving each boom member with the telescopic cylinder 12.

The jib 9 expands the lift and working radius of the crane device 6. The jib 9 is held in a posture along the base boom member 8a by a jib support portion 8g provided on the base boom member 8a of the telescopic boom 8. The base end of the jib 9 is configured to be connectable to the jib support portion 8g of the top boom member 8f. The jib 9 is configured to be connectable to the tip of the top boom member 8f by driving a pin (not shown) into the jib support portion 8g.

The main hook block 10 suspends the suspended load W. The main hook block 10 is provided with a plurality of hook sheaves around which the main wire rope 15 is wound and a main hook 10a for suspending the suspended load W. The sub-hook block 11 suspends the suspended load W. The sub-hook block 11 is provided with a sub-hook 11a for suspending the suspended load W.

The undulating cylinder 13 causes the telescopic boom 8 to stand up and down, and maintains the posture of the telescopic boom 8. The undulating cylinder 13 is composed of a hydraulic cylinder including a cylinder portion and a rod portion.

The main winch 14, which is a hydraulic winch, carries out (winds up) and unwinds (rolls down) the main wire rope 15. The main winch 14 is configured such that the main drum 141 around which the main wire rope 15 is wound is rotated by the main hydraulic motor 142.

The sub winch 16 which is a hydraulic winch is for feeding and feeding the sub wire rope 17. The sub winch 16 is configured such that the sub drum 161 around which the sub wire rope 17 is wound is rotated by the sub hydraulic motor 162.

A stereo camera 18 is provided at the tip of the top boom member 8f of the telescopic boom 8 or the tip of the jib 9.

The cabin 19 covers the cockpit. The cabin 19 is provided on the side of the telescopic boom 8 on the swivel base 7. A cockpit is provided inside the cabin 19. The driver's seat is provided with a display unit 20 which is a touch panel.

The crane 1 configured in this way can move the crane device 6 to an arbitrary position by traveling the vehicle 2. Further, in the crane 1, the telescopic boom 8 is erected at an arbitrary undulating angle by the undulating cylinder 13, and the telescopic boom 8 is extended to an arbitrary telescopic boom length or the jib 9 is connected to the crane device 6. The lift and working radius can be expanded.

Further, the crane 1 has a control device 50. The control device 50 is a device that calculates the installation position of the crane 1.
As shown in FIG. 2, the control device 50 has a calculation unit 21 such as a CPU and a storage unit 22 such as a ROM and a RAM. The calculation unit 21 acquires the performance information of the crane 1 from the storage unit 22. Performance information of the crane 1 is stored in the storage unit 22. Here, the performance information of the crane 1 includes information on the undulation angle range, the load factor, and the working radius of the crane 1. Further, the control device 50 is connected to a stereo camera 18, which is a three-dimensional sensor, a display unit 20, an operation device 94, and a position sensor 95. The stereo camera 18 is arranged at the tip of the telescopic boom 8. The display unit 20 is a device that displays the installation position and posture calculated by the control device 50, and is arranged inside the cabin 19. The operation device 94 is a device for selecting one piece of information from a plurality of pieces of information displayed on the display unit 20, and is composed of, for example, a touch panel. The position sensor 95 is a device for measuring the position of the crane 1 and is attached to the vehicle 2. The position sensor 95 is, for example, a satellite positioning device having a GNSS antenna.
Further, the control device 50 is connected to the swivel motor 71. Further, the control device 50 is connected to the telescopic cylinder 12, the undulating cylinder 13, the main hydraulic motor 142, and the sub hydraulic motor 162, respectively, via a solenoid valve (not shown).

Next, a method of calculating the installable range B, the modified installation position, and the posture using the control device 50 will be described with reference to FIGS. 3 and 4.
The installable range B is a range in which the crane 1 can be installed at a work site at an arbitrary time point, and more specifically, the crane does not interfere with the obstacle H, the work vehicle J, and the structure K. It is a range in which 1 can be installed.
First, a plurality of information is input (step S100). The plurality of information includes the position information of the crane 1 at the time of work planning, the size and weight information of the suspended load W, the start point position information, and the end point position information. The position information of the crane 1 at the time of work planning is the information converted into the global coordinate system. The start point position information is information about the start point position PS (see FIG. 5) of the suspended load W, and is three-dimensional information converted into a global coordinate system. Further, the end point position information is information on the end point position PE (see FIG. 5) of the suspended load W and is three-dimensional information converted into a global coordinate system.

Next, the three-dimensional information of the work site is detected (step S200). The three-dimensional information of the work site is measured by the stereo camera 18 which is a three-dimensional sensor. For example, the telescopic boom 8 is extended and the stereo camera 18 is rotated 360 degrees to measure the entire work site. The three-dimensional information is the three-dimensional information converted into the global coordinate system. In this way, by acquiring the three-dimensional information of the work site, the position information of the crane 1, the start point position information, and the end point position information as three-dimensional information converted into the global coordinate system, the inside of one coordinate system can be obtained. Crane 1, work site, start point position PS, and end point position PE can be defined with.

Next, based on the position information of the crane 1 at the time of work planning and the three-dimensional information of the work site measured by the stereo camera 18, the crane 1 is moved to the position PP (see FIG. 5) of the crane 1 at the time of work planning. It is determined whether or not the installation is possible (step S250). That is, by comparing the position of the crane 1 defined in one coordinate system with the three-dimensional information of the work site, whether the obstacle H, the work vehicle J, and the structure K exist at the position of the crane 1. It is determined whether or not the crane 1 can be installed by determining whether or not the crane 1 can be installed.

If the crane 1 can be installed at the position PP of the crane 1 at the time of work planning, the position PP of the crane 1 at the time of work planning is returned as the installation position (step S255), and the process proceeds to step S500. As shown in FIG. 5, when the crane 1 cannot be installed at the position PP of the crane 1 at the time of work planning, the process proceeds to step S300.

Next, step S300 for calculating the installable range B of the crane 1 will be specifically described with reference to FIG.

First, based on the size and weight information of the suspended load W and the performance information of the crane 1, the workable range information which is the information regarding the workable range A (see FIG. 6) of the crane 1 is calculated (step S310). The workable range A is a range in which the suspended load W can be transported when the crane 1 is installed at an arbitrary position. Specifically, the undulation angle required for transporting the suspended load W is the crane. It is within the undulation angle range stored as the performance information of No. 1, the load factor required for transporting the suspended load W is within the load factor stored as the performance information of the crane 1, and the suspended load W is conveyed. The working radius required for the crane 1 is within the working radius R stored as the performance information of the crane 1.

Next, the installation which is the information about the installable range B (see FIG. 8) of the crane 1 based on the workable range information of the crane 1, the three-dimensional information of the work site, the start point position information, and the end point position information. The possible range information is calculated (step S320). The installable range B of the crane 1 can be included so as to include the start point position PS and the end point position PE in the workable range A of the crane 1, and the obstacle H, the work vehicle J, and the structure K are present. It is the range excluding the position to be used.

Next, the calculation of the installable range B of the crane 1 based on the workable range A will be described with reference to FIGS. 6, 7 and 8. In addition, here, in order to facilitate the explanation, the calculation of the installable range B based on the plane two-dimensional information is shown. As shown in FIG. 6, the workable range A is represented by a circle having a working radius R centered on the center of gravity G of the crane 1. As shown in FIG. 7, the overlapping range D of the circle C1 having the same radius as the working radius R centered on the start point position PS and the circle C2 having the same radius as the working radius R centered on the end point position PE is defined. create. Next, as shown in FIG. 8, the range excluding the overlapping range D and the range overlapping the obstacle H, the work vehicle J, and the structure K is defined as the installable range B. In this way, by returning the installable range information regarding the installable range B calculated in step S320, the installable range calculation control in step S300 ends, and the process proceeds to step S400.

Next, based on the installable range information calculated in step S320 and the performance information of the crane 1, the modified installation position P1 (see FIG. 8) that minimizes the energy efficiency within the installable range B is modified. The installation position information is calculated (step S400).
In detail, it is decomposed into the operations of the actuators (expandable cylinder 12, undulating cylinder 13, swivel motor 71, main hydraulic motor 142, sub hydraulic motor 162) required for transfer work, and the order of priority is determined in ascending order of fuel consumption. Cylinder. Further, not only the optimum operation for the actuator having a high priority but also the optimum operation for a plurality of actuators is prioritized. For example, even if the operation is such that the fuel consumption of the swivel motor 71 is the lowest, the modified installation position P1 is not obtained when the fuel consumption of the telescopic cylinder 12 and the undulating cylinder 13 becomes very high.

Next, in step S400, when the suspended load W is suspended at the start point position PS when the crane 1 is installed at the modified installation position P1 of the crane 1 calculated based on the installable range information and the start point position information. The attitude information of the crane 1 is calculated (step S500). The attitude information of the crane 1 is uniquely determined based on the starting point position PS and the installation position of the crane 1.

Next, the installation position information and the attitude information of the crane 1 calculated in steps S255 or S400 and S500 are displayed on the display unit 20 (step S600). The information displayed on the display unit 20 is the installation position, the three-dimensional information of the crane 1, the three-dimensional information of the work site, and the posture of the crane 1.

Next, the work using the crane 1 when calculating the installation position and the posture using the control device 50 will be described.

First, in step S100, the operator inputs the position information of the crane 1 at the time of work planning, the size and weight information of the suspended load W, the start point position information, and the end point position information. Next, in step S200, the three-dimensional information of the work site is detected, and in step S250, it is determined whether or not the crane 1 can be installed at the position PP of the crane 1 at the time of work planning. If the crane 1 can be installed at the position PP of the crane 1 at the time of work planning, the operator performs the work with the crane 1 installed at the position PP of the crane 1 at the time of work planning.

Further, as shown in FIG. 5, if the crane 1 cannot be installed at the position PP of the crane 1 at the time of work planning, the installable range B is calculated in step S300 as shown in FIG.
Next, in step S400, the modified installation position P1 that minimizes the energy efficiency within the installable range B is calculated. Further, in step S500, as shown in FIG. 8, the transport posture of the crane 1 at the starting point position PS when the crane 1 is installed at the modified installation position P1 is calculated.
Then, in step S500, the display unit 20 displays the installation position and the transport posture of the crane 1 at the start point position PS when the crane 1 is installed at the installation position. Here, the installation position is the position PP of the crane 1 at the time of work planning when it is determined in step S255 that the crane 1 can be installed at the position PP of the crane 1 at the time of work planning. When it is determined that the crane 1 cannot be installed at the position PP of the crane 1 in the above, the modified installation position P1 is displayed.

Further, as shown in FIG. 9, as another method of calculating the modified installation position, the work is performed within the installable range B based on the installable range information calculated in step S300 and the position information of the crane 1 at the time of work planning. The modified installation position information, which is the information regarding the modified installation position P1 closest to the position PP of the crane 1 at the time of planning, may be calculated (step S400).
The modified installation position P1 is set at a position where the center-of-gravity position GPP of the position PP of the crane 1 and the center-of-gravity position GP1 of the modified installation position P1 at the time of work planning are the shortest. With this configuration, it is possible to carry out a transfer work close to the work plan.

From the above, the features of this crane 1 and its effects can be summarized as follows.

<Feature 1>
The crane 1 is a crane 1 that performs work at a work site. The crane 1 includes a vehicle 2, an undulating and expandable telescopic boom 8, and a three-dimensional sensor (stereo camera) attached to the tip of the telescopic boom 8. 18) and a control device 50, the control device 50 includes a storage unit 22 for storing the performance information of the crane 1, the position information of the crane 1 at the time of work planning, and the size and weight information of the suspended load W. , And the input means (storage unit 22 / operating device 94) for inputting the start point position information and the end point position information, and the tertiary for inputting the three-dimensional information of the work site measured by the three-dimensional sensor (stereo camera 18). Based on the original information input means (stereo camera 18), the position information of the crane 1 at the time of work planning, and the three-dimensional information of the work site measured by the three-dimensional sensor (stereo camera 18), the crane at the time of work planning The installation position determination means (calculation unit 21) for determining whether or not the crane 1 can be installed at the position PP of 1 and the installation position determination means determine that the crane 1 cannot be installed at the position PP of the crane 1 at the time of work planning. When this is done, the workable range calculation means (calculation unit 21) that calculates the workable range information of the crane 1 based on the size and weight information of the suspended load W and the performance information of the crane 1 and the workable range of the crane 1 are possible. It has an installable range calculation means (calculation unit 21) that calculates the installable range information of the crane 1 based on the range information, the three-dimensional information of the work site, the start point position information, and the end point position information. ..
With this configuration, by calculating the installable range information, the crane 1 can be moved from the position PP of the crane 1 at the time of work planning to the installable range B in response to changes over time at the work site. The transport work can be performed efficiently.

<Feature 2>
Further, the control device 50 further calculates a modified installation position information that minimizes energy efficiency within the installable range B based on the calculated installable range information and the performance information of the crane 1. It has a calculation means (calculation unit 21).
With this configuration, the crane 1 can be moved to the modified installation position P1 where the energy efficiency is minimized within the installable range B, and the transfer work can be performed more efficiently.

<Feature 3>
Further, the control device 50 further corrects the position PP of the crane 1 at the time of work planning within the installable range B based on the calculated installable range information and the position information of the crane 1 at the time of work planning. It has a modified installation position calculation means (calculation unit 21) for calculating installation position information.
With this configuration, by moving the crane 1 to the correction installation position P1 closest to the position PP of the crane 1 at the time of work planning within the installable range B, it is possible to perform the transfer work close to the work plan. ..

<Feature 4>
Further, the control device 50 is used when suspending the suspended load W at the start point position PS when the crane 1 is installed at an arbitrary position in the installable range B based on the installable range information and the start point position information. It has an attitude information calculation means (calculation unit 21) for calculating the attitude information of the crane 1.
With this configuration, by calculating the posture of the crane 1 when suspending the suspended load W at the start point position PS, the transfer work at the start point position PS becomes easy.

1 Crane 2 Vehicle 3 Wheel 4 Engine 5 Outrigger 6 Crane device 7 Swivel 8 Telescopic boom 8a Base boom member 8b Second boom member 8c Third boom member 8d Force boom member 8e Fifth boom member 8f Top boom member 8g Jib support 9 Jib 10 Main hook block 10a Main hook 11 Sub hook block 11a Sub hook 12 Telescopic cylinder 13 Undulating cylinder 14 Main winch 15 Main wire rope 16 Sub winch 17 Sub wire rope 18 Camera (three-dimensional sensor)
19 Cabin 20 Display 21 Calculation unit 22 Storage unit 50 Control device 71 Swivel motor 94 Operation device 95 Position sensor 141 Main drum 142 Main hydraulic motor 161 Sub sub drum 162 Sub sub hydraulic motor W Suspended load

Claims (4)

A crane that works at the work site
The crane includes a traveling body, an undulating and expandable boom, a three-dimensional sensor attached to the tip of the boom, and a control device for calculating the installable range of the crane.
The control device includes a storage unit that stores performance information of the crane.
An input means for inputting the position information of the crane, the size and weight information of the suspended load, the start point position information, and the end point position information at the time of work planning.
A three-dimensional information input means for inputting three-dimensional information of the work site measured by the three-dimensional sensor, and
Based on the position information of the crane at the time of the work plan and the three-dimensional information of the work site measured by the three-dimensional sensor, it is determined whether or not the crane can be installed at the position of the crane at the time of the work plan. Installation position determination means and
When it is determined by the installation position determining means that the crane cannot be installed at the position of the crane at the time of work planning, the workable range of the crane is based on the size and weight information of the suspended load and the performance information of the crane. Workable range calculation means for calculating information and
Installable range calculation means for calculating appropriate installable range information of the crane based on the workable range information of the crane, the three-dimensional information of the work site, the start point position information, and the end point position information. A crane characterized by having. The control device further includes a calculated the installation range information, based on the performance information of the crane, the fuel consumption when performing the operation of conveying the within established range suspended load is the lowest modified installation The crane according to claim 1, further comprising a modified installation position calculating means for calculating position information. The control device is further modified based on the calculated installable range information and the position information of the crane at the time of work planning, within the installable range, closest to the position of the crane at the time of work planning. crane according to claim 1, characterized in that it comprises a modified Installation position calculating means for calculating information. Further, the control device is based on the installable range information and the start point position information, and the attitude information of the crane when suspending the suspended load at the start point position when the crane is installed at an arbitrary position within the installable range. The crane according to any one of claims 1 to 3, which has a posture information calculating means for calculating.

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