JP7113536B2 - Notification device and mobile system - Google Patents

Description

The present invention relates to a notification device and mobile system.

Conventionally, a three-dimensional movement device such as an overhead crane is known (see Patent Document 1). A three-dimensional movement device includes a hook that can be freely moved in a three-dimensional space, and an article is suspended from the hook to move the article. An operator of the three-dimensional movement device operates the three-dimensional movement device by inputting an operation to the controller. The operation input includes an operation input to start moving the stopped hook in any direction, an operation input to stop the movement of the moving hook, and the like.

Japanese Patent No. 4815627

Even if an operation input to stop the movement is given to the controller, the hook and the article suspended from it may not stop immediately. Therefore, there is a possibility that the hook or the article will come into contact with the operator even after the movement stop operation is input. SUMMARY OF THE INVENTION It is an object of the present invention to provide a notification device and a mobile system that can improve the safety of mobile devices.

The first notification device of the present invention is
A notification device used in a moving device comprising a body unit capable of moving a moving object by a driving force of a motor, and a control unit controlling the motor according to an operation input, wherein operation information of the motor is received from the control unit. It is characterized by comprising an operation information acquisition unit that acquires the information, and a notification unit that performs notification in a different manner when the motor is in operation than when the motor is stopped.

When the motor is in operation, this notification device gives a different notification than when the motor is stopped. Therefore, the operator of the moving apparatus can easily know that the motor is operating (that is, the moving body is moving) even after performing an operation input instructing to stop the motor. , operator safety is improved.

A second notification device of the present invention is a notification device used in a moving device comprising a main body unit capable of moving a moving object by a driving force of a motor, and a control unit controlling the motor according to an operation input, A motion detection unit that detects motion of the moving body or an article attached to the moving body, and a case where the moving body or the article is in motion and a case where the moving body or the article is stopped and a notification unit that performs notification in different manners.

This notification device detects the movement of the moving body or the article, and when the moving body or the article is in motion, gives a different notification than when the moving body or the article is stopped. Therefore, the operator of the moving device can easily know that the moving body or the article is moving even after performing an operation input instructing to stop the motor, for example, and the safety of the operator can be improved. improves.

The third notification device of the present invention is
A notification device used in a mobile device comprising a body unit capable of moving a mobile body by driving force of a motor, and a control unit controlling the motor according to an operation input, wherein the operation input acquisition unit acquires the operation input. and when the operation input acquisition unit acquires an operation input instructing to start operation of the motor, a predetermined notification is made, and at the time when the operation input acquisition unit acquires an operation input instructing to stop operation of the motor. and a notification unit that continues the predetermined notification until a preset time elapses.

This notification device continues to give a predetermined notification from the time when the operation input acquisition unit acquires the operation input instructing to stop the operation of the motor until a preset time elapses. This improves the safety of the operator.

3 is a block diagram showing electrical configurations of the notification device 1, mobile device 3, and indicator 4. FIG. 3 is a perspective view showing the configuration of the moving device 3. FIG. 4 is a flowchart showing processing executed by the notification device 1. FIG. FIG. 4A is an explanatory diagram showing a display during operation, and FIG. 4B is an explanatory diagram showing a display during stop. FIG. 5 is an explanatory diagram showing an example of the relationship between the operation of the motor and the display; 3 is a block diagram showing electrical configurations of a notification device 101, a mobile device 3, and a display device 4; FIG. 4 is a flowchart showing processing executed by the notification device 101. FIG. 3 is a block diagram showing electrical configurations of a notification device 201, a mobile device 3, and a display device 4; FIG. 4 is a flowchart showing processing executed by the notification device 201. FIG.

An embodiment of the present invention will be described based on the drawings.
<First embodiment>
1. Configurations of Notification Device 1, Mobile Device 3, and Display 4 Configurations of the notification device 1, mobile device 3, and display 4 will be described with reference to FIGS. 1 and 2. FIG. The notification device 1 is a device that notifies the state of the mobile device 3 . The notification device 1 is a computer including a CPU, RAM, ROM, and the like. As shown in FIG. 1 , the notification device 1 functionally includes a motion information acquisition unit 5 and a notification unit 7 . Functions of each unit will be described later.

The notification device 1 controls the display device 4 to perform a predetermined display. The display 4 has a liquid crystal display and can display an image. Specific control executed by the notification device 1 will be described later.

The moving device 3 is an overhead crane. As shown in FIG. 2, the moving device 3 includes running rails 9A, 9B, saddles 11A, 11B, crane girder 13, hoisting machine 15, support wire 17, hook 19, controller 21, and communication cable 23.

The running rails 9A and 9B are laid near the ceiling of the building. The longitudinal directions of the running rails 9A, 9B are parallel to each other and belong in the horizontal plane. Below, the longitudinal direction of the running rails 9A and 9B is defined as the X direction.

The saddle 11A is provided on the running rail 9A and is movable in the X direction. Also, the saddle 11B is provided on the running rail 9B and is movable in the X direction in conjunction with the saddle 11A. A driving source for moving the saddles 11A and 11B is an X-axis motor 25, which will be described later.

One end of the crane girder 13 is fixed on the saddle 11A and the other end is fixed on the saddle 11B. The longitudinal direction of the crane girder 13 is a direction belonging to the horizontal plane and perpendicular to the X direction (hereinafter referred to as the Y direction). The saddles 11A, 11B and the crane girder 13 are integrally movable in the X direction.

The hoist 15 is attached to the crane girder 13 so as to be movable along the Y direction. A drive source for moving the hoist 15 along the Y direction is a Y-axis motor 27, which will be described later. The hoist 15 is also capable of hoisting and unwinding the support wire 17 . A driving source for winding up and pulling out the support wire 17 is a Z-axis motor 29, which will be described later.

A hook 19 is attached to the tip of the support wire 17 . The hook 19 moves upward when the hoisting machine 15 winds up the support wire 17 and moves downward when the hoisting machine 15 pulls out the support wire 17 . That is, the hook 19 can move along the vertical direction (hereinafter also referred to as the Z direction). A hook 19 can hang an article to be moved.

The controller 21 is a device that receives an operation input for operating the mobile device 3 . The controller 21 has a plurality of switches, and operation inputs are performed by operating specific switches in a specific operation method.

Operation inputs include start of X-direction movement, stop of X-direction movement, start of Y-direction movement, stop of Y-direction movement, start of Z-direction movement, stop of Z-direction movement, and the like.
The communication cable 23 transmits a signal representing an operation input received by the controller 21 to the control unit 31, which will be described later.

The moving device 3 having the above configuration can independently move the hook 19 along the X direction, the Y direction, and the Z direction. That is, by moving the saddles 11A and 11B in the X direction on the running rails 9A and 9B, the hook 19 can be moved in the X direction. Further, by moving the hoist 15 on the crane girder 13 in the Y direction, the hook 19 can be moved in the Y direction. Further, the hook 19 can be moved in the Z direction by winding up or pulling out the support wire 17 by the hoist 15 .

The relationship between the operation input to the controller 21 and the movement of the hook 19 is as follows. When the hook 19 is stopped in the X direction, if there is an operation input to start moving in the X direction, the X-axis motor 25 is started and the hook 19 starts moving in the X direction. After that, if an operation input to stop the movement in the X direction is input during the movement in the X direction, the movement in the X direction stops several seconds after the operation input. Note that the time difference of several seconds from the operation input to stop the movement in the X direction to the stop is caused by the time required for the X-axis motor 25 to decelerate and stop.

Further, when the hook 19 is stopped in the Y direction, if an operation input for starting movement in the Y direction is received, the Y-axis motor 27 is started, and the hook 19 starts moving in the Y direction. After that, if an operation input to stop the movement in the Y direction is input during the movement in the Y direction, the movement in the Y direction stops several seconds after the operation input.

Further, when the hook 19 is stopped in the Z direction, if there is an operation input to start moving in the Z direction, the Z-axis motor 29 is started and the hook 19 starts moving in the Z direction. After that, when an operation input to stop the movement in the Z direction is received during the movement in the Z direction, the movement in the Z direction stops several seconds after the operation input.

As shown in FIG. 2, the display device 4 described above is provided above the mobile device 3, and the screen 4A capable of displaying an image faces downward. Therefore, the operator who operates the controller 21 can easily see the screen 4A by looking up.

The electrical configuration of the mobile device 3 is as shown in FIG. The moving device 3 includes an X-axis motor 25, a Y-axis motor 27, a Z-axis motor 29, a control unit 31, and the controller 21 described above. The X-axis motor 25 is a drive source that moves the saddles 11A and 11B along the X direction. The Y-axis motor 27 is a drive source that moves the hoist 15 along the Y direction. The Z-axis motor 29 is a drive source for the hoisting machine 15 to wind up and pull out the support wire 17 .

The control unit 31 controls the X-axis motor 25 , the Y-axis motor 27 and the Z-axis motor 29 according to the operation input received by the controller 21 . The control unit 31 includes an X-axis inverter 33 , a Y-axis inverter 35 and a Z-axis inverter 37 . The X-axis inverter 33 is used for controlling the X-axis motor 25 . The Y-axis inverter 35 is used for controlling the Y-axis motor 27 . The Z-axis inverter 37 is used for controlling the Z-axis motor 29 .

The relationship between the operation input to the controller 21 and the operation of each motor is as follows. When the X-axis motor 25 is stopped, the X-axis motor 25 is started when an operation input for starting movement in the X direction is received. After that, the rotation speed is gradually increased, and when the rotation speed reaches a preset upper limit value, the upper limit value is maintained. After that, when there is an operation input to stop the X-direction movement, the rotation speed is gradually decreased, and several seconds after the operation input to stop the X-direction movement, the X-axis motor 25 stops. Note that the time difference of several seconds from the operation input to stop the movement in the X direction to the stop is caused by the time required for the rotation speed of the X-axis motor 25 to decrease and stop.

When the Y-axis motor 27 is stopped, the Y-axis motor 27 is started when an operation input for starting movement in the Y direction is received. After that, the rotation speed is gradually increased, and when the rotation speed reaches a preset upper limit value, the upper limit value is maintained. After that, when an operation input to stop the movement in the Y direction is input, the rotation speed is gradually decreased, and several seconds after the operation input to stop the movement in the Y direction, the Y-axis motor 27 stops.

Also, when the Z-axis motor 29 is stopped, the Z-axis motor 29 is started when an operation input for starting movement in the Z direction is received. After that, the rotation speed is gradually increased, and when the rotation speed reaches a preset upper limit value, the upper limit value is maintained. After that, when there is an operation input to stop the Z-direction movement, the rotation speed is gradually decreased, and several seconds after the operation input to stop the Z-direction movement, the Z-axis motor 29 stops.

The X-axis inverter 33 outputs the operation information of the X-axis motor 25 to the operation information acquisition unit 5 of the notification device 1 . Here, the operation information is information indicating whether the motor is operating (the number of revolutions is not 0) or stopped. Also, the Y-axis inverter 35 outputs operation information of the Y-axis motor 27 to the operation information acquisition unit 5 . Also, the Z-axis inverter 37 outputs operation information of the Z-axis motor 29 to the operation information acquisition unit 5 .

Note that the hook 19 is an example of a moving body. The running rails 9A, 9B, saddles 11A, 11B, crane girder 13, hoisting machine 15, support wire 17, hook 19, X-axis motor 25, Y-axis motor 27, and Z-axis motor 29 are examples of the main unit. be. Also, the combination of the notification device 1 and the mobile device 3 is an example of a mobile system.

2, the electrical configuration of the moving device 3 (control unit 31, X-axis inverter 33, Y-axis inverter 35, Z-axis inverter 37, X-axis motor 25, Y-axis motor 27, Z-axis motor 29 ) are omitted for convenience. These electrical arrangements can be placed in any arbitrarily chosen location in FIG.

2. Processing Executed by Notification Apparatus 1 Processing repeatedly executed by the notification apparatus 1 at predetermined time intervals will be described with reference to FIGS. 3 and 4. FIG. In step 1 of FIG. 3, the motion information acquisition unit 5 acquires motion information of the X-axis motor 25 from the X-axis inverter 33, acquires motion information of the Y-axis motor 27 from the Y-axis inverter 35, and acquires motion information of the Y-axis motor 27 from the Y-axis inverter 35. Operation information of the Z-axis motor 29 is acquired from the inverter 37 for the motor.

In step 2, the notification unit 7 determines whether or not there is at least one piece of motion information indicating that the motor is in motion among the motion information acquired in step 1 above. If there is at least one piece of operation information indicating that the motor is in operation, proceed to step 3; otherwise, proceed to step 4.

In step 3, the notification unit 7 displays on the display 4 during operation. The display during operation is, as shown in FIG. 4A, a display of an arrow indicating the direction in which the hook 19 is moving at that time.

In step 4, the notification unit 7 displays on the display 4 that the vehicle is stopped. The stopped display is a display in which nothing appears, as shown in FIG. 4B. The display during stop and the above-described display during operation are different forms of display.

3. (1A) The notification device 1 is in operation while the X-axis motor 25 is operating (while the hook 19 is moving in the X direction) even after an operation input to stop the movement in the X direction is received. display. Therefore, the operator of the moving device 3 can easily know that the hook 19 is moving in the X direction even after an operation input to stop the movement in the X direction is received, and the safety of the operator is improved. .

This is illustrated in the case shown in FIG. In this example, before time t1, the X _- axis motor 25 was stopped. At time t1, there was _an operation input to start moving in the X direction. After time t1, the rotation speed of the X _- axis motor 25 gradually increased, reached the upper limit at _time t2, and maintained the upper limit thereafter. After that, at time t3 _, there is an operation input to stop moving in the X direction. After time t3 _, the rotation speed of the X _- axis motor 25 gradually decreased and reached 0 at time t4. After time t4, the X _- axis motor 25 has stopped.

In the above example, the notification device ₁ performs the in _- operation display from time t1 to time t4. The period during which the in-operation display is performed includes the time after time t3 when the X _- direction movement stop operation input is performed. Therefore, even after time t3, the operator of the moving device ₃ can know that the hook 19 is moving in the X direction from the in-operation display displayed on the display 4 . As a result, operator safety is improved.

In addition, even after an operation input to stop movement in the Y direction is received, the notification device 1 displays during operation while the Y-axis motor 27 is operating (while the hook 19 is moving in the Y direction). Therefore, operator safety is improved.

In addition, even after an operation input to stop the movement in the Z direction is received, the notification device 1 displays during operation while the Z-axis motor 29 is operating (while the hook 19 is moving in the Z direction). Therefore, operator safety is improved.

(1B) The notification device 1 acquires operation information from the X-axis inverter 33 , the Y-axis inverter 35 , and the Z-axis inverter 37 . As a result, motion information can be easily obtained.

(1C) The notification device 1 displays on the display 4 images of the display during operation and the display during stop. As a result, the operator can easily understand the contents of the display.
<Second embodiment>
1. Configurations of Notification Device 101, Mobile Device 3, and Display 4 Configurations of the notification device 101, mobile device 3, and display 4 will be described with reference to FIG. The configurations of the moving device 3 and the display 4 are the same as those of the first embodiment.

The configuration of the notification device 101 is basically the same as that of the notification device 1 of the first embodiment, but is partially different. The differences will be mainly described below. The notification device 101 functionally comprises a motion detection unit 39 and a notification unit 7 . The motion detection unit 39 acquires detection results from the sensor 41 . A sensor 41 is a sensor that detects the movement of the hook 19 . The movement of the hook 19 detected by the sensor 41 may be movement in a fixed direction, pendulum movement, or random movement. Further, the motion of the hook 19 detected by the sensor 41 may be motion in the X direction, motion in the Y direction, motion in the Z direction, motion in any two-dimensional plane, or motion in a three-dimensional space. good too. Further, the motion of the hook 19 detected by the sensor 41 may be motion due to swinging of the support wire 17 after each motor has stopped, or may be motion when any motor has not yet stopped. good too.

As the sensor 41, for example, a laser rangefinder, photosensor, acceleration sensor, motion sensor, or the like can be used. In the case of a laser rangefinder and a photosensor, they can be attached to a fixed member other than the hook 19 . Moreover, in the case of an acceleration sensor and a motion sensor, they can be attached to the hook 19 . Specific functions of each unit will be described later.

2. Processing Executed by Notification Apparatus 101 Processing repeatedly executed by the notification apparatus 101 at predetermined time intervals will be described with reference to FIG. At step 11 in FIG. 7 , the motion detection unit 39 acquires the detection result of the sensor 41 . The detection result of the sensor 41 is information representing the operation of the hook 19 .

In step 12, the notification unit 7 determines whether or not the hook 19 is in operation based on the detection result of the sensor 41 acquired in step 11 above. If the hook 19 is in operation, proceed to step 13; if it is stopped, proceed to step 14;

In step 13, the notification unit 7 displays on the display 4 during operation. The contents of the display during operation are the same as in the first embodiment.
In step 14, the notification unit 7 displays on the display 4 that the vehicle is stopped. The content of the display during stop is the same as that of the first embodiment.

3. Effects of Notification Device 101 In addition to the effects (1C) of the first embodiment, the notification device 101 also has the following effects.

(2A) The notification device 101 uses the sensor 41 to detect the operation of the hook 19, and when the hook 19 is in operation, displays during operation. Therefore, if the hook 19 is in operation, the informing device 101 displays that the hook 19 is in operation even after an operation input to stop movement in the X direction, stop movement in the Y direction, or stop movement in the Z direction. As a result, the operator of the moving device 3 can easily know that the hook 19 is in operation, improving the safety of the operator.
<Third Embodiment>
1. Configurations of Notification Device 201, Mobile Device 3, and Display 4 Configurations of the notification device 201, mobile device 3, and display 4 will be described with reference to FIG. The configurations of the moving device 3 and the display 4 are the same as those of the first embodiment.

The configuration of the notification device 201 is basically the same as that of the notification device 1 of the first embodiment, but is partially different. The differences will be mainly described below. The notification device 201 functionally includes an operation input acquisition unit 43 and a notification unit 7 . The operation input acquisition unit 43 acquires operation input from the controller 21 . Further, the operation input acquisition unit 43 acquires operation information of the X-axis motor 25 from the X-axis inverter 33, acquires operation information of the Y-axis motor 27 from the Y-axis inverter 35, and acquires Z-axis motor 27 from the Z-axis inverter 37. Operation information of the shaft motor 29 is acquired.

2. Processing executed by the notification device 201
Processing that is repeatedly executed by the notification device 201 at predetermined time intervals will be described with reference to FIG. At step 21 in FIG. 9 , the operation input acquisition unit 43 acquires an operation input from the controller 21 .

In step 22, the notification unit 7 determines whether or not it is on in at least one of the X, Y and Z directions. Here, the state of being ON in the X direction means a state in which an operation input to start moving in the X direction has already been input, and an operation input to stop moving in the X direction has not yet been input (state in which the hook 19 is moving in the X direction). means. Further, the ON state in the Y direction means a state in which an operation input to start moving in the Y direction has already been input, and an operation input to stop moving in the Y direction has not yet been input (state in which the hook 19 is moving in the Y direction). do. Further, the ON state in the Z direction means a state in which an operation input to start moving in the Z direction has already been input, and an operation input to stop moving in the Z direction has not yet been input (state in which the hook 19 is moving in the Z direction). do.

If it is on in either direction go to step 24 otherwise go to step 23 .
In step 23, the notification unit 7 determines whether or not the following conditions are satisfied in at least one of the X, Y and Z directions.

Condition: "The preset time has not yet passed since the movement stop operation was input."
It is preferable that the preset time is equal to or longer than the time T required for the motor to stop after an operation input to stop movement is made. If the time T changes depending on the situation, the preset time can also be changed according to the time T.

If the above condition is satisfied in at least one of the X, Y, and Z directions, the process proceeds to step 24; otherwise, the process proceeds to step 25.
In step 24, the notification unit 7 displays on the display 4 during operation. The contents of the display during operation are the same as in the first embodiment.

At step 25 , the notification unit 7 displays a stopped display on the display 4 . The content of the display during stop is the same as that of the first embodiment.
3. Effects of Notification Device 201 In addition to the effects (1C) of the first embodiment, the notification device 201 also has the following effects.

(3A) After there is an operation input to stop the movement, the motor may continue to operate for a while, and the movement of the hook 19 may continue. Further, even if the hoisting machine 15 stops after an operation input to stop the movement, the hook 19 and the object suspended from it may shake.

The notification device 201 satisfies the condition that "a preset time has not yet passed since an operation input to stop movement" has been made in at least one of the X direction, Y direction, and Z direction. If it is established, display during operation. That is, the notification device 201 continues the display during operation until the preset time elapses from the time when the operation input acquisition unit 43 acquires the operation input to stop the movement.

As a result, even after there is an operation input to stop the movement, it is possible to perform an operation display during a period in which the hook 19 and the object suspended from it may be shaking. As a result, operator safety is improved.
<Other embodiments>
Although the embodiments of the present invention have been described above, the present invention is not limited to the above embodiments and can take various forms.

(1) In the first embodiment, the motion information acquisition unit 5 may acquire motion information of some of the three motors (for example, the X-axis motor 25, the Y-axis motor 27, or both). good. Then, if all of the motors are in operation, affirmative determination may be made in step 2, and negative determination may be made otherwise.

(2) In the second embodiment, the sensor 41 and the motion detection unit 39 may detect motion of an article attached to the hook 19 instead of the hook 19 . Then, if the article is in motion, affirmative determination may be made in step 12, and negative determination may be made otherwise.

(3) In step 22 of the third embodiment, it may be part of the movement in the X direction, the Y direction, and the Z direction that determines whether or not it is in the ON state. Then, if some of them are on, the determination may be affirmative, and otherwise, the determination may be negative.

(4) In the first to third embodiments, the control unit 31 may control the motor using a configuration other than the inverter (for example, a magnetic contactor or the like).
(5) In the first to third embodiments, display during operation and display during stop can be set as appropriate. For example, the in-operation display may display characters such as "in operation", "moving", "danger", and "caution", or may be a flashing light. , may display a specific color. Moreover, the mode of display during stop can be appropriately set as long as it is a mode different from the display during operation. Examples of the difference between the display during stop and the display during operation include the presence or absence of characters, arrows, etc., the difference in color, the difference in luminance, and the difference between a moving image and a still image.

Further, the display device 4 may perform notification by sound or vibration instead of image display or in addition to image display.
(6) In the first to third embodiments, the type of the moving device 3 can be selected as appropriate. The moving device 3 can be, for example, a hoist-type overhead crane, a trolley-type overhead crane, a swivel mantrel-type overhead crane, a slide-type overhead crane, a swivel-type overhead crane, an iron-making overhead crane, or the like.

(7) In the first to third embodiments, moving bodies other than the hook 19 may be used. For example, a moving body that attracts an article by magnetic force, a moving body that attracts an article by a vacuum chuck, a moving body that clamps and fixes an article like a vise, or the like can be used.

(8) All or part of the configuration of each embodiment may be appropriately selected and combined.
(9) In addition to the notification devices 1, 101, 201 and the movement system described above, a system having the movement system as a component (for example, a crane work system including a movement system and a display 4), the notification device 1, 101, 201 programs for causing the computer to function, a program for causing the computer to function as the control unit 31 of the mobile device 3, a medium recording these programs, methods of using the notification devices 1, 101, 201, mobile device 3 The present invention can also be realized in various forms such as a method of using a moving system, a method of using a crane work system, a method of moving an article, and the like.

DESCRIPTION OF SYMBOLS 1, 101, 201... Informing device 3... Moving apparatus 4... Display 4A... Screen 5... Operation information acquisition unit 7... Informing unit 9A, 9B... Running rail 11A, 11B... Saddle 13... Crane girder 15 Hoisting machine 17 Support wire 19 Hook 21 Controller 23 Communication cable 25 X-axis motor 27 Y-axis motor 29 Z-axis motor 31 Control unit 33... X-axis inverter, 35... Y-axis inverter, 37... Z-axis inverter, 39... Motion detection unit, 41... Sensor, 43... Operation input acquisition unit

Claims (3)

A main unit that can move a moving body along a straight track by the driving force of a motor, and controls the motor according to an operation input, and outputs operation information indicating whether the number of revolutions of the motor is 0 or not. A notification device for use in a crane comprising a control unit that
a motion information acquisition unit that acquires the motion information from the control unit;
a notification unit that performs notification in a different manner when the motor is rotating than when the motor is stopped;
A notification device characterized by comprising: 2. The notification device according to claim 1, wherein the control unit controls the motor using an inverter, and the operation information acquisition unit acquires the operation information from the inverter. A movement system comprising: the notification device according to claim 1 or 2; and the crane.

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