JP7155603B2 - Anti-sway control guidance system - Google Patents

Description

The present invention relates to a load stabilization control guidance system .

Swinging of a suspended load, or so-called swinging of a load, during crane work may hinder the work. Therefore, it is desirable to stop the swing of the load. Stopping the swinging of a load is called load-swaying, and is a skill that experienced operators excel at.

However, it is difficult to secure skilled operators. For this reason, it is desired that even an inexperienced operator can easily perform load stabilization control. For example, Patent Literature 1 discloses a load stabilization support device that displays the amount of load vibration and the speed of the tip of the boom.

JP-A-9-48586

In the load anti-vibration support device described in Patent Document 1, the amount of load vibration and the speed of the boom tip displayed on the display change every moment in accordance with the vibration of the suspended load. Therefore, even if the operator refers to the displayed content, it is difficult for the operator to determine the timing of operating the operating lever, the amount of operation, and the like. Therefore, there is a demand for a technology that enables an operator to easily stop the swinging of the load.

SUMMARY OF THE INVENTION It is an object of the present invention to solve these problems and to provide a load anti-vibration control guidance system capable of easily damping the vibration of a load.

In order to achieve the above object, the anti-sway control guidance system according to the present invention includes:
a support from which a load is suspended;
a drive unit for moving the support with the load suspended;
an operation unit for manipulating the driving unit;
a shake detector that detects shake of the load suspended from the support;
a processing unit that obtains a movement of the support that damps the vibration of the load based on the vibration detected by the vibration detection unit;
a guidance unit that provides guidance on how to operate the drive unit by the operation unit so that the movement of the support unit obtained by the processing unit is obtained;
with
The processing unit decomposes the shake detected by the shake detection unit into components in a plurality of directions, and obtains the movement of the support unit for attenuating the shake component in one direction selected by an operation;
The guidance section provides guidance for achieving the movement of the support section for damping the vibration component in one direction obtained by the processing section.

According to the load anti-sway control guidance system of the present invention, guidance is provided for a maneuvering method for damping the swing of the load, so the swing of the load can be easily damped.

1 is a schematic diagram of an overhead crane according to Embodiment 1 of the present invention; FIG. 1 is a diagram showing an example of a configuration of a cabin of an overhead crane according to Embodiment 1; FIG. 1 is a block diagram of a guidance system according to Embodiment 1; FIG. 4A and 4B are diagrams showing examples of guidance images displayed by the guidance system according to Embodiment 1; FIG. 4A to 4C are diagrams showing examples of guidance images displayed by the guidance system according to the first embodiment; FIG. 4A to 4C are diagrams showing examples of guidance images displayed by the guidance system according to the first embodiment; FIG. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic diagram of load anti-sway control by a guidance system according to Embodiment 1, (A) is a diagram showing a time change of load swing, (B) is a girder traveling speed pattern, and (C) is a girder. It is a running acceleration pattern. It is a diagram showing the movement of each part in the load anti-vibration control according to Embodiment 1, (A) is a diagram showing the time change of the position of the girder, (B) is a diagram showing the time change of the speed of the girder, ( C) is a diagram showing the time change of the acceleration of the girder, (D) is a diagram showing the time change of the sway angular velocity of the suspended load, and (E) is a diagram showing the time change of the sway angle of the suspended load. 4 is a flow chart of load-sway control guidance processing executed by the load-sway control guidance system according to Embodiment 1. FIG. FIG. 10 is a detailed flowchart of the start-up process shown in FIG. 9; FIG. FIG. 10 is a detailed flowchart of acceleration processing shown in FIG. 9; FIG. FIG. 10 is a detailed flowchart of deceleration processing shown in FIG. 9; FIG. FIG. 4 is a schematic diagram of load anti-sway control by a guidance system according to a modified example of Embodiment 1, where (A) is a diagram showing changes over time in load swing, and (B) shows changes over time in running speed of a girder; It is a diagram. It is a diagram showing the movement of each part in the load anti-vibration control shown in FIG. 13, (A) is a diagram showing the time change of the position of the girder, (B) is a diagram showing the time change of the speed of the girder, (C) (D) is a diagram showing the time change of the acceleration of the girder, (D) is a diagram showing the time change of the sway angular velocity of the suspended load, (E) is a diagram showing the time change of the sway angle of the suspended load. FIG. 2 is a schematic diagram of a mobile crane according to Embodiment 2 of the present invention; FIG. 16 is a diagram showing in detail the structure of the boom of the mobile crane shown in FIG. 15; FIG. 16 is a diagram showing the structure of the cabin of the mobile crane shown in FIG. 15; FIG. 10 is a block diagram of a load stabilization control guidance system according to Embodiment 2 of the present invention; FIG. 10 is a schematic diagram of swing direction load anti-sway control according to Embodiment 2, where (A) is a diagram showing changes over time in load swing, and (B) is a swing direction speed of a swivel base for suppressing load swing; It is a figure which shows the time change of. FIG. 20 is a diagram showing the movement of each part in the load anti-vibration control shown in FIG. 19, (A) is a diagram showing the time change of the position of the swivel base, (B) is a diagram showing the time change of the angular velocity of the swivel base, ( C) shows the time change of the angular acceleration of the swivel base, (D) shows the time change of the sway angular velocity of the suspended load, and (E) shows the time change of the sway angle of the suspended load. FIG. 20 is a diagram showing trajectories of the swing angle of the suspended load, the swing angular velocity of the suspended load, and the angular velocity ratio of the swivel base in the load anti-vibration control shown in FIG. 19 ; 10 is a flow chart of starting processing of turning direction load stabilization control guidance processing according to Embodiment 2. FIG. 10 is a flowchart showing acceleration/deceleration processing for changing a guidance image based on a comparison result between an actual turning angular velocity and a command angular velocity in the turning direction load stabilizing control guidance process according to Embodiment 2; (A) to (C) are diagrams exemplifying guidance images displayed in turning direction load stabilization control guidance processing according to Embodiment 2. FIG. FIG. 10 is a schematic diagram of radial load sway control control according to Embodiment 2, where (A) is a diagram showing changes over time in load sway, and (B) is a diagram of horizontal sheave velocity for suppressing load sway. It is a figure which shows a time change. FIG. 25 is a diagram showing the movement of each part in the anti-sway control shown in FIG. 25, (A) is a diagram showing the time change of the boom hoisting angle, (B) is a diagram showing the time change of the boom hoisting angular velocity, ( C) is a diagram showing the time change of the hoisting angular acceleration of the boom. (A) to (C) are diagrams exemplifying guidance images displayed in the radial direction load stabilizing control guidance process according to the second embodiment. In Embodiment 3 of the present invention, an example of a movement trajectory obtained by the movement trajectory calculation unit when the turning direction load stabilization control guidance processing and the related radial direction load stabilization control guidance processing are executed in parallel is shown. It is a diagram. FIG. 10 is a flowchart of processing for informing whether or not there is a risk that the suspended load will come into contact with an obstacle in load stabilization control guidance processing in a modified example of the embodiment of the present invention; FIG. FIG. 10 is a flow chart of processing in the case of automatically executing load stabilization processing in a modification of the embodiment of the present invention; FIG.

A load stabilization control guidance system and method according to embodiments of the present invention will now be described with reference to the drawings. In addition, the same code|symbol is attached|subjected to the same or equivalent part.

Embodiment 1.
A guidance system and a guidance method for load stabilization control according to Embodiment 1 of the present invention will be described with reference to FIGS. 1 to 12. FIG. The guidance system and guidance method of the present embodiment provide guidance on how to operate the crane in order to attenuate the swing of the overhead crane or the like that linearly moves the suspended load. be.

First, an example of a crane 1 to which the guidance system of Embodiment 1 is applied will be described with reference to FIG.
The crane 1 of Embodiment 1 is an overhead crane provided with a runway 2, a girder 3, and a hoist 4, as shown in FIG.

The runway 2 is composed of a pair of rails arranged in parallel and extends in the direction in which the suspended load 11 is conveyed. The extending direction is the X-axis direction, the height direction is the Y-axis direction, and the depth direction is the Z-axis direction.
The girder 3 spans between the runways 2 and is configured to be movable on the runway 2 in the ±X-axis directions by a drive mechanism 3a disposed inside. The drive mechanism 3a includes, for example, wheels and a drive motor, and is controlled by operation of an operation unit, which will be described later.

A hoist 4 is installed on the girder 3 . In this embodiment, it is assumed that the hoist 4 is fixed to the girder 3 and does not move along the girder 3 in the Z-axis direction. However, the hoist 4 can move in the ±X-axis directions as the girder 3 moves.

The hoist 4 is equipped with a winch. A wire W is hung on this winch. A hook block 9 is suspended from the wire W. A hook 10 is attached to the hook block 9 . A suspended load 11 is hung on the hook 10 via a wire rope WR.

The hoisting machine 4 includes a camera 5 for photographing the suspended load 11, a wire length measuring unit 6 for measuring the length of the wire W, and a deflection angle for detecting the deflection angle of the suspended load 11 in the moving direction (±X-axis direction). A detector 7 and a speed detector 8 for detecting the moving speed of the girder 3 are incorporated.
The camera 5 captures an image below, acquires an image showing the state of the suspended load 11, and transmits the image to the control unit 30, which will be described later.
A wire length measuring unit 6 measures the length of the wire W, more precisely, the distance from the hoist 4 to the hook 10 .
The swing angle detection unit 7 detects the swing angle of the suspended load 11 in the ±X-axis directions. Here, the angle θ between the vertical direction and the wire W is defined as the deflection angle.
The speed detector 8 detects the running speed of the girder 3 in the X-axis direction.

FIG. 2 shows an example of an operation panel of the cabin 12 on which an operator who operates the overhead crane 1 gets on. The cabin 12 is installed at a place where the overhead crane 1 can be visually observed by the operator. A display unit 20 and an operation unit are arranged in the cabin 12 . The operating section includes a traveling lever 21, a hoisting lever 22, a guidance switch 23, etc., and is used by an operator to steer or operate the overhead crane 1. FIG.

The display unit 20 is provided at a position visible to the operator, as shown in FIG. The display unit 20 is composed of a display interface device such as an LCD (Liquid Crystal Display) or an organic EL (Electro-Luminescence) panel. The display unit 20 displays various images on the screen including guidance for load stabilization, which will be described later.

The traveling lever 21 is a lever for controlling the traveling direction and traveling speed of the girder 3 according to the operation direction and the amount of operation.
The hoisting lever 22 is a lever for controlling the lifting and lowering of the load 11 by controlling the length of the wire W according to the direction and amount of operation.
The guidance switch 23 is an operation switch for instructing an operator to perform an operation for stopping the load swing when the load swing occurs.

The cabin 12 also incorporates a control unit 30 and a storage unit 40 .
The control unit 30 is a control device that controls the operation of the overhead crane 1 according to the operation of the traveling lever 21 and the hoisting lever 22 by executing a program stored in the storage unit 40 . The control unit 30 is configured by a computer including a CPU (Central Processing Unit) and the like.

Specifically, the control unit 30 controls the travel of the girder 3 in response to the operation of the travel lever 21, and controls the hoisting and feeding of the wire W by the hoist 4 in response to the operation of the hoisting lever 22. control. Furthermore, the control unit 30 executes load-swaying guidance processing for generating and displaying a guidance image for load-swaying. The details of the load stabilization guidance process will be described later.

The storage unit 40 is a storage device that stores data such as control programs executed by the control unit 30 and messages displayed on the display unit 20 . The memory unit 40 is composed of a nonvolatile memory element such as a flash memory and a volatile memory element such as a RAM.

Next, a load stabilization control guidance system (hereinafter simply referred to as a guidance system) 50 configured by the control section 30 and the storage section 40 will be described.
As shown in FIG. 3, the guidance system 50 includes a display unit 20, a control unit 30, a storage unit 40, a camera 5, a wire length measurement unit 6, a deflection angle detection unit 7, a speed detection unit 8, and a guidance switch 23. be done.

The control unit 30 executes a control program for load stabilization control guidance stored in the storage unit 40 to control a speed pattern calculation unit 31, a movement trajectory calculation unit 32, a message creation unit 33, an image synthesis unit 34, a timer 35.

The speed pattern calculation unit 31 calculates the length of the wire W measured by the wire length measurement unit 6, the swing angle θ of the suspended load 11 detected by the swing angle detection unit 7, and the girder 3 detected by the speed detection unit 8. From the moving speed, a speed pattern indicating what speed pattern the girder 3 is to travel in order to stop the swinging of the suspended load 11 is calculated.

The movement trajectory calculation unit 32 integrates the speed pattern obtained by the speed pattern calculation unit 31 , calculates the movement trajectory of the girder 3 that can realize load stabilization, and provides it to the message creation unit 33 .
The message creation unit 33 acquires message data corresponding to the instructed speed from among the message data stored in the storage unit 40, generates an arrow image corresponding to the instructed speed and the actual speed, and moves the trajectory calculation unit. 32 to generate an image showing the movement trajectory. The message creating unit 33 synthesizes these images to synthesize a guidance image showing how the girder 3 should be operated to stop the swinging of the cargo.

The image synthesis unit 34 superimposes and synthesizes the guidance image generated by the message creation unit 33 and the image of the load 11 captured by the camera 5 , and outputs the synthesized image to the display unit 20 .
A timer 35 measures time.

The guidance image displayed by the display unit 20 provides guidance on how to operate the operation unit, specifically, the operation target, operation timing, degree of operation, and the like, in order to attenuate the swing of the load. The operation target means, for example, a lever, a handle, a button, a switch, or the like, which is operated by the operator. It means timing and the like, and the degree of operation means, for example, the amount of operation of a lever or handle, whether a button or switch is on or off, and the like.
An example of the guidance image will be described with reference to FIGS. 4(A) to 6(C).

FIG. 4(A) is an example of a guidance image that is displayed at or just before the timing at which the girder 3 starts traveling for the purpose of steadying. In this example, an image of the suspended load 11 photographed by the camera 5 is displayed on the upper part of the screen of the display unit 20 . An image of the expected movement trajectory TR that the girder 3 is expected to move when the load stabilization control obtained by the movement trajectory calculation unit 32 is executed, and an arrow indicating the direction in which the girder 3 is to travel, combined with this image. An image (hereinafter referred to as an pointing arrow) AR is displayed. The pointing arrow AR points rightward, which indicates that the girder 3 should be run rightward on the runway 2 as seen from the operator. The length L of the indicating arrow AR visually indicates the desired running speed of the girder 3, longer indicating higher speeds. The color of the pointing arrow AR is set to a color indicating that the vehicle should be accelerated more. At the bottom of the display screen, the message "Right direction travel acceleration start" which is the message acquired by the message creation unit 33 is displayed. This guidance image instructs the operator to start traveling and accelerating the girder 3 to the right. In addition, the operator can predict whether or not the suspended load 11 will come into contact with an obstacle when the load stabilization operation is performed from the image of the predicted movement trajectory TR.

5A to 5C illustrate guidance images displayed during acceleration of the girder 3. FIG. In these examples, an instruction arrow AR is displayed at the top of the screen superimposed on the image of the suspended load 11 captured by the camera 5 .

The indicated arrow AR indicates the traveling direction of the girder 3 calculated by the speed pattern calculator 31 , and its length L corresponds to the indicated speed of the girder 3 . The color of the indication arrow AR corresponds to the difference between the indicated speed and the actual speed of the girder 3. When the actual speed is greater than the indicated speed, the color indicates deceleration (hereinafter referred to as deceleration color). is small, the color indicates acceleration (hereinafter referred to as acceleration color), and when the actual speed is approximately equal to the indicated speed, the color is transparent.

FIG. 5A shows an example in which the actual speed is faster than the indicated speed, and the indicating arrow AR is set in a deceleration color. Further, at the bottom of the display screen, a message is displayed indicating that the girder 3 is traveling to the right and accelerating, and that the acceleration should be moderated, "Rightward running, accelerating, decelerating acceleration".

FIG. 5B shows an example in which the actual speed is slower than the indicated speed, and the indicating arrow AR is set in the acceleration color. At the bottom of the display screen, a message "Running in the right direction, accelerating, increasing acceleration" is displayed to indicate that the vehicle should be accelerated more.

FIG. 5C shows an example in which the indicated speed and the actual speed are substantially equal, and the indicating arrow AR is set to be transparent. Also, at the bottom of the display screen, a message is displayed indicating that the current acceleration state should be maintained, "Right direction running, accelerating, maintaining acceleration state".

FIG. 6A illustrates a guidance image displayed when the girder 3 starts decelerating. In this case, the color of the pointing arrow AR is set according to the magnitude relationship with the actual speed.

FIG. 6B shows an example in which the actual speed is slower than the indicated speed during deceleration, and the indicated arrow AR is set in the color of acceleration. Further, at the bottom of the display screen, a message is displayed indicating that the degree of deceleration should be eased, “Rightward running, decelerating, slowing down”.

FIG. 6C shows an example in which the actual speed is faster than the indicated speed during deceleration, and the indicating arrow AR is set in the deceleration color. In addition, a message "Traveling to the right, decelerating, increasing deceleration" is displayed to indicate that the deceleration should be strengthened.

Moreover, FIG. 4B is an example of a guidance image for instructing the stop of the girder 3 . Only the image of the suspended load 11 captured by the camera 5 is displayed in the upper part of the screen, and the arrow AR is not displayed. Therefore, it is understood that the travel speed should be zero. Also, "stop" is displayed at the bottom of the screen to instruct the girder 3 to stop running.

By referring to the guidance images illustrated in FIGS. 4(A) to 6(C), the operator can know the timing of starting/stopping the girder 3, the running speed, and the guideline for acceleration/deceleration. The operator can easily stop the swinging suspended load 11 by operating the travel lever 21 along the guidance image.

Next, a method by which the guidance system 50 generates the above-described guidance image will be described.

In this embodiment, the hoist 4 that suspends the load 11 is fixed to the girder 3 and moves along the runway 2 in the ±X-axis directions. Therefore, the swing of the suspended load 11 is basically in the ±X-axis direction.

FIG. 7(A) schematically shows the swinging state of the suspended load 11 over time, FIG. 7(B) shows the time change of the movement (moving speed) of the girder 3, and FIG. indicates the acceleration when the girder 3 moves at the speed shown in FIG. 7(B).

As shown in FIG. 7(A), it is assumed that the suspended load 11 swings left and right (±X-axis directions). Here, as shown in FIG. 7(B), at timing II when the wire W becomes vertical, the girder 3 is started to travel in the swinging direction of the suspended load 11 (right direction in the figure), and the suspended load 11 is moved. Accelerate to the maximum speed Vmax during 1/4 of one cycle T of the swing, and then decelerate uniformly to speed 0 during T/4. The position can be matched and the swinging of the suspended load 11 can be stopped. That is, by moving the girder 3, which is a support body for supporting the suspended load 11, in the movement pattern shown in FIG. 7B, it is possible to stop the shaking.
The maximum speed Vmax corresponds to the horizontal speed of the suspended load 11 at timing II when the wire W becomes vertical. Here, the swing period T of the suspended load 11 is determined by the length of the wire W, and is expressed by Equation (1). Note that g is the gravitational acceleration 9.8 [m/s ² ], and L0 is the length of the wire W [m]. Further, the maximum velocity Vmax can be obtained from the maximum angle θmax of swing of the suspended load 11 by the equation (2).
Also, the acceleration ±α of the girder 3 during running is a constant value as shown in FIG.

Period T[s]=2π/([√(g/L0)] (1)
Vmax [m/s]=(T/8).g..theta.max (2)
α=4.Vmax/T (3)

In this case, the position of the girder 3 on the runway 2, the speed of the girder 3 [m/s], the acceleration of the girder 3 [m/s ² ], the swing speed of the suspended load 11 [rad/s], the swing of the suspended load 11 The angle θ [rad] changes between timings I to IV as shown in FIGS. 8(A) to (E).

In addition ^, the relationship between the swing angle θ and the swing angular velocity (that is, the differential value θ of the swing angle θ) of the suspended load 11 changes from timing I through timings II and III. It can be understood that both the differential value) .theta../velocity V gradually decrease ^, become 0 at timing IV, and the suspended load 11 stops.

Therefore, the guidance system 50 obtains the maximum angle θmax [rad] of the swing angle of the suspended load 11 by the swing angle detection unit 7, and detects the timing I when the swing angle reaches the maximum angle θmax.

Subsequently, the guidance system 50 obtains the maximum speed Vmax of the suspended load 11 from the equation (2) from timing I to timing II after T/4. The guidance system 50 further obtains the acceleration ±α from the equation (3) so that the maximum speed Vmax is reached at the timing III, and the speed pattern of the girder 3 is obtained so as to stop at the timing IV.

Before the timing II, the guidance system 50 displays an image of the predicted movement trajectory TR of the girder 3 when the load is stabilized and guidance indicating that the girder 3 will start traveling, as shown in FIG. 4(A). Display an image. When the operator judges that the load stabilization operation is possible from the displayed image of the expected movement trajectory TR, the operator starts accelerating the girder 3 at timing II according to the guidance display.

The guidance system 50 detects the actual speed of the girder 3 by the speed detection unit 8, detects deviation from the speed pattern, and displays guidance images for instructing the operator to perform operations to compensate for the deviation. 6(C), and displayed on the display unit 20. FIG. By following the guidance image, the operator controls the traveling lever 21 so that the speed of the girder 3 is accelerated to Vmax at timing III and then decelerated.

When the timing just before timing IV is reached, the guidance system 50 displays the guidance image illustrated in FIG. 4(B) to instruct the girder 3 to stop. The operator controls the travel lever 21 to stop the girder 3 at timing IV according to the guidance image.

In this way, the operator can easily stop swinging of the suspended load 11 according to the guidance display.

Next, the operation of the guidance system 50 to generate and display the above-described guidance image will be described with reference to the flow charts of FIGS. 9 to 12. FIG.
In addition, in the following description, it is assumed that the girder 3 runs rightward.

When the guidance switch 23 is operated with the girder 3 stopped, the control unit 30 starts the anti-swaying control guidance process shown in FIG. 9, and first executes the starting process (step S101).

The details of this starting process (step S101) will be described with reference to FIG.
As shown in FIG. 10, the speed pattern calculation unit 31 of the control unit 30 continuously monitors the swing angle θ of the suspended load 11 by the swing angle detection unit 7, and θmax [rad] is detected (step S201). Also, the timing at which the swing angle reaches the maximum swing angle θmax is specified as timing I, and the timer 35 is started (step S201).

Subsequently, the speed pattern calculation unit 31 calculates the speed Vmax [m/s] of the suspended load 11 when the wire W is vertical from the detected maximum deflection angle θmax [rad] by Equation (2). Also, the distance Lr from the hook 10 to the center of gravity of the suspended load 11, which is set in advance, is added to the length Lw of the wire W detected by the wire length measuring unit 6, and the length L0 of the pendulum formed by the suspended load 11 is calculated. =(Lw+Lr). The speed pattern calculator 31 applies the obtained length L0 to the equation (1) to obtain the swing period T of the suspended load 11 . Next, the speed pattern calculator 31 identifies the timing T/4 after the timing I, and identifies this as the timing II at which the girder 3 starts traveling (step S202).

Next, the speed pattern calculation unit 31 of the control unit 30 applies the speed Vmax and the period T obtained in step S202 to the equation (3) to obtain accelerations +α and -α of the girder 3 during traveling. Based on the obtained accelerations +α and −α, the speed pattern calculation unit 31 calculates the speed pattern from timing II to timing III when running and from timing III to timing IV to stop, as shown in FIG. 7(B). is obtained (step S203).

The movement trajectory calculation unit 32 integrates the speed pattern obtained by the speed pattern calculation unit 31, calculates the movement trajectory of the girder 3 that can realize load stabilization, and provides it to the message creation unit 33 (step S204).

Next, the message creating unit 33 acquires the message "Right direction running acceleration start" from the storage unit 40 in order to start running the girder 3 before timing II is reached (step S205). Further, since the initial velocity is 0, the message creation unit 33 creates an image of the pointing arrow AR with a relatively short length L. Further, since the acceleration is +α and it is necessary to gradually increase the speed of the girder 3, the color of the pointing arrow AR is set to the acceleration color (step S205).

The message creation unit 33 superimposes the generated message, the image of the instruction arrow AR, and the image showing the image of the expected movement trajectory TR obtained by the movement trajectory calculation unit 32 to synthesize a guidance image (step S206).
The image synthesizing unit 34 synthesizes the guidance image generated by the message creating unit 33 and the image of the suspended load 11 acquired by the camera 5 as illustrated in FIG. . After that, the process returns to the load stabilization control guidance process of FIG. 9 .

Subsequently, the control unit 30 determines whether or not the operator has operated the travel lever 21 to start the travel of the girder 3 according to the displayed guidance image ( FIG. 9 : step S102).
For example, when the operator sees the displayed predicted movement trajectory TR and determines that the suspended load 11 will come into contact with an obstacle if the load stabilization process is performed, the operator does not move the girder 3 . On the other hand, when the operator sees the displayed expected movement trajectory TR and judges that the suspended load 11 will not come into contact with the obstacle even if the load stabilization process is performed, the operator operates the travel lever 21 to travel the girder 3. Let

When the message creation unit 33 determines that the travel lever 21 has not been operated (step S102: No), the guidance image is erased to obtain the next operation timing (step S103), and the process returns to step S101.

On the other hand, if it is determined that the travel lever 21 has been operated (step S102: Yes), the message creation unit 33 performs an acceleration process (step S104) for guiding the speed of the girder 3 to the speed Vmax according to the speed pattern. Start.

Details of this acceleration processing (step S104) will be described with reference to FIG.
First, the message generator 33 obtains the actual speed of the girder 3 from the output of the speed detector 8 (step S301).

Next, the message creation unit 33 identifies the instructed speed indicated by the speed pattern from the clocked time of the timer 35 and the speed pattern (step S302).

Next, the message creation unit 33 determines whether the actual speed is greater than, equal to, or less than the indicated speed (step S303).

If the actual speed is higher than the indicated speed indicated by the speed pattern (step S303: higher), the message creation unit 33 acquires from the storage unit 40 a message urging to slow down the acceleration, and sets the length L of the indication arrow AR. The guidance image shown in FIG. 5A is generated with the length corresponding to the instructed speed and the deceleration color of the instruction arrow AR (step S304).

On the other hand, when the actual speed of the girder 3 is smaller than the instructed speed (step S303: smaller), the message creation unit 33 acquires from the storage unit 40 a message urging to increase acceleration, and sets the length L of the instruction arrow AR. is the length corresponding to the indicated speed, and the color of the indicated arrow AR is the acceleration color, the guidance image illustrated in FIG. 5B is generated (step S305).

If the actual speed is substantially equal to the instructed speed (step S303: ≈), the message creating unit 33 acquires from the storage unit 40 a message urging to maintain the current state, and sets the length L of the arrow image AR to the instructed speed. , and the color of the pointing arrow AR is uncolored (transparent) to generate the guidance image illustrated in FIG. 5C (step S306).

After that, the image synthesizing unit 34 synthesizes the guidance image generated in any one of steps S304 to S306 with the image of the suspended load 11 acquired from the camera 5, and displays the result on the display unit 20 (step S307).

The message creation unit 33 next determines whether timing III has been reached or the speed has reached the maximum speed Vmax (step S308). If not (step S308: No), step It returns to S301 and repeats the above operation.

On the other hand, when the message creation unit 33 determines that the timing III has been reached or the speed has reached the maximum speed Vmax (step S308: Yes), the acceleration processing is terminated, and the load stabilization control guidance processing of FIG. 9 is returned to. .

Subsequently, the message creating unit 33 starts deceleration processing (step S105) for guiding the operation of decelerating the speed of the girder 3 according to the speed pattern and stopping at timing IV.

The details of this deceleration process (step S105) will be described with reference to FIG.
First, the message creating unit 33 causes the display unit 20 to display a guidance image indicating that deceleration should be started, as illustrated in FIG. 6A (step S401).

Subsequently, the message generator 33 obtains the actual speed of the girder 3 from the output of the speed detector 8 (step S402).

Next, the message creating unit 33 identifies the indicated speed indicated by the speed pattern from the clocked time of the timer 35 and the speed pattern (step S403).

Next, the message generator 33 determines whether the actual speed is greater than, equal to, or less than the commanded speed (step S404).

If the actual speed is greater than the commanded speed (step S404: greater), the message creation unit 33 acquires from the storage unit 40 a message urging to increase deceleration, and sets the length L of the command arrow AR to the commanded speed. The guidance image shown in FIG. 6(C) is generated by setting the length to 1, and using the instruction arrow AR as the deceleration color (step S405).

On the other hand, if the actual speed of the girder 3 is smaller than the instructed speed (step S404: smaller), the message creation unit 33 acquires from the storage unit 40 a message urging to reduce the deceleration, and sets the length L of the instruction arrow AR. is the length corresponding to the instructed speed, and the instructed arrow AR is the acceleration color, the guidance image illustrated in FIG. 6B is generated (step S406).

If the actual speed is substantially equal to the instructed speed (step S404: ≈), the message creating unit 33 obtains from the storage unit 40 a message prompting to maintain the current deceleration state, and sets the length L of the instruction arrow AR. is the length corresponding to the instructed speed, and the instruction arrow AR is uncolored to generate a guidance image (step S407).

The image synthesizing unit 34 synthesizes the guidance image generated in any one of steps S405 to S407 and the image of the suspended load 11 acquired by the camera 5, and displays the result on the display unit 20 (step S408).

Next, the message creation unit 33 determines whether timing IV has been reached or the speed has reached 0 (step S409). Return and repeat the above operations.

On the other hand, when the message creation unit 33 determines that the timing IV has been reached or the speed has reached 0 (step S409: Yes), the guidance illustrated in FIG. The images are synthesized and displayed on the display unit 20 (step S410).

With this, the deceleration process is completed, and the process returns to the load stabilization control guidance process of FIG. 9 to end the process.

As explained above, the guidance system 50 displays a guidance image indicating what kind of operation should be performed in order to stop the swinging of the load. The operator can adjust the running speed of the girder 3 and stop the swinging of the suspended load 11 according to the instruction of the guidance image. Therefore, even an inexperienced person can easily perform the operation to stop the swinging of the load.
In addition, the guidance system 50 displays an image of a predicted movement trajectory TR showing what movement trajectory the girder 3 will move when the load swaying operation is performed according to the guidance before the load swaying operation is started. display. As a result, after confirming that the suspended load does not swing against the obstacle, etc., it is possible to carry out the load stabilization process.

(Modification 1)
In Embodiment 1, the acceleration time and deceleration time of the girder 3 are both equal to 1/4 of the swing period T, as shown in FIG. 7(B). This is an example, and it is also possible to make the acceleration period and the deceleration period different from each other.
For example, as shown in FIG. 13, the time from timing II to timing III for accelerating the girder 3 is set to be longer than T/4, and the time from timing III to timing IV for decelerating the girder 3 is set to be longer than T/4 period. You can shorten it.

In this case, for example, the period T _II-III between timings II and III is defined by the expression (4), and the period T _III-IV between timings III and IV is defined by the expression (5). Moreover, the maximum speed Vmax of the girder 3 is shown by Formula (6).
TII _-III = 0.3197T (4)
TIII _−IV =0.0904T (5)
Vmax [m/s]=(T/6.74).g..theta.max (6)
In this case, the position of the girder 3, the speed of the girder 3 [m/s], the acceleration of the girder 3 [m/s ² ], the swing angular velocity θ ^of the suspended load 11 (differential value of the swing angle θ) [rad/s] , the deflection angle θ [rad] is as shown in FIGS.

In this modification, the guidance system 50 obtains the swing angle θ [rad] of the suspended load 11 by the swing angle detector 7 and detects the timing I when the swing angle reaches the maximum angle θmax [rad].

Subsequently, the guidance system 50 obtains the period T of the load swing from the equation (3), the period from timing II to III = 0.3197 T, and the period from timing III to IV = 0.0904 T is obtained from the formulas (4) and (5). Next, the maximum speed Vmax that the girder 3 should reach from timing II to timing III is obtained from equation (6). The guidance system 50 further obtains the acceleration and the speed pattern of the girder 3 so that the maximum speed Vmax is reached at the timing III and the speed is stopped at the timing IV.

When the timing II is reached, the guidance system 50 displays a guidance image instructing the vehicle to accelerate rightward on the girder 3 as shown in FIG. 4(A). According to the guidance display, the operator starts accelerating the girder 3 at timing II and controls the traveling lever 21 so that the speed of the girder 3 reaches Vmax at timing III. The guidance system 50 detects the actual speed of the girder 3 with the speed detector 8, obtains the deviation from the speed indicated by the speed pattern, and adjusts the speed shown in FIGS. generates the guidance image illustrated in , and displays it on the display unit 20 .

When the timing III is reached, the guidance system 50 generates a guidance image illustrated in FIGS. display. According to the guidance display, the operator controls the travel lever 21 so that the girder 3 starts decelerating at timing III and the girder 3 stops at timing IV.

When the timing IV is reached, the guidance system 50 displays a guide screen instructing to stop the girder 3, as illustrated in FIG. 4(B).

In this way, the operator can easily stop swinging of the suspended load 11 according to the guidance display.

In Embodiment 1 and Modification 1 described above, an example in which the suspended load 11 is moved only in the running direction of the girder 3, that is, in the +X-axis direction, is shown, but the present invention is not limited to this. A guidance image may be formed and displayed so as to stop swinging of the suspended load 11 by running the girder 3 in the -X-axis direction.

It is also possible to select between the load vibration damping by running in the +X-axis direction and the load vibration damping by running in the −X-axis direction. In this case, for example, a right guidance switch 23R and a left guidance switch 23L may be arranged, and the traveling direction of the girder 3 may be selected depending on which switch is operated. When the right guidance switch 23R is selected, the -X side deflection maximum angle θmax is detected and set to timing I, the girder 3 travels in the +X direction, and the left guidance switch 23R is selected. When the switch 23L is selected, contrary to the above, the maximum swing angle θmax on the +X side is detected and set to the timing I, and the girder 3 travels in the -X direction.

The traveling speed patterns shown in FIGS. 7 and 13 are examples, and the traveling speed pattern of the girder 3 can be arbitrarily changed as long as the swinging of the suspended load 11 can be stopped. For example, traveling in the +X direction and traveling in the -X direction may be combined.
Also, the hoist 4 may be made movable along the longitudinal axis of the girder 3, that is, in the Z-axis direction, so that the occurring load swing in the Z-axis direction can be suppressed in a similar manner. In this case, the load swing is decomposed into an X-axis direction component and a Z-axis direction component, and the above-described processing may be performed for each component. In this case, after suppressing the X-axis (or Z-axis) direction component, the Z-axis (or X-axis) direction component may be suppressed. may be suppressed in parallel.

In the above embodiments and modifications, the indicated speed is indicated by the length of the indicating arrow AR, and the difference between the actual speed and the indicated speed is notified, but the method of notification and display itself is arbitrary. For example, the length of the direction arrow AR indicates the indicated speed, the color of the direction arrow AR indicates whether it is in an accelerating state or a decelerating state, another arrow image indicates the actual speed, and another arrow image indicates the indicated speed and the actual speed. You may indicate the difference between

In the above-described embodiment and modification, the traveling lever is operated to cause the girder 3 to travel, but means for inputting operation instructions may be an operation switch, a touch panel, a tablet, or the like.

Embodiment 2.
In the above-described embodiment, an example of anti-swaying of a load by a crane that moves the suspended load 11 linearly has been described, but the present invention can also be applied to an anti-swaying of a load by a crane that rotates and conveys the suspended load. be.
A guidance system 150 that guides an operation for stopping swinging in the turning direction (tangential direction) and swinging in the working radial direction (hereinafter simply referred to as the radial direction) of a load suspended from the tip of the boom will be described below.

First, an overall configuration example of mobile crane 101 to which guidance system 150 according to Embodiment 2 is applied will be described with reference to FIG. A mobile crane 101 includes a carrier 102 which is a vehicle body portion having a traveling function, a swivel base 103 mounted on the carrier 102 so as to be capable of horizontal swivel, and a cabin 104 provided on the swivel base 103. . Carrier 102 includes outriggers.

The swivel base 103 incorporates a swivel angular velocity detector 118 . The turning angular velocity detector 118 detects the angular velocity of the turning base 103 when turning. A bracket 106 is fixed on the swivel base 103 . A boom 107 is attached to the bracket 106 . The base end of the boom 107 is attached to the bracket 106 via a support shaft, and can be raised and lowered around the support shaft. A hoisting cylinder 170 is provided between the bracket 106 and the boom 107 . The boom 107 is raised and lowered by extension and contraction of the raising and lowering cylinder 170 .

The boom 107 incorporates a hoisting angle/angular velocity detector 115 . The hoisting angle/angular velocity detection unit 115 is a sensor that detects the hoisting angle of the boom 107 that hovers due to the expansion and contraction of the hoisting cylinder 170 and the angular velocity in the hoisting angle direction.

The boom 107 includes a proximal boom 107a, an intermediate boom 107b, and a distal boom 107c. Proximal boom 107a, intermediate boom 107b, and distal boom 107c are telescopically combined in this order from outside to inside. Each boom 107a-107c is internally connected by a telescopic cylinder. The boom 107 expands and contracts by expanding and contracting each telescopic cylinder. The length of the boom 107 (more precisely, Lbc described later) is measured by a boom length measuring section 119 arranged on the bracket 106 .

The tip boom 107c has a tip 107d. A sheave is provided at the tip portion 107d. A wire W extending from a winch provided on the bracket 106 is hung on the sheave. A hook block 109 is suspended from the wire W. A hook 110 is attached to the lower portion of the hook block 109 . The suspended load 11 is hung on the hook 110 via the wire rope WR.

A camera 105 for photographing the suspended load 11 is provided at the tip portion 107d of the tip boom 107c. Further, at the distal end portion 107d, a working radial direction deflection angle detection portion 114 for detecting the deflection angle of the suspended load 11 in the working radial direction, a wire length measuring portion 116 for obtaining the length of the wire W, and a swinging motion of the suspended load 11 A turning direction swing angle detection unit 117 for detecting a direction swing angle is incorporated.

Next, the boom 107 mounted on the mobile crane 101 will be described in detail.
As shown in FIG. 16, the boom 107 is rotatably supported by the bracket 106 about the base rotation fulcrum bfp.
A sheave is arranged at the tip portion 107d of the boom 107, and the suspended load 11 is connected through the wire W. As shown in FIG. This sheave becomes the tip rotation fulcrum btp of the suspended load 11 .

The length of the line segment Lbc connecting the base rotation fulcrum bfp and the tip rotation fulcrum btp corresponds to the substantial length of the boom 107 . The boom length measurement unit 119 measures the length of this line segment Lbc.
A working radius R of the boom 107 is given by Equation (7).
R[m]=Lbc·cos θB+r (7)
r is a fixed distance between the root fulcrum bfp and the pivot axis 103A of the swivel base 103;
θB is the undulation angle of the line segment Lbc, that is, the intersection angle between the line segment Lbc and the horizontal. θB can be obtained as follows.

First, the hoisting angle θC of the boom 107 is measured by the hoisting angle/angular velocity detector 115 . As shown in the figure, θB is equivalent to an angle obtained by subtracting from θC the angle θA in the hoisting direction formed by the line segment Lt connecting the tip of the boom 107 and the tip rotation fulcrum btp, as shown in equation (8). do.
θB=θC−θA (8)
Also, the angle θA is a value that decreases as the boom 107 extends, and is represented by a function ff(Lbc) of the line segment Lbc. Therefore, equation (8) can be transformed as follows.
θB=θC−ff(Lbc)=θC−θA (8)

Therefore, for example, an arithmetic expression or table representing a function ff indicating the relationship between θA and Lbc is prepared, and the length of the line segment Lbc measured by the boom length measuring unit 119 is applied to the arithmetic expression or table. By obtaining θA and subtracting it from the hoisting angle θC measured by the hoisting angle/angular velocity detector 115, the hoisting angle θB can be obtained.

Further, the sheave, that is, the radial velocity Vdrc of the tip rotation fulcrum btp is expressed by Equation (9). Moreover, Formula (10) is materialized.
Vdrc[m/s]=Vd·sin(θB) (9)
Vd [m/s]=Lbc·dθB/dt (10)
Here, Vd represents the tangential movement speed of the arc drawn by the tip rotation fulcrum btp when the line segment Lbc rotates about the root rotation fulcrum bfp.

The cabin 104 shown in FIG. 17 includes a display unit 120 for displaying anti-sway control guidance, a turning lever 121 for controlling turning, an extendable lever 122 for controlling the length of the boom 107, and a hoisting operation of the boom 107. An operation unit including a lifting lever 123 for control, a winding lever 124 for controlling the wire length, a turning direction guidance switch 125, a radial direction guidance switch 126 and the like is arranged.

The swivel lever 121 is an operation lever for controlling the swivel of the swivel base 103 to drive the swivel.
The telescoping lever 122 is an operating lever that controls telescoping of the boom 107 .
The hoisting lever 123 is an operation lever that controls the hoisting (inclination angle θB) of the boom 107 .
The hoisting lever 124 is a lever that controls the lifting and lowering of the load 11 by controlling the length of the wire W according to the direction and amount of operation.

The turning direction guidance switch 125 is a switch that is operated when displaying the guidance of the load stabilization operation in the turning direction.
The radial direction guidance switch 126 is a switch that is operated when displaying guidance for radial load stabilizing operation.

In addition, the cabin 104 incorporates a control unit 130 and a storage unit 140 that stores data such as control programs and messages for anti-swaying control guidance.

The display unit 120 displays various information such as a guidance image for stopping the load from swinging.

Next, the configuration of guidance system 150 according to this embodiment will be described with reference to FIG.
As illustrated, guidance system 150 according to the present embodiment includes display unit 120, control unit 130, storage unit 140, camera 105, turning direction deflection angle detection unit 117, and turning angular velocity detection unit 118. , a turning direction guidance switch 125, a radial direction guidance switch 126, a radial direction deflection angle detection unit 114, a hoisting angle/angular velocity detection unit 115, a wire length measurement unit 116, and a boom length measurement unit 119. be.

By executing the control program stored in the storage unit 140, the control unit 130 performs a turning angular velocity pattern calculation unit 301, a movement trajectory calculation unit 302, a turning operation method message creation unit 303, an image synthesis unit 304, and a hoisting angular velocity pattern calculation unit. It functions as a section 305 , a derricking operation method message creation section 306 and a timer 307 .

The swing angular velocity pattern calculator 301 calculates i) the swing angle θslew of the suspended load 11 in the swing direction detected by the swing direction swing angle detector 117, and ii) the swing angular velocity of the swivel base 103 detected by the swing angular velocity detector 118. ω, iii) the length L0 of the wire W measured by the wire length measurement unit 116, iv) the length Lbc of the boom 107 measured by the boom length measurement unit 119, and v) the hoisting angle/angular velocity detection unit 115. and the hoisting angle θB obtained from the angle θA obtained by calculation, what angular velocity pattern the swivel base 103 should be rotated to stop swinging of the suspended load 11 in the rotating direction. A turning angular velocity pattern indicating whether or not to move is calculated.

The hoisting angular velocity pattern calculator 305 calculates i) the deflection angle θdrc in the turning direction of the suspended load 11 detected by the radial deflection angle detector 114, and ii) the measured value θC of the hoisting angle/angular velocity detector 115. iii) the length L0 of the wire W measured by the wire length measuring unit 116; and iv) the length Lbc of the boom 107 measured by the boom length measuring unit 119. , a hoisting speed pattern is calculated to indicate what speed pattern the boom 107 should be hoisted to stop swinging of the suspended load 11 in the working radial direction.

The movement trajectory calculator 302 determines how the turning lever 121 should be operated in order to obtain the angular velocity indicated by the speed pattern obtained by the turning angular velocity pattern calculator 301 . Further, the movement trajectory calculation unit 302 determines how the hoisting lever 123 should be operated in order to obtain the angular velocity indicated by the speed pattern obtained by the hoisting angular velocity pattern calculating unit 305 .

The turning operation method message creation unit 303 acquires data corresponding to the requested speed from among the message data stored in the storage unit 140, and creates a command arrow AR corresponding to the requested speed. Generate.
The undulating operation method message creation unit 306 acquires data corresponding to the requested speed from among the message data stored in the storage unit 140, and also provides a length command corresponding to the requested speed. Generate an arrow AR.

The image synthesizing unit 304 superimposes the message and the instruction arrow generated by the turning operation method message generating unit 303 on the image of the suspended load 11 captured by the camera 105 to generate a guidance image. Further, the image synthesizing unit 304 outputs the generated guidance image to the display unit 120 .

Further, the image synthesizing unit 304 superimposes the message and the instruction arrow generated by the hoisting operation method message generating unit 306 on the image of the suspended load 11 captured by the camera 105 to generate a guidance image. Further, the image synthesizing unit 304 outputs the generated guidance image to the display unit 120 .
A timer 307 measures time.

Next, anti-vibration guidance processing performed by the guidance system 150 having the above configuration will be described.
The guidance system 150 divides swing of the suspended load 11 into swing and radial swing, and guides the operation required to stop each swing.
Therefore, first, a method of guidance for stopping swing in the turning direction will be described.

It is assumed that swing of the suspended load 11 in the turning direction is as shown in FIG. 19(A).
In this case, as in the first embodiment, shaking can be stopped by moving the sheave at the tip of boom 107 in the speed pattern shown in FIG. 19(B). That is, it is possible to stop the swinging by moving the sheave, which is the support body for supporting the suspended load 11, in the movement pattern shown in FIG. 19(B).
Here, the maximum velocity Vmax_slew of the suspended load 11 in the turning direction is represented by Equation (11).
Vmax_slew [m/s]=(T/8)·g·θmax_slew (11)

That is, during T/4 from timing II when the suspended load 11 reaches the lowest point to timing III, the sheave is uniformly accelerated to Vmax_slew, and then during T/4 from timing III to timing IV. In addition, load swing in the turning direction can be stopped by setting the speed of the sheave to 0 at constant acceleration.
Let Vslew [m/s] be the velocity of the sheave in the turning direction, and ω [rad/s] be the angular velocity of the turning base 103 in the turning direction.
Vslew=ω·R (12)
R is the horizontal distance from the rotation axis of the swivel base 103 to the sheave. It can be obtained based on the undulation angle θC measured by the angular velocity detector 115 and the fixed distance r.

From the speed pattern shown in equation (12) and FIG. 20(B), during T/4 from timing II to timing III, the swivel base 103 is accelerated at a constant angular velocity from 0 to ωmax=Vmax_slew/R. Subsequently, it can be seen that load swing in the turning direction can be stopped by setting the angular velocity to 0 at a constant angular acceleration during T/4 from timing III to timing IV.

At this time, the position of the swivel base 103 in the swivel direction [rad], the angular velocity of the swivel base 103 in the swivel direction [rad/s], the angular acceleration of the swivel base 103 in the swivel direction [rad/s ² ], the load 11 The swing angular velocity θ ^· slew and [rad/s] in the turning direction and the swing angle θslew [rad] in the turning direction are as shown in FIGS. Also, the swing angle θslew of the suspended load 11 in the turning direction and the ratio θslew ^/ ωslew between the swing angular velocity θslew ^and the pendulum frequency ωslew transition as shown in FIG. The pendulum oscillation frequency ωslew=2π/T=√(g/L0) [rad/s].

From this figure, it can be seen that the swing angle θ slew and the swing angular velocity θ ^· slew become 0 at timing IV due to the turning operation described above, and the swing in the turning direction stops.

Next, the guidance system 150 guides the operation for stopping the swinging of the load in the swinging direction based on the above-described method for preventing the swinging of the load in the swinging direction.
The basic operation of this process is the same as the load-swaying guidance process shown in FIG. 9, and the difference will be mainly described.

When the turning direction guidance switch 125 is operated, the turning angular velocity pattern calculating section 301 starts the starting process shown in FIG. , find its maximum angle θmax_slew [rad]. Also, the timer 307 is activated with this timing as timing I (step S501).

Subsequently, the turning angular velocity pattern calculator 301 obtains the period T of load swing from the equation (1). Subsequently, the swing angular velocity pattern calculator 301 obtains the maximum velocity Vmax_slew of the suspended load 11 from the equation (11), starts acceleration at timing II, reaches the maximum velocity Vmax_slew at timing III, and reaches 0 at timing IV. A speed pattern Vslew is obtained as shown in FIG. 19B (step S502).

Next, the angular velocity pattern of the swivel base 103 that provides this velocity pattern Vslew is calculated as shown in FIG. 20B (step S503).

The turning operation method message creation unit 303 creates a message indicating that the turning base 103 should start turning, a turning direction and a turning speed, and an instruction arrow AR, and synthesizes these messages to generate a guidance image (step S504). ). The image synthesizing unit 304 synthesizes the generated guidance image and the image acquired by the camera 105, and displays them on the display unit 120 as illustrated in FIG. 24A (step S505).
The operator operates the turning lever 121 according to the guidance image, starts turning the turning base 103 at timing II, and gradually accelerates.

When the swivel base 103 starts to swivel, the swivel operation method message creation unit 303 executes acceleration/deceleration processing. In this acceleration/deceleration processing, guidance is given so that the turning angular velocity of the turning base 103 is accelerated to ωmax by timing III according to the angular velocity pattern shown in FIG. 20(B). Further, when timing III is reached, a guidance image exemplified in FIG. 24B is formed to guide the start of deceleration.

This acceleration/deceleration processing will be described with reference to the flow chart of FIG.
The turning operation method message creation unit 303 periodically activates the acceleration/deceleration processing shown in FIG. 23 by timer interruption or the like. Also, the indicated angular velocity indicated by the angular velocity pattern is specified (step S601). The turning operation method message creation unit 303 compares the detected actual turning angular velocity with the specified instructed angular velocity (step S602).

The turning operation method message creating unit 303 generates a guidance image for instructing the operator to perform an operation for compensating for the angular velocity deviation based on the comparison result (steps S603 to S605).
For example, if the detected actual turning angular velocity is greater than the instructed angular velocity instructed by the angular velocity pattern (step S602: larger), a guidance image is generated to prompt reduction of the turning angular velocity of the swivel base 103 (step S603). , is displayed on the display unit 120 (step S606). Also, if the detected actual turning angular velocity is smaller than the instructed angular velocity instructed by the angular velocity pattern (step S602: smaller), a guidance image is generated to prompt an increase in the turning angular velocity of the swivel base 103 (step S604). , is displayed on the display unit 120 (step S606). Further, if the detected actual turning angular velocity is substantially equal to the instructed angular velocity instructed by the angular velocity pattern (step S602: ≈), a guidance image is generated to prompt to maintain the turning angular velocity of the swivel base 103 (step S605). , is displayed on the display unit 120 (step S606).

By referring to the guidance image, the operator starts turning the swivel base 103 at timing II, accelerates the swivel base 103 so that the angular velocity of the swivel base 103 reaches ωmax (=Vmax/R) at timing III, and then decelerates the swivel base 103. Then, the turning lever 121 is operated so as to stop at timing IV.

The turning operation method message creating unit 303 generates a guidance image instructing to stop turning when the timing immediately before the timing IV is reached. The image synthesizing section 304 displays this guidance image on the display section 120 . The operator controls the revolving lever 121 to stop the revolving base 103 at timing IV according to the guidance image.

In this manner, the operator can easily stop swinging of the suspended load 11 in the turning direction according to the guidance image.

Next, a method for stopping radial load swing will be described.
Here, it is assumed that the swing in the radial direction of the suspended load 11 is as shown in FIG. 25(A). In this case also, the deflection can be stopped by horizontally moving the sheave at the tip of the boom 107 in the radial direction with the velocity pattern shown in FIG. 25(B). That is, it is possible to stop the swinging by moving the sheave, which is the support body for supporting the suspended load 11, in the movement pattern shown in FIG. 25(B).
Note that the maximum velocity Vmax_drc of the velocity Vdrc in the radial and horizontal directions of the suspended load 11 is given by Equation (13).
Vmax_drc [m/s]=(T/8).g..theta.max drc (13)
That is, during T/4 from timing II when the suspended load 11 reaches the lowest point to timing III, the sheave is radially accelerated to Vmax_drc at a constant acceleration, and then T/4 from timing III to timing IV. 4, radial load swing can be stopped by decelerating the sheave radially to zero velocity at uniform acceleration.

Here, as described above with reference to FIG. 16, the sheave radial velocity Vdrc is represented by the equation (9).
Vdrc[m/s]=Vd·sin(θB) (9)
Vd [m/s] is the moving speed in the tangential direction of the arc drawn by the tip rotation fulcrum btp of the boom 107 . Also, θB[rad] indicates the undulating angle of the line segment Lbc, and can be obtained from Equation (8).

Further, when the angular velocity of the boom 107 in the hoisting direction is Vb [rad/s], the equation (14) holds and is directly measured by the hoisting angle/angular velocity detector 115 .
Vb [rad/s]=dθB/dt=dθC/dt (14)
Applying equation (14) to equation (10) yields equation (15). Furthermore, Equation (16) is obtained by applying Equation (15) to Equation (9). Transforming equation (16) yields equation (17).
Vd [m/s]=Lbc·Vb (15)
Vdrc[m/s]=Lbc·Vb·sin(θB) (16)
Vb[rad/s]=Vdrc/[Lbc·sin(θB)] (17)

Therefore, in order to obtain the velocity pattern of Vdrc shown in FIG. and rotate the boom 107 with this speed pattern. Specifically, as shown in FIG. 26(B), the boom 107 starts to rotate in the hoisting direction at timing II, the angular velocity Vb is gradually increased, reaches the maximum angular velocity Vb_max at timing III, and then decelerates. Then, the boom 107 is hoisted so that the angular velocity Vb becomes 0 at the timing IV.

Next, the guidance system 150 guides the operation to stop the radial load swing based on the above-described method for preventing the load from swinging in the radial direction.

Note that the basic operation is the same as the load stabilization control guidance process shown in FIG.
When the radial direction guidance switch 126 is operated, the hoisting angular velocity pattern calculator 305 starts the starting process, monitors the radial deflection angle θdrc of the suspended load 11 by the radial deflection angle detector 114, and determines the maximum angle Detect θmax_drc [rad]. Also, the timer 307 is started with the timing I at which the swing angle θdrc in the radial direction of the suspended load 11 reaches the maximum angle θmax_drc [rad].

Subsequently, the hoisting angular velocity pattern calculator 305 obtains the period T of the swing of the load from the equation (1), further obtains the maximum horizontal velocity Vmax_drc of the suspended load 11 from the equation (13), and starts acceleration at timing II. Then, a velocity pattern in which the maximum velocity Vmax_drc is reached at timing III and the velocity is 0 at timing IV is obtained as shown in FIG. 25(B).

Next, the pattern of the angular velocity (hoisting angular velocity) Vb of the pivoting motion with the base rotation fulcrum bfp of the boom 107 as the fulcrum, which can obtain this velocity pattern, is obtained from the equation (17) as shown in FIG. 26(B). Calculate to

The hoisting operation method message creation unit 306 creates a message and an instruction arrow indicating that a swing operation for rotating the boom 107 to lie down should be started, a swing direction and a swing angular velocity, and an instruction arrow, and synthesizes these to create a guidance image. Generate. The image synthesizing unit 304 synthesizes the generated guidance image and the image acquired by the camera 105, and displays it on the display unit 120 as illustrated in FIG. 27(A).
The operator operates the hoisting lever 123 according to the guidance image, starts the hoisting motion of the boom 107 at timing II, and gradually accelerates.

The hoisting operation method message creation unit 306 provides guidance so that the hoisting angular velocity of the boom 107 is accelerated to Vbmax until timing III according to the pattern of the hoisting angular velocity shown in FIG. 26(B). Further, when timing III is reached, a guidance image exemplified in FIG. 27B is formed to guide the start of deceleration.

The hoisting operation method message creation unit 306 periodically detects the angular velocity Vb [rad/s]=dθC/dt in the hoisting direction of the boom 107 by the hoisting angle/angular velocity detection unit 115, and generates the instruction indicated by the hoisting angular velocity pattern. Compare with angular velocity.

Based on the comparison result, the hoisting operation method message creation unit 306 generates a guidance image that instructs the operator to perform an operation that compensates for the deviation of the hoisting angular velocity from the designated hoisting angular velocity. For example, if the detected actual turning angular velocity is smaller than the instructed angular velocity instructed by the angular velocity pattern, a guidance image for increasing the hoisting angular velocity of the boom 107 is generated and displayed on the display unit 120 .
By following the guidance image, the operator starts the bending operation of the boom 107 at timing II, accelerates so that the angular velocity Vb in the hoisting direction reaches the maximum Vb_max at timing III, then decelerates, and stops at timing IV. The hoisting lever 123 is operated so as to

In this manner, the operator can easily suppress the radial deflection of the suspended load 11 according to the guidance image.

In addition, the moving trajectory calculating unit 302 integrates the speed pattern obtained by the turning angular velocity pattern calculating unit 301, predicts the moving trajectory of the suspended load 11, and converts it into an image during the turning direction anti-vibration guidance process. , to the image synthesizing unit 304 . Similarly, the movement trajectory calculation unit 302 integrates the speed pattern obtained by the hoisting angular velocity pattern calculation unit 305, predicts the movement trajectory of the suspended load 11, and visualizes it during the hoisting direction anti-sway guidance process. and supplied to the image synthesizing unit 304 . The image synthesizing unit 304 synthesizes the image of the predicted movement trajectory TR with the image from the camera 105 and displays it on the display unit 120 . As a result, the operator can determine whether or not problems such as the suspended load 11 swinging against obstacles will occur during the process before starting the load stabilization process. It can be performed.

In the second embodiment, the boom 107 is lowered to suppress the radial load swing, but the boom 107 may be raised to suppress the radial load swing.

Embodiment 3.
In the second embodiment, the swing of the suspended load 11 is decomposed into the component in the turning direction and the component in the radial direction, and the anti-vibration processing is performed individually. Therefore, for example, the operator turns on the turning direction guidance switch 125 to execute turning direction anti-vibration guidance processing to suppress swinging of the load in the turning direction, and then turns on the radial direction guidance switch 126 to turn on the radial direction guidance switch 126. It is necessary to suppress radial load swing by executing anti-sway guidance processing.

The invention is not limited to this. The turning direction anti-swaying guidance process and the radial anti-swaying guidance process may be executed in parallel.
In this case, the movement trajectory calculation unit 302 moves the trajectory of the speed pattern obtained by the turning angular velocity pattern calculation unit 301 in the X-axis direction of the XY coordinates, and the trajectory of the speed pattern obtained by the hoisting angular speed pattern calculation unit 305 to the X-axis direction. The movement of the tip 107d of the boom 107 may be obtained by plotting in the Y-axis direction of the -Y coordinate, as shown in FIG.

Furthermore, the relative position of the suspended load 11 with respect to the tip 107d of the boom 107 is obtained from the tilt and swing angles θx and θy of the suspended load 11 and the length L0 of the wire W at each timing, and synthesized, as shown in FIG. As shown, the trajectory of tip 107d of boom 107 and the trajectory of hook 110 or suspended load 11 can be plotted on the XY plane. Furthermore, by aligning the scale of the camera image obtained by the camera 105 with the scale of the XY plane, the trajectory of the tip 107d of the boom 107 and the suspended load 11 on the actual background image captured by the camera 105 can be determined. can be plotted and presented.

(Modification 2)
The speed pattern shown in FIG. 13 can also be used in the turning direction load stabilization control guidance process and the radial direction load stabilization control guidance process.

In this case, the period T _II-III between the timings II and III is defined by the formula (4), and the period T _III-IV between the timings III and IV is defined by the formula (5). Also, the maximum velocities Vmax_slew and Vmax_drc are given by equations (18) and (19).
TII _-III = 0.3197T (4)
TIII _−IV =0.0904T (5)
Vmax_slew=T/6.74·g·θmax_slew (18)
Vmax_drc=T/6.74.g..theta.max_drc (19)

In addition, the speed pattern of the supporting portions (girders and sheaves) for stopping the swing of the load is not limited to the above example, and is arbitrary. Regardless of which speed pattern is adopted, before the operation starts, guidance is provided on the operation start timing and operation method. Guidance should be given on what to do and when and to what extent. Also, before starting the operation, guidance may be provided on the movement of the load during the control period so that it can be confirmed that no problem will occur even if the load anti-vibration control is performed.

(Modification 3)
In the above implementation, the expected movement trajectory TR is displayed before starting the load stabilization control so that it is possible to determine whether or not there is a risk that the suspended load 11 will collide with an obstacle during the load stabilization control. there is This determination may be made automatically. For example, as shown in the flowchart of FIG. 29, at the start of the load stabilization control guidance process, a speed pattern is obtained (step S701), and by integrating the speed pattern, a predicted movement trajectory of the suspended load is obtained (step S702). ).

Next, obstacles around the suspended load 11 are identified using image recognition technology, and it is determined whether or not the identified obstacles and the expected movement trajectory TR are closer than a reference value. It is determined whether or not the suspended load 11 may come into contact with an obstacle (step S703).

If there is no risk of collision (step S703: none), the guidance screen in FIG. 4 is displayed (step S704), and the process proceeds to activation processing.

On the other hand, if there is a risk of collision (step S703: Yes), a message to the effect that it should wait is displayed (step S705), and the process returns to step S701.

With such a configuration, the collision of the suspended load 11 can be avoided, and when time passes and the swinging of the suspended load 11 becomes small and the possibility of collision disappears, anti-vibration control is automatically performed. can be started as soon as possible.

(Modification 4)
In Embodiments 1 to 3 above, the operator performs an operation to stop the swing of the suspended load 11 based on the guidance image displayed on the display unit 120, but the swing of the suspended load 11 is automatically stopped. You can configure it. In this case, for example, in the case of the second embodiment, a steady rest automatic execution switch is arranged in the cabin 104 .

When the operator presses the turning direction guidance switch 125 or the radial direction guidance switch 126 and then presses the anti-swaying automatic execution key, the control unit 130 starts the automatic anti-swaying control process.

The control unit 130 controls the operation amount of the actuator by feedback control or the like so that the speed pattern calculated by the turning angular velocity pattern calculating unit 301 or the hoisting angular velocity pattern calculating unit 305 is obtained, and the boom 107 automatically turns or rotates. It rises and falls to stop swinging of the suspended load 11. - 特許庁

Specifically, referring to FIG. 30, the control unit 130 obtains the actual measurement value Vr of the sheave speed (step S801), specifies the instructed sheave speed Vt from the speed pattern (step S802), and determines the deviation e (=Vt-Vr) is obtained (step S803), and a new operation amount (actuator drive amount) X is obtained according to the deviation e, for example, by PID control (proportional-integral-derivative control) (step S804). This process may be repeated until timing IV is reached or the speed becomes 0 (step S805). Note that the control method itself is arbitrary. The first embodiment can also be executed in the same manner.
According to this configuration, it is possible to automatically stop the swinging of the load without any operation by the operator.

(Modification 5)
If the boom 107 is flexed, a correction value for the flexure may be stored in the storage unit 140, and the measurement value may be corrected using this correction value before calculation.
More specifically, the boom 107 bends as the weight of the load 11 increases and as the boom 107 lengthens, causing a deviation between the measured value of the tilt sensor and the actual hoisting angle θB. In order to solve this problem, for example, a functional expression or a three-dimensional table that associates a set of a suspended load, boom length, and tilt sensor measurement value with an actual hoisting angle θB is stored in the storage unit 140. A function or a three-dimensional table may be consulted to obtain an accurate undulation angle θB, which may be used to calculate the velocity pattern. Further, a sensor such as GPS for measuring the position of the tip rotation fulcrum btp shown in FIG. It is also possible to obtain an accurate undulation angle θB by obtaining a deflection correction value from

In the above embodiment, an example of "stopping" the swing of the suspended load has been described, but "stopping" in the present invention is not limited to completely stopping the swing of the suspension, and "attenuates", "suppresses" is a broad concept that includes If the anti-vibration control can attenuate or suppress the sway of the suspended load compared to before the execution of the control, it corresponds to "stop sway" in the present invention. Therefore, the speed pattern generated in the control process is not limited to a strict speed pattern that completely stops the swing of the suspended load. A velocity pattern may be generated that can be damped to a possible level.

When the radial direction shake angle detection unit 114 and the turning direction shake angle detection unit 117 detect the touch angle based on the captured image, the image of the camera 105 may be used instead of the imaging unit of these detection units. good.

In the above embodiments, the angle θA has been described on the premise that it changes according to the length of the boom 107, but if the change in the angle θA is small, it may be treated as a fixed value.

Further, in the above-described embodiment, an example was shown in which the hoisting angle/angular velocity detection unit 115 measures both the hoisting angle θC of the boom 107 and its angular velocity dθC/dt, but the present invention is not limited to this. The hoisting angle/angular velocity detection unit 115 may measure only the hoisting angle θC of the boom 107, and the control unit 130 may calculate the angular velocity dθC/dt.

In the above embodiment, the boom length measuring unit 119 measures the length of the line segment Lbc connecting the base rotation fulcrum bfp of the boom 107 and the tip rotation fulcrum btp corresponding to the position of the sheave. Not limited. For example, the boom length measuring unit 119 measures the length of the boom 107, and calculates the length of the line segment Lbc from the length of the boom 107 and the distance between the boom tip and the tip rotation fulcrum btp by calculation, table drawing, or the like. can be

In addition, the boom 107 bends as it becomes longer and as the suspended load 11 becomes heavier. The undulation angle θB may be corrected in consideration of this deflection. In this case, for example, a load sensor for measuring the weight of the suspended load 11 is arranged, and the length measured by the boom length measuring unit 119, the hoisting angle θC detected by the hoisting angle/angular velocity detecting unit 115, and the load are measured in advance by experiment or the like. A three-dimensional table or the like showing the relationship between the measured load measured by the sensor and the actual undulation angle θB is prepared in the control unit 130 . The control unit 130 applies the length measured by the boom length measuring unit 119, the hoisting angle θC detected by the hoisting angle/angular velocity detecting unit 115, and the measured load measured by the load sensor to this three-dimensional table to obtain the actual hoisting. It is sufficient to obtain the angle θB.

Similarly, bending of the boom 107 can change the length of the line segment Lbc. Therefore, the length of the line segment Lbc may be corrected in consideration of the deflection. In this case, for example, the length measured by the boom length measuring unit 119, the hoisting angle θC detected by the hoisting angle/angular velocity detecting unit 115, the measured load measured by the load sensor, and the actual length of the line segment Lbc are obtained by experiments in advance. A three-dimensional table or the like that shows the relationship between is prepared in the control unit 130 . The control unit 130 applies the length measured by the boom length measuring unit 119, the hoisting angle θC detected by the hoisting angle/angular velocity detecting unit 115, and the measured load measured by the load sensor to this three-dimensional table to obtain an actual line. It is sufficient to obtain the length of the minute Lbc.

Although various embodiments and modifications have been described, the present invention is not limited to these, and a load is suspended on a support or support, and this support or support is driven by a drive section, It is widely applicable as long as the suspended load swings. An example of the supporting part or supporting body is a girder and a sheave, an example of the driving part is a girder and a body part of a crane, an example of an operation part is an operation panel and a lever provided in a cabin or the like, and a processing part is an example of a control unit and a storage unit, and an example of a guidance unit is a control unit, a storage unit, and a display unit. However, it is not limited to these.

It should be noted that the technical scope of the present invention is not limited by the above embodiments and modifications. The present invention can be applied, modified or improved within the scope of the technical idea described in the claims and implemented.

1 crane, 2 runway, 3 girder, 4 hoist, 5 camera, 6 wire length measurement unit, 7 deflection angle detection unit, 8 speed detection unit, 9 hook block, 10 hook, 11 suspended load, 12 cabin, 20 display unit , 21 travel lever, 22 hoisting lever, 23 guidance switch, 30 control unit 31 speed pattern calculation unit, 32 movement trajectory calculation unit, 33 message generation unit, 34 image synthesis unit, 35 timer, 40 storage unit

Claims (8)

a support from which a load is suspended;
a drive unit for moving the support unit with the load suspended;
an operation unit for manipulating the driving unit;
a shake detector that detects shake of the load suspended from the support;
a processing unit that obtains a movement of the support that damps the vibration of the load based on the vibration detected by the vibration detection unit;
a guidance unit that provides guidance on how to operate the drive unit by the operation unit so that the movement of the support unit obtained by the processing unit is obtained;
with
The processing unit decomposes the shake detected by the shake detection unit into components in a plurality of directions, and obtains the movement of the support unit for attenuating the shake component in one direction selected by an operation;
The guidance section performs guidance for achieving the movement of the support section for attenuating the vibration component in one direction obtained by the processing section.
Anti-sway control guidance system. a support from which a load is suspended;
a drive unit for moving the support with the load suspended;
an operation unit for manipulating the driving unit;
a shake detector that detects shake of the load suspended from the support;
a processing unit that obtains a movement of the support that damps the vibration of the load based on the vibration detected by the vibration detection unit;
a guidance unit that provides guidance on how to operate the drive unit by the operation unit so that the movement of the support unit obtained by the processing unit is obtained;
with
the processing unit predicts a trajectory drawn by at least one of the support unit and the suspended load, assuming that the support unit moves along the movement obtained by the processing unit;
The guidance unit presents the expected trajectory,
Anti -sway control guidance system. a support from which a load is suspended;
a drive unit for moving the support with the load suspended;
an operation unit for manipulating the driving unit;
a shake detector that detects shake of the load suspended from the support;
a processing unit that obtains a movement of the support that damps the vibration of the load based on the vibration detected by the vibration detection unit;
a guidance unit that provides guidance on how to operate the drive unit by the operation unit so that the movement of the support unit obtained by the processing unit is obtained;
with
The processing unit predicts a trajectory drawn by at least one of the support unit and the suspended load, assuming that the support unit moves along the movement obtained by the processing unit, and identifying obstacles around the lowered load, determining whether the load collides with the surrounding obstacles when the support moves as requested by the processing unit;
The guidance unit presents the determination content by the processing unit,
Anti -sway control guidance system. a support from which a load is suspended;
a drive unit for moving the support with the load suspended;
an operation unit for manipulating the driving unit;
a shake detector that detects shake of the load suspended from the support;
a processing unit that obtains a movement of the support that damps the vibration of the load based on the vibration detected by the vibration detection unit;
a guidance unit that provides guidance on how to operate the drive unit by the operation unit so that the movement of the support unit obtained by the processing unit is obtained;
with
The guidance section generates a message for guiding the movement of the support section and an image of an arrow indicating the movement direction and speed of the support section so that the movement of the support section obtained by the processing section can be obtained. , Synthesize with the captured image of the suspended load, and output.
Anti -sway control guidance system. a support from which a load is suspended;
a drive unit for moving the support with the load suspended;
an operation unit for manipulating the driving unit;
a shake detector that detects shake of the load suspended from the support;
a hoisting angle detection unit that detects the hoisting angle of the support;
a support length measuring unit for measuring the length of the support;
Based on the length measured by the support length measuring section and the first hoisting angle detected by the hoisting angle detecting section, a straight line connecting the base rotation fulcrum of the support section and the tip rotation fulcrum of the suspended load of the support section is drawn. a hoisting angle corrector for obtaining a second hoisting angle;
a processing unit that obtains a movement of the support that damps the swing of the load based on the swing detected by the swing detector and the second undulation angle ;
a guidance unit that provides guidance on how to operate the drive unit by the operation unit so that the movement of the support unit obtained by the processing unit is obtained;
Equipped with a steady control guidance system. a support from which a load is suspended;
a drive unit for moving the support with the load suspended;
an operation unit for manipulating the driving unit;
a shake detector that detects shake of the load suspended from the support;
a hoisting angle detection unit that detects the hoisting angle of the support;
a length measuring unit for measuring the length of the support;
a load sensor that measures the weight of the load suspended from the support;
Based on the first undulation angle detected by the undulation angle detection unit, the length of the support measured by the length measurement unit, and the load measured by the load sensor, a first measurement including the influence of deflection of the support is performed. a hoisting angle correction unit for obtaining the hoisting angle of 2;
a processing unit that obtains a movement of the support that damps the swing of the load based on the swing detected by the swing detector and the second undulation angle ;
a guidance unit that provides guidance on how to operate the drive unit by the operation unit so that the movement of the support unit obtained by the processing unit is obtained;
Equipped with a steady control guidance system. a support from which a load is suspended;
a drive unit for moving or expanding and contracting the support unit with the load suspended;
an operation unit for manipulating the driving unit with a load suspended ;
a shake detector that detects shake of the load suspended from the support;
a hoisting angle detection unit that detects the hoisting angle of the support;
a length measuring unit for measuring the length of the support;
a load sensor that measures the weight of the load suspended from the support;
Based on the undulation angle detected by the undulation angle detection section, the first length of the support section measured by the length measurement section, and the load measured by the load sensor, a second length measurement is performed in consideration of the deflection of the support section. a length corrector that determines the length of
a processing unit that determines a movement of the support that damps the swing of the load based on the shake detected by the shake detector and the second length ;
a guidance unit that provides guidance on how to operate the drive unit by the operation unit so that the movement of the support unit obtained by the processing unit is obtained;
Equipped with a steady control guidance system. The guidance unit displays a message and an arrow image that provide guidance on the desired speed of the support unit obtained by the processing unit, acceleration or deceleration relative to the current speed, and its degree.
The anti-sway control guidance system according to any one of claims 1 to 7.

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