JP7376419B2 - Automatic angle control system for tower crane lifting loads - Google Patents

Description

The present invention relates to an automatic angle control system and an automatic angle control method for a load lifted by a tower crane, and more particularly, to an automatic angle control system and an automatic angle control method for automatically adjusting the azimuth and elevation of a load lifted by a tower crane and installing it at an installation position. The present invention relates to a control system and an automatic angle control method. In addition, in this specification, the azimuth angle and elevation angle of a suspended load refer to the angle to which a suspended load lifted by a tower crane faces. An azimuth angle is an angle swung clockwise on a horizontal plane with north as 0 degrees, and is used to indicate a direction with a magnet, such as "north-northwest." This azimuth angle is also called a turning angle because the angle is adjusted by turning the hanging load. On the other hand, the elevation angle is an angle directed upward or downward with respect to the horizontal plane. By controlling these azimuth angles and elevation angles, the direction of the suspended load in the air can be automatically adjusted to the direction of the installation location of the suspended load, and the suspended load can be easily installed at the installation location.

Conventionally, in order to lift a suspended load using a tower crane and install it at a predetermined installation location on a building, a tower crane operating assistant is placed near the installation location of the suspended load, and the operator is required to adjust the position and installation angle of the suspended load. This was visually confirmed and adjustments were made by instructing the tower crane operator.

However, in order to completely automate the transportation of suspended loads by tower cranes at construction sites and achieve safe and efficient transportation work, it is essential to construct a system that can replace the functions of the tower crane operator's assistant. By completely automating the work of this tower crane operator's assistant, it is possible to completely automate dangerous work such as falling accidents of tower crane operator's assistants and collisions with tower cranes at construction sites. In addition, it is possible to prevent disasters and health damage to tower crane operating assistants, such as being blown by strong winds while working or suffering from heat stroke in the summer. Furthermore, by fully automating this work, it becomes possible to quickly install the suspended loads, increasing work efficiency at the construction site.

Patent Document 1 discloses a tower crane device that can constantly grasp the position of a suspended load and can be operated automatically. Here, the all-around prism provided on the hook block is tracked by a total station provided on the crane body to determine the three-dimensional position of the hook block, and the control device feeds back this three-dimensional position to position the hook block at a predetermined position. It is stated that the vehicle must be driven.

Patent Document 2 discloses a suspended load automatic angle control method in which the control member is compact, easy to handle, and improves the work efficiency of lowering the suspended load to the installation location. Here, it is described that even when strong winds blow, the suspended load can be automatically controlled in angle in a predetermined direction so that the suspended load can be received at a position that is easy to take in.

Japanese Patent Application Publication No. 2001-080881 JP2017-105627A

Research on active control system using color tracking

The active control system using color tracking shown in Non-Patent Document 1 specifies both ends of a member installation location on a camera image of the jib top of a tower crane. Different color markers (tracking targets) installed at both ends of the member are automatically recognized by color tracking, and the orthogonal coordinates (X, Y, Z) of both ends are (x ₁ , y ₁ ), (y ₁ , y ₂ ) Then, the angle Θ of the installation member is expressed as Θ=cot((y ₂ -y ₁ )/(x ₂ -x ₁ )). On the other _hand , the angle Θ' of the component installation location _is calculated as Θ'=cot(( _{v 2 -v 1 )} / (u ₂ −u ₁ )). The difference between the angle Θ' at the location where the member is installed and the angle Θ of the installed member is calculated, and it is checked whether it is within the error range.

As mentioned above, when a tower crane is used at a construction site to lift construction materials such as pillars and beams and install them at the installation location of the steel frame, the tower crane operating assistant places them near the installation location and lifts them. The position and installation angle of the load are visually confirmed and instructions are given to the tower crane operator. The function performed by this tower crane operating assistant is one of the most difficult tasks when automating construction site work, and there are various problems.

Here, installation means using the tower crane 2 when the suspended load 7 is a steel beam 21 will be explained using FIG. Although the steel beam 21 has relatively high manufacturing accuracy and construction accuracy compared to other construction methods such as concrete construction, it may take time to install it on site due to manufacturing errors in the steel beam 21 and the steel column 22. Therefore, in order to shorten the construction period or prevent delays in the construction period, it is necessary to automate the work efficiency from lifting the hanging load 7 by the tower crane 2 to installing it at the hanging load installation position. The suspended load 7 is provided in an automatic angle control device 4 that is suspended from the boom 3 of the tower crane 2 via an upper suspension member 12a, and a lower suspension member 12b that suspends the suspended load 7 from the automatic angle control device 4. The right side length adjuster 11a and the left side length adjuster 11b adjust the lifted load elevation angle (α ₁ ) (see Figure 4(a)) and the lifted load azimuth angle (β ₁ ) (see Figure 4(b)). The suspended load is installed at the hanging load installation position after being confirmed by the three-dimensional camera 9 or the like. The hanging members 12a and 12b are made of, for example, a wire such as a wire rope or a steel material such as a PC steel bar, but are not limited to these materials.

Furthermore, the suspended load may turn due to the influence of wind or the inertial force associated with the operation of the tower crane itself. When this rotation of the suspended load occurs, a problem arises in that it is difficult to maintain the position and angle of the suspended load. This poses problems such as safety problems at construction sites, unnecessary rotation of the suspended load, and extra work required to stop the rotation.

The purpose of this application is to solve such problems and to improve safety by automatically adjusting the suspended load lifted by a tower crane to the desired elevation angle and azimuth angle and installing it at the installation position using a simple method. An object of the present invention is to provide an automatic angle control system and an automatic angle control method for tower crane hanging loads that improve work efficiency.

In order to achieve the above object, an automatic angle control system for a tower crane suspended load according to the present invention suspends a suspended load from a tower crane via an automatic angle control device, and a plurality of satellites installed on the upper part of the automatic angle control device. Based on real-time continuous three-dimensional position information of the suspended load received by the positioning antenna and three-dimensional image information regarding the suspended load or installation position taken by multiple 3D cameras installed at the bottom of the automatic angle control device. The hanging load is attached to the installation position by adjusting the elevation angle and the azimuth of the hanging load to the elevation angle and the azimuth of the installation position, respectively.

With the above configuration, the automatic angle control system for a tower crane suspended load of the present invention can control the lifted load by matching the lifted load elevation angle and the lifted load azimuth with the installation position elevation angle and installation position azimuth angle of the installation position, respectively. It becomes possible to quickly and easily install it at an installation location such as a steel structure. The elevation angle and azimuth angle of the lifted load and the elevation angle and azimuth angle of the installation position are based on three-dimensional position information measured by a plurality of satellite positioning antennas installed in the automatic angle control device, or , three-dimensional image information photographed by a plurality of stereoscopic cameras provided in the automatic angle control device, or both of the available information may be employed.

Further, the automatic angle control system for a suspended load by a tower crane of the present invention can detect the status of a suspended load photographed by a plurality of three-dimensional cameras provided in the automatic angle control device, for example, whether it is a horizontally long member such as a beam, or You can easily obtain information on the hanging load, such as how many wire ropes or bars should be used to hang it, depending on whether it is a vertical member such as a pillar or the shape of the suspended load. It is determined whether the load should be hung at

The automatic angle control system for a tower crane hoisting load detects the elevation angle and azimuth angle of the hoisted load based on positioning information from a satellite. Therefore, even if the boom of the tower crane moves due to external forces such as wind, the position and direction of the automatic angle control device can be accurately grasped. Furthermore, since the azimuth angle of the lifted load is continuously measured in real time, the influence of tower crane boom movement can be minimized.

In addition, in the automatic angle control system for a tower crane suspended load of the present invention, the automatic angle control device tilts a flyhole that rotates at high speed provided inside, and automatically adjusts the azimuth of the suspended load to the installation position azimuth using a gyroscopic effect. Preferably controlled. Thereby, the azimuth of the load suspended by the automatic angle control device can be easily adjusted to the azimuth of the installation position at the installation position.

In addition, in the automatic angle control system for tower crane suspended loads, the automatic angle control device expands and contracts the length of the wire ropes using length adjusters installed on the multiple wire ropes on which the suspended loads are suspended, thereby increasing the elevation angle of the suspended loads. It is preferable to adjust. Thereby, when the suspended load is lifted by the tower crane, the elevation angle of the suspended load can be adjusted by the length adjuster provided on the plurality of wires. Then, while maintaining the adjusted elevation angle, the azimuth angle of the hanging load can be matched with the azimuth angle of the member at the installation position due to the gyroscopic effect.

In addition, in the automatic angle control system for tower crane suspended loads, the automatic angle control device expands and contracts the length of the steel rods by rotating the length adjusters installed on the multiple steel bars on which the suspended loads are suspended. It is preferable to adjust the load elevation angle. Thereby, the elevation angle of the suspended load can be adjusted by rotating the length adjuster attached to the plurality of steel rods from which the suspended load is suspended from the automatic angle control device.

In addition, in the automatic angle control system for tower crane suspended loads, when the suspended load is a beam, hanging members are installed at the end support points and intermediate support points of the beam to control the deflection of the beam. It is preferable to adjust the bounce of the end due to As a result, when a long beam is lifted, the beam is deflected, and this deflection suppresses the end of the beam from jumping up, making it possible to easily adjust the hanging material to the installation position.

In addition, in the automatic angle control system for tower crane suspended loads, when the hanging material is a pillar, four hanging members are provided at the ends of the pillar to adjust the vertical angle of the pillar. It is preferable to adjust. As a result, if the suspended load is a column, by suspending the column from the automatic angle control device, the elevation angle of the suspended load is adjusted by the column's own weight, so the suspended load is adjusted to the member rotation angle at the installation position. be able to. Thereby, the hanging material can be easily adjusted to the installation position not only for a horizontally long member such as a beam material, but also for a vertically long member such as a column material.

In addition, the automatic angle control method for a tower crane suspended load includes the steps of suspending the suspended load from the tower crane via an automatic angle control device, and the steps of suspending the suspended load from a plurality of satellite positioning antennas provided on the automatic angle control device. a step of receiving continuous three-dimensional position information in real time of It is preferable to include the steps of adjusting the hanging load azimuth to the installation position elevation angle or installation position azimuth, respectively, and attaching the hanging load to the installation position.

With the above configuration, the automatic angle control system and automatic angle control method for a work lane suspended load of the present invention enables lifting by matching the elevation angle and azimuth of the suspended load with the installation position elevation angle and installation position azimuth of the installation position, respectively. The suspended load can be quickly and easily installed at the installation position of a steel structure or the like. The elevation angle and azimuth angle of the lifted load and the elevation angle and azimuth angle of the installation position are based on three-dimensional position information measured by a plurality of satellite positioning antennas installed in the automatic angle control device, or , the suspended load information photographed by a plurality of three-dimensional cameras provided in the automatic angle control device, or either of the two types of information is adopted. There is no precedence between matching the lifted load elevation angle with the installation position elevation angle of the installation position and matching the hanging load azimuth with the installation position azimuth angle of the installation position, and it does not matter which one is matched first. good.

As described above, according to the automatic angle control system and automatic angle control method for a load lifted by a tower crane according to the present invention, a load lifted by a tower crane can be adjusted to a desired load elevation angle and a desired load orientation by a simple method. It is possible to provide an automatic angle control system and an automatic angle control method for a tower crane suspended load, which can be automatically adjusted and attached to a corner to improve safety and work efficiency.

BRIEF DESCRIPTION OF THE DRAWINGS It is a perspective view which shows the schematic structure of one embodiment of the automatic angle control device of the automatic angle control system of a tower crane hanging load based on this invention. 1 is a sectional view showing a schematic configuration of an automatic angle control device that constitutes the present automatic angle control system. FIG. 1 is a block diagram showing the configuration of the present automatic angle control system. For example, it is an explanatory diagram of a suspended load elevation angle (α ₁ ) and a suspended load azimuth angle (β ₁ ) when lifting a horizontally long suspended load such as a steel beam. For example, it is an explanatory diagram of a suspended load elevation angle (α ₁ ) and a suspended load azimuth angle (β ₁ ) when lifting a vertically long suspended load such as a steel column. FIG. 6 is a detailed view showing the length adjuster of the hanging member fixed to the bottom of the automatic angle control device; FIG. 2 is an explanatory diagram showing a rotation control mechanism using a flywheel and cymbals inside the automatic angle control device. It is a flowchart which shows the automatic angle control method of a hanging load. It is an explanatory view showing installation means by a tower crane when a suspended load is a steel beam.

(Configuration of automatic angle control system for hanging loads)
EMBODIMENT OF THE INVENTION Below, the automatic angle control system 1 of the tower crane hanging load based on this invention is demonstrated in detail using drawing. FIG. 1 is a perspective view showing a schematic configuration of one embodiment of an automatic angle control device 4 of an automatic angle control system 1 for lifting loads from a tower crane according to the present invention. FIG. 2 shows a schematic configuration of the automatic angle control device 4 constituting the automatic angle control system 1 in a sectional view. FIG. 3 shows a block diagram of the configuration of the automatic angle control system 1. FIG. 4 shows the lifted load elevation angle (α ₁ ) and the lifted load azimuth angle (β ₁ ) when lifting a laterally long suspended load 7 such as the steel beam 21, for example. FIG. 5 shows the load elevation angle (α ₁ ) and load azimuth angle (β ₁ ) when lifting a vertically long load 7 such as a steel column 22, for example. FIG. 6 shows a detailed view of the length adjusters 11a, 11b provided at the ends of the hanging members 12a, 12b. FIG. 7 shows a rotation control mechanism using the flywheel 17a, cymbal 18a, and drive motor 19 inside the automatic angle control device 4 for the suspended load 7. FIG. 8 shows a flowchart of an automatic angle control method for the hanging load 7.

As shown in FIG. 1, in the automatic angle control system 1 for a suspended load 7 by a tower crane 2, a suspended load 7 is suspended from a jib 10 at the tip of a boom 3 of the tower crane 2 via an automatic angle control device 4. The automatic angle control device 4 is suspended by an upper hanging member 12a hung from a hook 16. Furthermore, the hanging load 7 is suspended from the automatic angle control device 4 via the lower hanging member 12b.

As shown in FIG. 2, at least two satellite positioning antennas 5 provided on the upper part of the automatic angle control device 4 provide real-time continuous three-dimensional position information 27 ( (see Figure 3). In addition, at least two stereoscopic cameras 9 (see FIG. 2) provided at the bottom of the automatic angle control device 4 photograph the suspended load 7 and the suspended load installation position 6, and the suspended load three-dimensional image information 26 (see FIG. 3) ) is received. Then, the suspended load 7 is installed at the suspended load installation position 6 based on the suspended load three-dimensional position information 27 and the suspended load three-dimensional image information 26.

In the automatic angle control system 1 for a suspended load 7 using the present tower crane 2, a case where the suspended load 7 is a steel beam 21 or a steel column 22 will be described. FIG. 1 shows a case where a steel beam 21 hoisted by a tower crane 2 is installed between predetermined steel beam brackets 28. The steel beam bracket 28 is attached to the steel column 22 at a steel processing factory, and is a connection member for attaching the steel beam 21 to the steel column 22 at a construction site. The steel beam 21 is suspended from the automatic angle control device 4 by a lower hanging member 12b. As shown in FIG. 4B, a right length adjuster 11a and a left length adjuster 11b are provided at one end of the lower hanging member 12b to adjust the length of the lower hanging member 12b. The right side length adjuster 11a and the left side length adjuster 11b have no meaning in terms of "right side" or "left side", and any mechanism that can adjust the length of the lower hanging member 12b is sufficient, and the number is limited to two. There may be three or more.

As shown in FIG. 3, the automatic angle control device 4 includes a load elevation angle drive unit 24 that automatically controls the load elevation angle (α ₁ ) of the suspended load 7, and a load azimuth angle (β _{1 )} of the suspended load 7. ), and a hanging load azimuth angle drive section 25 that automatically controls the suspended load azimuth angle drive section 25. Then, the automatic angle control device 4 receives the position data of the suspended load 7 transmitted from the satellite 14 through the satellite positioning antenna 5, and acquires the three-dimensional position information 27 of the suspended load. Further, video data of the suspended load 7 or the suspended load installation position 6 photographed by the three-dimensional camera 9 is received, and three-dimensional image information 26 of the suspended load is acquired. Based on the suspended load three-dimensional position information 27 and the suspended load three-dimensional image information 26, the suspended load elevation angle (α ₁ ), the suspended load azimuth angle (β ₁ ), the suspended load installation position elevation angle (α _{2 ), and the suspended load installation position elevation angle (α 2} ) of the suspended load 7 are determined. Calculate the cargo installation position azimuth (β ₂ ). These suspended load elevation angle (α ₁ ), suspended load azimuth (β ₁ ), suspended load installation position elevation angle (α ₂ ), and suspended load installation position azimuth (β ₂ ) are calculated based on the suspended load three-dimensional position information 27 and the suspended load It may be calculated from one of the three-dimensional image information 26, or it may be calculated from both the suspended load three-dimensional position information 27 and the suspended load three-dimensional image information 26. For example, the suspended load three-dimensional position information 27 may be disturbed due to multipath effects such as the reflection of radio waves when positioning by the satellite 14 is performed. In that case, the suspended load three-dimensional image information 26 is used to supplement the information. On the other hand, since the hanging load three-dimensional image information 26 is image information, it is not possible to photograph angles that are blind spots. In that case, the suspended load three-dimensional position information 27 and the suspended load three-dimensional image information 26 are used to supplement the information.
Therefore, it is necessary to select the optimal information based on the characteristics of both the suspended load three-dimensional position information 27 and the suspended load three-dimensional image information 26.

The automatic angle control device 4 calculates the calculated hanging load elevation angle (α ₁ ), hanging load azimuth (β ₁ ), hanging load installation position elevation angle (α ₂ ), and hanging load installation position azimuth (β _{2 )} . ), the elevation angle comparison section 23a and the azimuth angle comparison section 23b are caused to calculate the elevation angle difference (Δα) or the azimuth angle difference (Δβ). The elevation angle difference (Δα) between the suspended load elevation angle (α ₁ ) and the suspended load installation position elevation angle (α ₂ ), or the difference between the suspended load azimuth (β ₁ ) and the suspended load installation position azimuth (β ₂ ). If the azimuth angle difference (Δβ) is within the preset allowable values Δα′, Δβ′, the suspended load elevation angle (α ₁ ) or the suspended load angle drive unit 24 or the suspended load azimuth angle drive unit 25 The load azimuth (β ₁ ) is adjusted. The angular difference (elevation angle difference (Δα)) between this suspended load elevation angle (α ₁ ) and the suspended load installation position elevation angle (α ₂ ), or the angular difference between the suspended load azimuth (β ₁ ) and the suspended load installation position azimuth (β ₂ ) exceeds a preset value (elevation angle tolerance Δα', azimuth angle tolerance Δβ') The attitude of the suspended load 7 is adjusted by the load azimuth angle drive section 25.

(Load length adjuster)
The adjustment of the suspended load elevation angle (α ₁ ) by the length adjusters 11a, 11b provided at the ends of the hanging members 12a, 12b of the suspended load 7 will be described with reference to FIG. 4. 4(a) is a plan view of the suspended load 7 viewed from above, and FIG. 4(b) is a side view of the suspended load 7. As shown in FIG. 4(b), the automatic angle control device 4 expands and contracts the lengths of the hanging members 12a and 12b using length adjusters 11a and 11b provided on a plurality of wires from which the hanging load 7 is hung. , the suspended load 7 is held in the horizontal direction by adjusting the suspended load elevation angle (α ₁ ). As a result, first, the suspended load 7 is lifted by the tower crane 2 and moved above the suspended load installation position 6. The hanging load elevation angle (α ₁ ) is automatically adjusted by length adjusters 11a, 11b provided on the plurality of hanging members 12a, 12b. Then, it becomes possible to match the suspended load azimuth (β ₁ ) of the suspended load 7 to the suspended load installation position azimuth (β ₂ ) by the gyroscopic effect while maintaining the adjusted suspended load elevation angle (α ₁ ).

The hanging members 12a and 12b of the automatic angle control device 4 may be lifted using, for example, a bar such as a PC steel bar instead of a wire such as a wire rope. In this case, the elevation angle can be adjusted by sliding one end of the plurality of rods using the length adjusters 11a and 11b to increase or decrease the angle formed between the rods and the hanging material 7. Thereby, the elevation angle of the suspended load 7 can be adjusted by sliding the installation positions of the plurality of rods that suspend the suspended load 7 from the automatic angle control device 4.

When the hanging material 7 is horizontal, such as a steel beam 21, the automatic angle control device 4 adds hanging members 12a and 12b such as wire ropes at multiple locations such as end support points and intermediate support points of the steel beam 21. This reduces the amount of deflection of the steel beam 21 and adjusts the bounce of the end. As a result, if a large deflection occurs in the steel beam 21 when a long beam is lifted, it is possible to suppress the bounce that occurs at the end of the steel beam 21 due to the deflection, and to move the suspended load 7 to the suspended load installation position 6. can be easily adjusted to the suspended load elevation angle (α ₁ ) or the suspended load azimuth angle (β ₁ ).

(Elevation angle adjustment mechanism of horizontal member)
FIG. 4 shows the hanging load azimuth (β ₁ ) and lifting load elevation angle (α ₁ ) when lifting the horizontally long steel beam 21 as the hanging load 7. Here, the torsion angle of the cross section of the suspended load 7, which is another rotation angle, can be ignored compared to the suspended load azimuth angle (β ₁ ) and the suspended load elevation angle (α ₁ ), and therefore is not dealt with in the present invention. The suspended load can be adjusted by matching the lifted load azimuth (β ₁ ) and the lifted load elevation angle (α ₁ ) with the lifted load installation position elevation angle (α ₂ ) and the lifted load installation position azimuth (β ₂ ) of the installation position, respectively. It becomes possible to quickly and easily install the load 7 at an installation position such as a steel structure. To match this hanging load elevation angle (α ₁ ) to the hanging load installation position elevation angle (α ₂ ) of the installation position, one or both of the right length adjuster 11a or the left side length adjuster 11b shown in FIG. to adjust the length of the hanging members 12a, 12b. Inside the right length adjuster 11a and the left side length adjuster 11b, a nut 30 is incorporated into a cordless electric screwdriver 29 for length adjustment (see FIG. 6), and the nut 30 is inserted from the automatic angle control device 4. It automatically rotates and changes its position based on the transmitted radio signal. The upper ends of the hanging members 12a, 12b are fixed to the automatic angle control device 4, and the lower ends of the hanging members 12a, 12b are fixed to the hanging load 7, so the length and installation angle of the hanging members 12a, 12b themselves remain unchanged. .

The automatic angle control device 4 adjusts the elevation angle by sliding one end of a plurality of rods from which the hanging load 7 is hung from the length adjusters 11a and 11b to increase or decrease the angle formed between the rods and the hanging rod 7. Also good. The length adjusters 11a, 11b may be members other than the hanging members 12a, 12b, for example, bars whose shape does not change, such as PC steel bars. When using this bar,

(How to lift vertical members)
FIG. 5 shows the load elevation angle (α ₁ ) and load azimuth angle (β ₁ ) when lifting a vertically long steel column 22 or the like as the load 7. FIG. 5(a) shows a sectional view seen from above, and FIG. 5(b) shows a side view. Here, the torsion angle of the cross section of the suspended load 7, which is another rotation angle, can be ignored compared to the suspended load elevation angle (α1) and the suspended load azimuth angle (β ₁ ), so it is not dealt with in the present invention. The lifted load can be lifted by matching the lifted load elevation angle (α1) and the lifted load azimuth (β ₁ ) to the lifted load installation position elevation angle (α ₂ ) and the lifted load installation position azimuth (β ₂ ) of the installation position, respectively. The suspended load 7 can be quickly and easily installed at the installation position of a steel structure or the like. When the hanging material 7 is a column material, and when the hanging load 7 is a vertical type such as a steel column 22, the automatic angle control device 4 is configured to suspend the load using four hanging members 12a and 12b such as wire ropes at the ends. , adjust the vertical angle of the pillar material. Note that when lifting the vertically long steel column 22, etc., there may be no need to control the hanging load azimuth (β ₁ ) shown in FIG. 5(b) due to the weight of the steel column 22. However, in the case of a steel frame column 22, as shown in FIG. It is attached asymmetrically with respect to the center of the steel column 22, and a hanging load azimuth angle (β ₁ ) occurs. Further, a plurality of steel beams 21 are hung in a row in the vertical direction, and the steel beams 21 are attached asymmetrically to the center of the steel column 22, so that a hanging load azimuth (β ₁ ) may occur. In this way, when a plurality of steel beams 21 are lifted in a row, the plurality of three-dimensional cameras 9 provided in the automatic angle control device 4 determine how the load 7 should be hung.

FIG. 6 shows the mechanism of length adjusters 11a and 11b, which are length adjustment mechanisms of hanging members 12a and 12b. A hanging load 7 is lifted from below the automatic angle control device 4 by hanging members 12a and 12b. Cordless electric screwdrivers 29 are provided at the upper ends of the hanging members 12a and 12b, respectively. The cordless electric screwdriver 29 has a male thread cut and is locked to the bottom plate 32 of the automatic angle control device 4 with a nut 30 and a special washer 31. Then, the nut 30 rotates electrically, and the female thread provided in the nut 30 engages with the male thread of the nut 30, thereby increasing or decreasing the length of the hanging members 12a, 12b. By independently adjusting the left and right length adjusters 11a and 11b, a desired suspended load elevation angle (α ₁ ) can be obtained.

(Load azimuth drive mechanism)
A gyro mechanism provided inside the automatic angle control device 4 for the suspended load 7 will be explained with reference to FIG. A gyro mechanism is a mechanism that generally utilizes the phenomenon that when an object rotates at high speed, its posture is less likely to be disturbed as the rotation speed increases. As shown in FIG. 6, the gyro mechanism includes a flywheel 17a that rotates at high speed around the X-axis like a top, a spin drive section 17b that rotates the flywheel 17a at high speed around the It is composed of a cymbal 18a that rotates in the direction of , a cymbal drive section 18b that rotates the cymbal 18a around the Y axis, a drive motor 19 that rotates the flywheel 17a, and an angle detection encoder 20. First, the cymbal drive unit 18b rotates the cymbal 18a around the Y axis. As a result, the flywheel 17a is tilted, and a gyro moment is generated due to a precession (shaft rotation) response, resulting in a suspended load rotation angle (γ) that rotates around the Z-axis. This suspended load turning angle (γ) is transmitted to the suspended load 7 via the automatic angle control device 4, and becomes the suspended load azimuth (β ₁ ) of the suspended load 7. Thereby, the hanging load azimuth (β ₁ ) of the hanging load 7 suspended from the automatic angle control device 4 can be easily adjusted to the hanging load installation position azimuth (β ₂ ) at the hanging load installation position 6. .

(Automatic angle control method)
FIG. 8 shows a flowchart of an automatic angle control method for the hanging load 7. In the flow diagram, steps 1 to 12 are indicated by S1 to S12. First, the suspended load 7 is suspended from the tower crane 2 via the automatic angle control device 4 (S1). Next, the plurality of satellite positioning antennas 5 provided in this automatic angle control device 4 acquire continuous three-dimensional position information 27 of the suspended load 7 transmitted from the satellite 14 in real time (S2). Then, based on this suspended load three-dimensional position information 27, the suspended load 7 is moved to the upper part of the suspended load installation position 6 (S3). Next, the suspended load three-dimensional image information 26 photographed by the three-dimensional camera 9 attached to the automatic angle control device 4 is acquired (S4). Based on the suspended load three-dimensional position information 27 and the suspended load three-dimensional image information 26, the shape of the suspended load 7, for example, horizontal or vertical, is determined based on one or both of the information (S5). . Then, the optimum hanging and lowering method is determined depending on the shape of the suspended load 7 (S6). For example, the suspended load three-dimensional position information 27 may be disturbed due to multipath effects such as the reflection of radio waves when positioning by the satellite 14 is performed. In that case, the suspended load three-dimensional image information 26 is used to supplement the information. On the other hand, since the hanging load three-dimensional image information 26 is image information, it is not possible to photograph angles that are blind spots. In that case, the suspended load three-dimensional position information 27 and the suspended load three-dimensional image information 26 are used to supplement the information. Therefore, it is necessary to select the optimal information based on the characteristics of both the suspended load three-dimensional position information 27 and the suspended load three-dimensional image information 26.

Next, the automatic angle control device 4 determines the suspended load elevation angle (α ₁ ) and the suspended load installation position elevation angle (α ₂ ) is calculated (S7). Then, it is determined whether this elevation angle difference Δα(α ₁ −α ₂ ) is within a preset tolerance range (S8). If it is within the allowable range (in the case of Yes), the process advances to S10. If it is not within the allowable range (in case of No), adjust the suspended load elevation angle (α ₁ ) with the length adjusters 11a, 11b provided at one end of the hanging members 12a, 12b, and adjust the suspended load elevation angle (α ₁ ). Adjust the hanging load installation position to the elevation angle (α ₂ ) (S9). Next, the hanging load azimuth (β ₁ ) and the hanging load installation position azimuth (β ₂ ) are calculated (S10). Then, it is determined whether this azimuth angle difference Δβ(β ₁ -β ₂ ) is within a preset tolerance range (S11). If it is within the allowable range, the process ends (in case of Yes). If it is not within the allowable range (in the case of No), a gyro moment is generated by the precession error, and the hanging load azimuth (β ₁ ) is rotated to match the hanging load installation position azimuth (β ₂ ) (S12). .

By using the automatic angle control method for the suspended load 7 described above, the automatic angle control system 1 for the suspended load 7 using the work lane 2 of the present invention can control the suspended load elevation angle (α ₁ ) and the suspended load azimuth (β ₁ ) of the suspended load 7. It is possible to easily match the hanging load installation position elevation angle (α ₂ ) and hanging load installation position azimuth angle (β ₂ ) of the installation position, respectively. Thereby, the lifted load 7 can be quickly and easily installed at the installation position of the steel structure or the like. The suspended load elevation angle (α ₁ ) and the suspended load azimuth (β ₁ ) of the lifted suspended load 7, and the suspended load installation position elevation angle (α ₂ ) and the suspended load installation position azimuth (β ₂ ) of the installation position. is the suspended load three-dimensional position information 27 determined by a plurality of satellite positioning antennas 5 provided in the automatic angle control device 4, or the suspended load three-dimensional position information 27 photographed by a plurality of three-dimensional cameras 9 provided in the automatic angle control device 4. Although measurement can be performed using either one of the original image information 26, these information may be used together by taking advantage of the characteristics of the information. In addition, steps (S7 to S9) to adjust the suspended load elevation angle (α ₁ ) to the suspended load installation position elevation angle (α ₂ ) and to rotate the suspended load azimuth (β ₁ ) to adjust the suspended load installation position azimuth (β _{2 )} ) The steps (S10 to S12) may be performed first depending on the situation at the site.

The configuration, shape, size, and arrangement relationship of the automatic angle control system and automatic angle control method for tower crane suspended loads described in the above embodiments have been schematically shown to the extent that the present invention can be understood and implemented. It's just a thing. Therefore, the present invention is not limited to the described embodiments, but can be modified in various forms without departing from the scope of the technical idea indicated in the claims.

1 Automatic angle control system (for tower crane lifting), 2 Tower crane, 3 Boom (for tower crane), 4 Automatic angle control device, 5 Satellite positioning antenna, 6 Lifting load installation position (or installation position), 7 (Lifting) 9 Three-dimensional camera, 10 Jib (tower crane), 11a Right side length adjuster, 11b Left side length adjuster, 12a Upper hanging member, 12b Lower hanging member, 14 Satellite, 16 Hook, 17a Fly Wheel, 17b Spin drive unit, 18a Cymbal, 18b Cymbal drive unit, 19 Drive motor, 20 Angle detection encoder, 21 Steel beam, 22 Steel column, 23a Elevation angle comparison unit, 23b Azimuth angle comparison unit, 24 Lifted load elevation angle drive Part, 25 Hanging load azimuth angle drive unit, 26 Hanging load three-dimensional image information (or three-dimensional image information), 27 Hanging load three-dimensional position information (or three-dimensional position information), 28 Steel beam bracket, 29 Cordless electric screwdriver, 30 Nut, 31 Special washer, 32 Bottom plate, α ₁ Elevation angle of suspended load, α ₂ Elevation angle of suspended load installation position (or elevation angle of installation position), β ₁ Azimuth angle of suspended load, β ₂ Azimuth angle of suspended load installation position (or azimuth of installation position) angle), γ hanging load turning angle, Δα elevation angle difference (α ₁ - α ₂ ), Δβ azimuth angle difference (β ₁ - β ₂ ), Δα′ elevation angle tolerance, Δβ′ azimuth angle tolerance, X, Y,Z Cartesian coordinates.

Claims (4)

The load is suspended from the tower crane via an automatic angle control device,
real-time continuous three-dimensional position information of the suspended load received by a plurality of satellite positioning antennas provided at the top of the automatic angle control device;
Based on three-dimensional image information regarding the hanging load or installation position taken by a plurality of three-dimensional cameras provided at the bottom of the automatic angle control device,
adjusting the suspended load elevation angle and the suspended load azimuth to the installation position elevation angle and installation position azimuth, respectively, and attaching the suspended load to the installation position ;
The automatic angle control device includes a bottom plate, a plurality of steel bars from which the suspended load is suspended, and a plurality of length adjusters provided on each of the plurality of steel bars,
The plurality of steel rods are arranged such that the distance between them becomes wider as they go downward,
The length adjuster is
a nut fixed to the bottom plate with a special washer;
a cordless electric screwdriver that rotates a male screw provided at the upper end of the steel rod, coaxial with the steel rod and screwed into the nut;
has
An automatic angle control system for a tower crane suspended load, wherein the cordless electric driver rotates the male screw to adjust the elevation angle of the suspended load . The automatic angle control system for a tower crane suspended load according to claim 1,
The automatic angle control device is characterized in that the automatic angle control device tilts a flyhole that rotates at high speed provided inside and automatically controls the angle of the lifted load azimuth to the installation position azimuth using a gyro effect. Angle control system. An automatic angle control system for a tower crane suspended load according to claim 1 or 2 ,
When the hanging load is a beam, the automatic angle control device adjusts the springing up of the end due to deflection of the beam by providing hanging members at end support points and intermediate support points of the beam. An automatic angle control system for tower crane lifting loads. An automatic angle control system for a tower crane suspended load according to claim 1 or 2 ,
In the tower, the automatic angle control device is characterized in that when the hanging load is a column, four hanging members are provided at the ends of the column to adjust the vertical angle of the column. Automatic angle control system for crane hoisting loads.

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