JPH01181696A - Working zone restricting method - Google Patents

Abstract

PURPOSE:To prevent collisional accident by previously storing the restriction value corresponding to the rise/fall amount in accordance with the revolving position, and by emitting a signal when the restriction value is attained by the rise/fall amount, which corresponds to the revolving position sensed during operation. CONSTITUTION:A rising/falling boom is mounted at the top of a revolving pillar P installed vertically on a basis G, and a hook H to elevate and sink is fixed at the tip of this boom. In case any structure such as building and post or another crane lies within the maximum revolving radius of crane, the restriction values to the rise/fall amount and revolving position are stored in a memory. While the crane is in operation, the revolving position and the rise/ fall amount are sensed, and when the mentioned restriction values are attained, signal is emitted to give alarm, and further approach should cause emergency stop. The contents of this memory shall be updated every time the working site is varied. This prevents collisional accident to ensure safe driving.

Description

[Detailed Description of the Invention] [Field of Industrial Application] This invention is applicable to equipment such as cranes that can swing and raise and lower, and when there are buildings, roads, or the work range of other cranes within the work range of the equipment. The present invention relates to a work range regulation method for preventing accidents by regulating entry into these areas.

[Conventional technology]

When using lanes that allow for ups and downs and turns as shown in Figure 2 in construction work in urban areas, etc., as shown in Figure 3, the work area must be within the working range of adjacent buildings, other cranes, roads, etc. (indicated by diagonal lines), it is necessary to restrict the work range so as not to enter these areas to prevent collisions, etc.

The working range can be restricted by restricting the swing range itself, or by shortening the swing radius (in other words, by standing the boom) in a specific swing range, to prevent the tip of the boom from entering the restricted range shown by diagonal lines in Figure 3. This is to ensure that this does not occur.

Relying on the driver's operations to regulate the work range cannot reliably prevent collisions and collisions due to operational errors, so automation is desirable.

Conventionally, limit switches have been used as a method to automate the regulation of work ranges. In this system, a limit switch is installed for each range to be regulated on the turning axis and the undulation axis of the lane, etc., and the undulation angle at each turning position is limited by the combination of these limit switches.

Another conventional regulation method uses a photocoupler and an opaque disk approximately 20 cm in diameter that represents the working range of a crane or the like as a model. This disc has a portion corresponding to the regulation range cut off, and is rotated in conjunction with the rotation of the crane. The photocoupler has a light-emitting element and a light-receiving element arranged with a disk in between, and moves in the radial direction of the disk in conjunction with the ups and downs of the boom. Therefore, when the crane is working outside the regulated range, the photocoupler is turned off to allow the crane to work. Furthermore, when the person enters the restricted area, the photocoupler moves out of the disk and is turned on, and an alarm or the like is sounded to notify that the person has entered the restricted area or the work is stopped.

[Problem to be solved by the invention]

In the method using the limit switch, the installation position of the limit switch had to be changed every time the situation at the site changed, which was time-consuming.

Further, in the method using a disk, the disk must be cut out into a shape that conforms to the regulatory range of the site each time the site situation changes, which is time-consuming. In addition, a mechanism for rotating the disk in conjunction with the turning and a mechanism for moving the photocoupler in conjunction with the ups and downs are required, making them expensive.

The present invention aims to solve the problems in the conventional techniques and provide a work range regulation method that can easily regulate the work range.

[Means to solve the problem]

This invention stores a regulation value corresponding to the amount of undulation and a turning position in advance, detects the turning position and the amount of undulation during driving, and sets the amount of undulation detected at each turning position to the stored regulation value. When a value corresponding to is reached, a signal indicating that this value has been reached is output.

[For production]

According to this invention, by storing the regulation value corresponding to the amount of undulation at each turning position in advance using a teaching method or the like, it is possible to determine whether the regulation range has been entered by simply detecting the turning position and the undulation position during operation. can know,
The scope of work can be regulated in a simple way. Also, the scene is strange.

Even if you mess up, all you have to do is redo the memorization process through teaching, etc., making it easier.

〔Example〕

An embodiment of this invention is shown in FIG. As shown in FIG. 2, a tower crane that is capable of raising and lowering and turning is used here. The crane is equipped with sensors for detecting the heave angle and turning angle.

First, enter the regulatory range. This is done through teaching operation (Pl) or initial setting (PI').

In teaching operation (Pl), the crane is rotated once in the turning direction, and the undulation angle is controlled for each turning position so that it traces and passes over the outer wall of a building, the edge of a road, and the vicinity of the turning position of other cranes. . As a result, the limit value of the luffing angle (the luffing angle at which a collision or the like will occur if the boom is tilted any further) is detected for each turning position and is stored as a regulation value.

Initial setting (pH method), which is an alternative to teaching operation (Pl), is a method in which when the situation around the crane is known in advance from a design drawing or the like, the regulation range is input using a keyboard or the like based on the drawing or the like. Specific examples are shown in Figures 4 and 5.This is designed to allow input in a simple manner.In other words, the inner shape of the restricted area is determined when the subject of the restriction is a building or road. In the case of , it is a straight line, and in the case of the working range of other cranes, it is in the form of an arc. Since it can be classified into several shapes, the regulation range can be roughly set using these shapes, for example, as shown by diagonal lines in Figure 4. Then, the turning angle is divided into steps 1 to 7 by dividing the control range into discontinuous points. Fig. 5 shows an example of an input keyboard. This keyboard includes a power switch 2, an alarm Buzzer 3.0 to 9 numeric keypad 1, turning angle θ selection key 10, turning radius R selection key 12, clear?r-14, write key 16, shape of regulation range (straight line, U-shape, n-shape, etc.) ) -4-18.20
．． 22 are provided. Also, the number of steps, turning angle θ
, a display section 24.26.2 that displays the input value of the turning radius R.
8 is provided.

The changeover switch 30 is used to switch between data input (two types: "Setting 1" and "Setting 2") and actual work r (RlJN,).

Input operations are performed in step order. First, enter the turning angle range O° to θ1 in step 1, the U-shaped key 20, and the turning radius (
Enter the maximum radius) value. In step 2, the values of the turning angle range θ1 to θ2, the U-shaped key 20, and the turning radius (smaller than the maximum radius) are input. In step 3, the turning angle range θ2
Input ~θ3, the U-shaped key 20, and the turning radius (maximum radius).

In step 4, the turning angle range θ to θ4 and the straight line key 18 are
Enter. In step 5, the turning angle range θ4 to θ5 and U
key 20 and the value of the turning radius (maximum radius). In step 6, the turning angle range θ5 to θ6 and the n-shaped key 22 are
and the other party's crane's turning radius value. In step 7, the turning angle range θ6 to 0°, the U-shaped key 20, and the turning radius (maximum radius) are input.

In this way, data for the turning direction and circumference are input.

In addition, at the time of this input, the number of steps, the turning angle θ, and the turning radius R are displayed on the display 24, 26, and 28.

As described above, the regulation value is input by either the teaching (Pl) or initial setting (Pi') method, and the value is stored (P2).

In Figure 1, in actual work (optional operation (P3)),
The undulation angle and the turning angle are detected, and the undulation angle regulation value corresponding to the detected turning angle is read each time and compared with the detected undulation angle. When it is detected that the tip of the boom has approached within, for example, 5 m from the regulation range (P4), a warning signal is issued (P5) to alert the driver. When the vehicle approaches further, for example within 2 meters (P6), an emergency stop (Pl) is applied.

Note that various methods can be considered for detecting the approach state depending on what control parameters are used.

For example, if the regulation value is input by teaching and the detected undulation angle is stored as a regulation value in correspondence with the turning angle, comparison control can be performed using the angle information as it is. However, since this method uses angle control, it is possible to issue an alarm within a certain number of meters from the regulated range.
Difficult to control when stopping. Therefore, when controlling by distance in this way, control is performed by converting the undulation angle into distance (converting into the length of the boom when projected onto a plane or the coordinate position of its tip).

When converting to a coordinate position, for example, as shown in Fig. 6, an xy coordinate plane is set with the center of rotation as the coordinate axis, and the coordinate θ of the boundary of the regulation range is determined for each predetermined turning angle (for example, 1°).
(x, y□>, θ1 (x, yl), ...... is determined and memorized. In actual work, the coordinate position x of the boom tip, y
Calculate. It is also detected whether the detected turning angle θ falls within one of the turning angle ranges divided into 1° increments.

For example, as shown in FIG. 7, the detected turning angle θ is θ
If it falls between and θ, then θ. n+1 coordinate position θ (X, y), θ (Xn
n n n+1
n+1'y, +1) and the detected coordinate position θ(x, y) of the boom tip, the angle between the boom tip and the regulation range boundary from θ to θ is as narrow as 1°, so n
n+1 Jl, J□ can be regarded as the distance to the boundary of the regulation range, and if this distance approaches within 5m, an alarm will be issued and 2
Stop when you get within m.

[Example of change]

In the above embodiment, the present invention is applied to a tower crane, but it can also be applied to other types of cranes and other equipment capable of turning and raising and lowering.

〔Effect of the invention〕

As explained above, according to the present invention, the regulation value corresponding to the amount of undulation at each turning position is memorized in advance by a teaching method, etc., so that the regulation value can be regulated simply by detecting the turning position and the undulation position during operation. It is possible to know whether or not the user has entered the area, and the work area can be regulated in a simple manner. Additionally, even if the site changes, all you have to do is redo the memorization process through teaching, etc.
Work becomes easier.

[Brief explanation of the drawing]

FIG. 1 is a flowchart showing one embodiment of the present invention. FIG. 2 is a schematic diagram of the tower crane. FIG. 3 is an explanatory diagram of work range regulation. FIG. 4 is an explanatory diagram of initial settings. FIG. 5 is an example of an initial setting keyboard. FIGS. 6 and 7 are explanatory diagrams of the work range regulating operation. Applicant Ishikawajima Harima Heavy Industries Co., Ltd. Ishikawajima Transport Machinery Co., Ltd. Figure 1 Figure 3

Claims (1)

[Claims] A method for regulating the working range of equipment capable of swinging and undulation, wherein a regulation value corresponding to the amount of undulation is stored in advance in correspondence with the swivel position, and the swivel position and amount of undulation are determined during operation. A method for regulating a work range, characterized in that, when the amount of ups and downs detected at each turning position reaches a value corresponding to the stored regulation value, a signal indicating that the amount has reached this value is output.