JPH0585696A - Operating pattern determining method for crane - Google Patents

Abstract

PURPOSE:To determine the safe and efficient operating pattern, prevent the interference between a crane and an obstacle such as a building, and perform an efficient operation. CONSTITUTION:When the start turn path of a crane is to be retrieved, (1) the display color of the graphic coordinates is read at a fixed pitch PS from the present position 2 toward the target turn angle, (2) when the read display color coincides with the display color of an obstacle 6 such as a building, the operating radius at this time is recorded, and the retrieval is completed, (3) when no obstacle 5 such as the building can be detected in the range from the present position 2 to the target turn angle, the turn retrieval route is moved by a fixed pitch PR to the inside in the operating radius direction, retrieval is performed again in the target turn direction, and these processes are repeated.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for determining an operation pattern of a crane, and in particular, improves work efficiency by determining a safe and efficient operation pattern on a graphic screen during automatic operation of a jib crane or a climbing crane. In this case, the present invention relates to a method for determining a crane operation pattern.

[0002]

2. Description of the Related Art For example, when a jib crane or a climbing crane is operated in the vicinity of an obstacle such as a building at a construction site to perform various works, a hook provided at the tip of a boom of the crane causes an obstacle to the building. You need to avoid interference with things. However, conventionally, it was not possible to detect an obstacle such as a building before operating the crane.Therefore, an operation of hoisting the hoisting wire of the crane to a sufficiently high position with respect to the obstacle such as a building is performed. After the hoisting operation was completed, the crane was turned, undulated, and so on.

[0003]

By the way, the above-mentioned prior art has the following problems. That is, until the hoisting operation of the hoisting wire of the crane is completed, the swiveling operation and the undulating operation cannot be performed, so that there is a problem that work efficiency deteriorates. Particularly, in the case of a climbing crane, there is a problem that the hoisting wire has a high lifting height, which requires a long time to wind up the hoisting wire, resulting in a significant decrease in work efficiency.

The present invention is intended to solve the above-mentioned problems. For example, a safe and efficient operation pattern is displayed on a graphic screen during automatic operation of a crane such as a jib crane or a climbing crane whose operation is non-linear and whose head is extremely high. It is an object of the present invention to provide a method for determining the operation pattern of a crane, which achieves the improvement of work efficiency by making the above determination.

[0005]

In order to achieve the above-mentioned object, the present invention defines a moving range of a crane from a current position to a target position and an obstacle existing in the moving range before starting the operation of the crane. On the graphic screen displayed in the display color of, the obstacles existing within the range of movement of the crane are searched in the turning direction and the undulating direction of the crane based on the display color, and the operating route of the crane that does not interfere with the obstacle is determined. It is characterized by doing.

[0006]

According to the present invention, before the operation of the crane is started, a search is made for an area in which the tip position of the boom does not interfere with an obstacle such as a building due to the turning motion or the undulating motion of the crane.
In order to determine a safe and efficient operation pattern, the turning operation and the undulating operation can be started before the winding operation of the hoisting wire is completed. As a result, work efficiency can be improved, eliminating the problem that the conventional hoisting and hoisting operations cannot be started unless the hoisting wire of the crane is raised to a position that is sufficiently higher than obstacles such as the building. can do.

[0007]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a diagram showing an example of a range of movement of a crane when a jib crane or a climbing crane (hereinafter abbreviated as a crane) of this embodiment is automatically operated by an automatic operation system. In the present embodiment, when the crane is moved from the current position 2 to the target position 3 in the movement range 1, in order not to interfere with an obstacle such as a building even when the crane makes a full swing operation or a full undulation operation. , A non-interference route is provided, and the non-interference route is referred to as a turning path or an undulating path. That is, the turning path and the hoisting path correspond to areas where the hooks provided at the tip of the boom do not interfere with an obstacle such as a building due to the turning or hoisting operation of the crane. In addition, what is indicated by reference numeral 4 in the drawing is the turning center of the crane.

In this case, the turning path is classified into a start turning path and an end turning path, and the undulation path is classified into a start undulation path and an end undulation path. Includes 2 including start turning path, crane movement range 1
The one including the target position 3 in is referred to as an end turning path. As shown by the reference numeral in FIG. 1, the start undulation path is a range that does not interfere with an obstacle such as a building even when the crane is undulated from the current position 2 to the target work radius. As indicated by the reference numeral, the range is such that it does not interfere with the obstacles such as the building even when the crane is turned from the current position 2 to the target turning angle, and the end undulation path is as shown by the reference numeral in FIG. The range is such that it does not interfere with an obstacle such as a building when the work radius is raised or lowered to the target position 3, and the end turning path is turned from the current turning angle to the target position 3 as shown by the reference numeral in FIG. It is within a range that does not interfere with obstacles such as buildings even when it hits.

When searching for the start undulating path, the start turning path, the end undulating path, and the end turning path by the above-described automatic driving system according to the present embodiment, they are displayed on the graphic screen of the display constituting the automatic driving system. Whether there is interference between the crane and the obstacle such as the building based on the result of comparing the read display color with a certain pitch and the display color of the obstacle such as the building displayed on the graphic screen. Is determined. Here, the procedure of the path search method of the present embodiment will be described by taking the case of the start turning path as an example. In the graphic screen 5 of FIG. 2, (1) from the current position 2 of the moving range 1 of the crane to the purpose After reading the display color of graphic coordinates at a constant pitch PS toward the turning angle, (2) If the read display color matches the display color of the obstacle 6 such as a building, the working radius of the crane at that time Is recorded and the search is completed. (3) Current position of crane 2
When the obstacle 6 such as a building cannot be detected between the time and the target turning angle, a search is performed again from the position closer to the inside of the crane in the working radius direction by a constant pitch PR toward the target turning direction. ((4) The above (1) to (3)) are repeated. In the example of FIG. 2, point A is the detection point.

In this embodiment, for example, the following operation patterns are available depending on the combination of the above-mentioned paths. That is, in the case of only the start turning path (see FIG. 3), the hoisting operation and the turning operation of the hoisting wire of the crane can be started at the same time. Further, in the case of only the start undulation pass (see FIG. 4), the hoisting operation and the undulation operation of the hoisting wire of the crane can be started at the same time. In the case of the start turning path and the end undulating path (see Fig. 5)
In this case, the hoisting wire hoisting operation and the turning operation of the crane can be started at the same time, and the hoisting operation can be performed if the turning operation falls within the range of the end hoisting path. Further, in the case of the start undulation path and the end turning path (see FIG. 6), the hoisting wire hoisting operation and the hoisting operation of the crane can be started at the same time. Swing operation is possible.

Next, the method of searching the starting turning path of the crane according to the present embodiment having the above-mentioned structure will be described as an example with reference to FIG. The current position, working radius, and turning angle of the crane are set (step S1). Then, the current position, working radius, and turning angle of the crane are converted into plane coordinates on the graphic screen of the display (step S).
2). Thereafter, the display color of the coordinates of the search point is read at a constant pitch from the current position of the crane toward the target turning angle (step S3). Then, it is compared whether or not the display color of the search point read in step S3 and the display color of an obstacle such as a building match (step S4). In the comparison in step S4, if the display color of the search point and the display color of the obstacle such as the building match, the current working radius of the crane is recorded, and the search ends (step S5).

On the other hand, in the comparison in step S4,
If the display color of the search point does not match the display color of the obstacle such as the building, the turning angle of the searched crane is added or subtracted (step S6). Next, a comparison is made of the magnitude relationship of whether the found turning angle of the crane is larger or smaller than the target turning angle (step S7). In the comparison of step S7, if the searched turning angle of the crane is smaller than the target turning angle, after returning to the processing of step S2,
The process of the loop formed in steps S2 to S7 is repeated. On the other hand, in the comparison of step S7, when the found turning angle of the crane is larger than the target turning angle, the working radius of the found crane is added or subtracted, and the found turning angle of the found crane is calculated. The current position is set (step S8). Incidentally, in the step S6,
“Addition” in step S8 is an operation performed when the search direction is the arc right direction (→) and the radial outer direction (↑) in FIG. 2, and “subtraction” is the search direction when the search direction is the arc left direction (FIG. 2). ←), this is the calculation performed in the case of the inner radius direction (↓).

However, according to the present embodiment, in order to determine a safe and efficient operation pattern before starting the operation of a crane such as a jib crane or a climbing crane, which has a non-linear operation and a very high lift, It is possible to perform the turning operation and the hoisting operation of the crane even before the hoisting operation of the upper wire is completed, and as a result, the working efficiency of the crane can be improved.

[0014]

As described above, according to the present invention, the effects of the following items can be obtained. Before starting the operation of the crane, search the operation path (the area where the tip of the boom does not interfere with the obstacle such as the building due to the swinging or undulating motion) and search for the safe and efficient operation pattern. The turning operation and the undulating operation can be started before the end of the hoisting operation. As a result, improvement of work efficiency can be achieved. Therefore, it is possible to solve the problem that the turning operation and the undulating operation cannot be started unless the hoisting wire of the crane is raised to a position sufficiently higher than an obstacle such as a building as in the conventional case. Since each operation of the crane can be completed by performing only one start / stop cycle, for example, when performing the steady rest control of the crane or the like, accurate control can be performed. When detecting obstacles such as buildings, by adopting a color search method that uses the display color as a color, it is possible to accurately search for obstacles even when the planar shape of obstacles such as buildings is complicated. Become. Since the operation path of the crane is displayed on the graphic screen, the crane operator can visually check the approximate movement range of the crane, and can perform safe and efficient operation.

[Brief description of drawings]

FIG. 1 is a schematic view showing a moving range of a crane according to an embodiment of the present invention.

FIG. 2 is a schematic diagram for explaining a method of searching a start turning path according to the present embodiment.

FIG. 3 is a diagram showing an operation pattern in the case of only a start turning path according to the present embodiment.

FIG. 4 is a diagram showing an operation pattern in the case of only a start undulation pass according to the present embodiment.

FIG. 5 is a diagram showing an operation pattern in the case of a start turning path and an end undulating path according to the present embodiment.

FIG. 6 is a diagram showing an operation pattern in the case of a start undulation path and an end turning path according to the present embodiment.

FIG. 7 is a flowchart for explaining a search method for a start turning path according to the present embodiment.

[Explanation of symbols]

 1 Moving range 2 Current position 3 Target position 4 Turning center 5 Graphic screen 6 Obstacle

Claims (1)

[Claims] 1. A crane moving range on a graphic screen in which a moving range of the crane from a current position to a target position and obstacles existing in the moving range are displayed in a predetermined display color before the operation of the crane is started. A method for determining an operation pattern of a crane, characterized in that an obstacle existing inside is searched for in a turning direction and an up-and-down direction of the crane based on its display color, and an operation route of the crane that does not interfere with the obstacle is determined.