JPH06166489A - Suspended cargo landing control - Google Patents

Abstract

PURPOSE:To improve working efficiency by precisely landing a hoisted cargo with residual swinging. CONSTITUTION:An arithmetic processing unit 5 finds height of a hoisting accessory 8 to hoist a hoisted cargo from the winding amount of a wire detected by a vertical winding amount detection sensor 3, and from this height and height of a target position previously memorized in a memory device 1, time required to lower the hoisted cargo is enumerated. Additionally, a time difference between a swinging cycle T of the hoisted cargo found from the length of the wire and the time required to lower the hoisted cargo is enumerated. Additionally, by detecting a point of time when the hoisted cargo and the target position match in the swinging direction by using a swinging detection sensor 2 and counting elapsed time from this detected point of time, at the time when the elapsed time matches the aforementioned time difference, a command to start lowering a rope is output to a winding motor 7 through a drive control device 6 and the hoisted cargo is landed at the target position.

Description

Detailed Description of the Invention

[0001]

This invention uses a crane,
The present invention relates to a suspended load landing control method applied when a suspended load lowered via a rope is landed at a target position with residual shake.

[0002]

2. Description of the Related Art In cargo handling work using a crane, it is necessary to place a load on a target position as quickly and accurately as possible. However, the load hung on the crane causes a shake when being transported. For this reason, conventionally, the swing of a suspended load suspended by a rope is placed on the target position after being manually controlled or restrained to the minimum possible by other steadying means.

[0003]

However, in the above-mentioned conventional method, it takes a long time for the deflection to become equal to or less than a predetermined allowable value so that it can be placed on the target position, and therefore work efficiency is improved. There is a problem of decrease.

The present invention has been made to solve such a problem, and an object thereof is to provide a suspended load landing control method capable of accurately landing a suspended load having a residual runout on a target position. To do.

[0005]

A suspended load landing control method according to the present invention is a suspended load landing control method for landing a suspended load grasped by a suspender provided at a lower end of a rope at a target position. By detecting the height of the hanging device, the rope hoisting height and hoisting time are obtained from the height of the hoisting device and the height of the target position, and the swing cycle of the suspended load and the hoisting time can be obtained. The first time difference, which is the time difference between the two, is detected, the time point when the amount of shake is zero at which the suspended load and the target position match in the shake direction is detected, and when the first time difference has passed from the time point when the shake amount is zero, the rope winding It is characterized in that the lowering is started and the suspended load is landed on the target position.

Further, the suspended load landing control method detects a deviation between the suspended load landed on the floor and the target position, and when the detected amount exceeds a predetermined allowable value, the suspended load is detected. To a predetermined height, and the second time difference, which is the time difference between the runout cycle of the suspended load of the prescribed height and the unwinding time until the suspended load of the prescribed height is landed on the target position, Seeking,
When a shake amount zero time point at which the suspended load having the predetermined height and the target position match in the shake direction is detected, and when the second time difference elapses from the shake amount zero time point, the rope lowering is started. The feature is that the suspended load is landed on the target position.

[0007]

[Operation] Transfer the suspended load from the crane to the target position via the rope and the suspenders provided at the lower end of the rope,
The runout caused by the transfer is reduced to some extent by operating the crane or using a separate device. The arithmetic processing unit uses the vertical winding amount detection sensor to adjust the height Z1 of the hanging tool of the suspended load having residual runout.
The height Z1 of this suspension and the height Z0 of the above target position
The unwinding time ΔT of the suspended load is calculated from Furthermore,
The swing period T of the suspended load corresponding to the length l of the rope for suspending the suspended load or the height Z1 of the suspending device is retrieved from the storage device, and the time difference ΔT between this swing period T and the unwinding required time ΔT.
Calculate 1. After that, the time when the suspended load and the target position match in the shake direction is detected by using the shake detection sensor, and the elapsed time T1 is counted from this detection time and the elapsed time T
An instruction to start the lowering of the rope is output to the winding motor via the drive control device when 1 coincides with the time difference ΔT1. In response to this command, the winding motor is activated, and the hoisting tool is hoisted down to set the suspended load on the target position. Thereby, the suspended load having the residual runout can be accurately landed on the target position, and the cargo handling work rate can be improved.

Further, when the deviation between the suspended load landed on the floor and the target position is detected, and when the detected value exceeds a predetermined allowable value, the suspended load is used together with the suspension for a predetermined height ΔZ1 '. Roll up. After this, again, the swing cycle T of the suspended load and the height ΔZ1 of the suspender
Calculate the time difference ΔT1 'from the required time ΔT' for winding only. Further, a time point when the position of the target position and the suspended load wound up by a predetermined height is zero is detected, the elapsed time T1 'from that time point is counted, and this elapsed time T1'
At the time when the time difference ΔT1 'coincides with the time difference ΔT1', a rope lowering start command is output, and the suspended load is again landed on the target position.
This enables more accurate landing.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 shows the configuration of a suspended load landing control apparatus for executing the suspended load landing control method according to the present invention. The storage device 1 stores the installation position of the target container detected in advance, that is, the installation position of the already installed load as a three-dimensional coordinate value (X0, Y0, Z0), and further, a wire for hanging the load. The cycle of the residual shake corresponding to the length of is stored. The shake detection sensor 2 is, for example, an accelerometer, and is installed in a hanger (spreader) 8 that suspends a load to be loaded in order to detect the amount of shake of a suspended load suspended by a wire or the like. The vertical winding amount detection sensor 3 is, for example, an encoder, and is incorporated in a winding motor 7 described later in order to detect the amount of winding or winding of a wire or the like. The displacement detection sensor 4 is
For example, a photoelectric tube, which is installed on the suspending tool 8 or at a separate position in order to detect the amount of deviation between the target container and the suspended load when the suspended load is landed. Arithmetic processing unit (CPU) 5
Inputs the detection values detected by the sensors 2, 3 and 4 described above in order to land the suspended load on the target location, and uses the installation position of the load stored in the storage device 1 to determine a predetermined value. Is calculated.

The drive control device 6 is connected to the winding motor 7 and outputs a drive start command or a drive stop command to the winding motor 7 based on the calculation result input from the CPU 5. The winding motor 7 winds or lowers the wire in accordance with the received instruction, thereby moving the suspending tool 8 provided at the lower end of the wire and the load suspended by the suspending tool 8 up and down.

Next, the loading / unloading state of a container crane using the above-mentioned suspended load landing control device will be described with reference to FIG. The container crane 9 shown in the same figure suspends a container to be transferred, which is installed on the land side (s), using the above-mentioned lifting tool 8, and moves to the target side on the ship 10 on the sea side (t) (on the target container). )
Pile up.

The container crane 9 is provided with a girder 11 horizontally from the land side (s) to the sea side (t). The storage device 1, the arithmetic processing device 5, and the drive control device 6 are installed on the land side (s) of the girder 11. Further, the trolley 12 is a traverse drive device (not shown).
Therefore, it is installed so that it can move along the girder 11. On the upper part of the trolley 12, a winding motor 7 incorporating the above-mentioned vertical winding amount detection sensor 3 is installed.
Further, the trolley 12 is attached with a suspending tool 8 via a wire 13. The suspending tool 8 is attached to a container to be loaded and operated, and a winding motor 7 is activated to wind up the wire 13 to lift the container. Can be hoisted. Further, the shake detecting sensor 2 and the positional deviation detecting sensor 4 are installed on the upper part of the hanging tool 8.

Next, the operation of the embodiment will be described with reference to the cargo handling state diagram of FIG. 2, the flow chart of FIG. 3, and the landing timing explanatory diagram of FIG. As shown in FIG. 2, the container 20A suspended by the container crane 9 is
A container to be transferred, which is a container 20B in the containers stacked on the ship 10, is set as a target container, and the container 20B is stacked on the container 20B. The position coordinates (X0, Y0, Z0) of the container 20B are stored in the storage device 1 in advance, and are input to the arithmetic processing device 5 when the transfer is started. The container crane 9 is provided with a lifting device 8 on the container 20A to be loaded and unloaded located on the land side (s).
The trolley 12 is moved along the girder 11 so that is positioned. After this, attach the hanger 8 to the container 20A,
The winding motor 7 is activated to wind up the wire 13 and suspend the container 20A. The container crane 9 uses the position coordinates (X0, X0,
In accordance with (Y0), the lifted container 20A is moved in the X and Y directions and transferred directly above the target container (step S).
2).

After that, the winding amount of the wire is detected by the vertical winding amount sensor 3, and the height Z1 of the suspending tool 8 is obtained based on the detected amount (step S3) and sent to the arithmetic processing unit 5. The arithmetic processing unit 5 uses the height Z1 of the hanger 8 to previously input the height Z0 of the scene of the container 20B.
Is subtracted to obtain the difference .DELTA.Z (.DELTA.Z = Z1 -Z0) (step S4). Thereby, the distance from the upper surface of the container 20B to the lower surface of the container 20A is obtained, and further, the winding amount of the wire 13 and the time ΔT required for winding by the winding motor 7 are calculated (step S).
5).

On the other hand, in step 2 above, when the container 20A is stopped at a predetermined position, the container 20A is shaken. This swing can be suppressed to a certain extent by operating a separate device or a crane by an operator.
Shake suppressed to a small level, that is, shake cycle T of residual shake
Is determined by the length of the wire that suspends the container 20A. The arithmetic processing unit 5 calculates the length of the wire that suspends the container 20A from the value detected by the vertical winding amount sensor 3, and inputs the cycle T corresponding to the length of this wire from the storage unit 1 ( Step S6). The arithmetic processing unit 5 subtracts the time ΔT required for the unwinding from the input shake cycle T to obtain a time difference ΔT1 (ΔT1 = T−ΔT).
Is calculated (step S7).

Further, the shake detection sensor 2 constantly measures the shake amount h of the hanger 8, and the measurement result is input to the arithmetic processing unit 5. In the processor 5, when the shake amount h = 0, that is, when the containers 20A and 20B move in the shake direction (X
The elapsed time T1 from the point of coincidence in (direction) is counted (step S8), and when the elapsed time T1 coincides with the time difference ΔT1 between the runout period T and the time ΔT required for lowering, the drive control device 6 is determined. Command is output. The drive control device 6 outputs a winding-down start command to the winding motor 7 in response to the input command (step S9), and the winding motor 7 is activated in response to the winding-down command to wind down the container A. The container 20A is placed on the container 20B by the lowering operation of the winding motor 7 (step S10).

Here, the container 20A and the container 20B
FIG. 4 shows a periodic waveform from the time when and match in the shake direction to the time of landing, and the states of the containers 20A and 20B. The state (A) shows a state (h = 0) in which the container 20A swinging to the left and right matches the container 20B in the swing direction, and the waiting time starts counting from this point. In the state (B), the containers 20A, 2 at the time when the counted waiting time becomes the time difference ΔT1
The state of 0B is shown, and the unwinding of the container 20A is started from this point. State (C) shows a state in which the container 20A is landed on the upper surface of the container 20B.

Therefore, in order to place the container 20A on the container 20B at the time t3 when the shake amount h = 0, the timing is advanced by the time ΔT required for unwinding at the time t.
It is sufficient to start the lowering at 2, and for that purpose, the time point t1 one cycle before the time point t3 when the shake amount h = 0 is detected, and the time point when the count has elapsed by the time difference ΔT1 from the simultaneous point t1, that is, the time point The lowering should be started at t2.

Further, when the container 20A is unwound, the residual runout cycle of the container 20A changes as the wire length changes. However, the deviation at the time of landing caused by this periodic change is very small, and there is no practical problem.

When the container 20A is placed on the container 20B as described above, the positional deviation detection sensor 4 detects the deviation amount ΔX between the container 20A and the container 20B (FIG. 3, step S11). Processor 5
Compares the deviation amount ΔX with a predetermined allowable amount ΔX0 (step S12), and the deviation amount ΔX is calculated as the allowable amount ΔX0.
When it exceeds (NO in step S12), a predetermined command is output to the drive control device 6. The drive control device 6 outputs a winding command to the winding motor 7 in response to a predetermined command,
In response to this hoisting command, the hoisting motor 7 is moved to the container A.
Is wound up again by a predetermined height ΔZ1 (step S1
3, step S14).

After that, the process returns to step S5 again, the time difference ΔT1 'is obtained by the same procedure, and the time t1 when the shake amount h = 0 is detected. At time t2 'when a time difference ΔT1' has elapsed from time t1, the container A is started to be unwound and placed on the container B again. Processor 5
Is the allowable amount Δ in step S12.
If it is less than X0, the landing process is terminated and the next work is executed.

[0023]

As described above in detail, according to the present invention,
When a suspended load with some residual runout is placed at the target position, calculate the time required to lower the suspended load from the height of the lifting device to the target load, and calculate the time difference from this required time to the runout cycle of the suspended load. Is calculated, the time when the shake amount is zero when the positions of the load and the suspended load match is detected, and at the time when the time difference is counted from this detection time, the rope unwinding start command is output and the suspended load is loaded. By placing the load on the upper side, the suspended load having the residual runout can be accurately landed on the target position. As a result, it is not necessary to completely stop the swing of the suspended load, and the efficiency of cargo handling work is greatly improved.

If the amount of deviation between the landed suspended load and the target position exceeds a predetermined allowable value, the suspended load is lifted again by a certain height, and then the above procedure is repeated to suspend the suspended load. By landing the load, more accurate landing than the previous landing is possible.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of a suspended load landing control apparatus for executing a suspended load landing control method according to an embodiment of the present invention.

FIG. 2 is a block diagram showing a cargo handling state of a container crane to which the suspended load landing control device according to the embodiment is applied.

FIG. 3 is a flowchart for explaining the operation of the suspended load landing in the embodiment.

FIG. 4 is a block diagram illustrating the timing of suspended load landing in the embodiment.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Storage device, 2 ... Shake detection sensor, 3 ... Vertical winding amount detection sensor, 4 ... Position shift detection sensor, 5 ... Arithmetic processing unit (CPU), 6 ... Drive control device, 7 ... Winding motor, 8 ...
Hanging equipment (spreader).

Claims (2)

[Claims] 1. A hanging load landing control method for landing a suspended load gripped by a hanger provided at a lower end of a rope at a target position, the height of the hanger being detected, and the height of the hanger being detected. The rope hoisting height and the hoisting time are calculated from the height of the target position, and the first time difference, which is the time difference between the swing cycle of the suspended load and the hoisting time, is calculated. It is characterized in that a time point when the shake amount is the same in the shake direction is detected, and when the first time difference has elapsed from the time point when the shake amount is zero, the rope is started to be unwound and the suspended load is landed on the target position. Suspended load landing control method. 2. The deviation between the suspended load placed on the floor and the target position is detected, and when the detected amount exceeds a predetermined allowable value, the suspended load is wound up to a predetermined height, The second time difference, which is the time difference between the runout cycle of the suspended load having a predetermined height and the unwinding time until the suspended load having the predetermined height is landed at the target position, is obtained, and the suspension of the predetermined height is obtained. The zero point of the shake amount at which the load and the target position match in the shake direction is detected, and at the time point when the second time difference elapses from the zero point of the shake amount, the rope is unwound and the suspended load is attached to the target position. The suspended load landing control method according to claim 1, wherein the method is performed by flooring.