JPH0680388A - Instruction assistance mechanism of crane - Google Patents

Abstract

PURPOSE:To execute the smooth, correct and safe intruction of lifting and lowering cargoes such as construction materials by a crane in a construction site. CONSTITUTION:A TV camera 130 having a sighting device and a distance sensor 140 mounted through a gyro-shaped vertical position holding device 120, and a transmitting means 107 of the image information from the TV camera 130 and the distance detecting information from the distance sensor 140 are provided on a truck 100 which is moved to the cargo elevating or lowering position, and the received image information and the distance detecting information are monitored in an operation room of the crane.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a guide assist mechanism for accurately guiding a boom tip and a hook hung from the boom tip to a target position when unloading or unloading a hoist in a construction work or the like.

[0002]

2. Description of the Related Art The unloading or unloading of building materials and the like by a lifting machine in construction work is conventionally performed by the method shown in FIG.

Reference numeral 10 indicates a boom 12 and its tip 1 on a vehicle 11 which can be horizontally swiveled, extended and retracted, and raised and lowered.
A lifting machine equipped with a hook 13 hung from 2a and an operation chamber 14 for operating the hook 13, and B is a suspended load slung on the hook 13, and a tip 12a of the boom 12 is provided.
A TV camera (not shown) is attached to the hook 13. That is, for example, when the suspended load B is unloaded at a predetermined position on the building 1, or at a predetermined position on the building A, several workers (steelworkers) 1 and 2 sling it off. In this case, the operator 3 uses the TV
The image transmitted from the camera is monitored by the image receiving device provided in the operation room 14, and the communication person 4 near the target position on the building A communicates by voice for guidance through the wireless communication device 15. While performing, the boom 12 is rotated and the hook 13 is moved up and down.

[0004]

However, according to the above-mentioned prior art, when the hawks 1 and 2 on the building A are not visible from the operator 3's field of view, as in the illustrated example, the operator The recognition of the actions of 1 and 2 must depend only on the hearing of the operator 3 (voice communication from the person in charge of communication 4), and the setting of the suspended load B on the building A is performed by the workers 1 and 2. Since it depends on the intuition and the sight of the operator 3 through the image transmitted from the TV camera, trial and error is often repeated many times, and the workability is low and the safety is high. I also had a hard time securing it.

In addition, the TV camera attached to the tip 12a of the boom 12 or the hook 13 cannot detect the condition under the suspended load B depending on the size and shape of the suspended load B, and the boom 12 and the hook 12 can be caught. There is a problem that the entire image monitored in the operation room 14 is unstablely shaken due to the shake of 13. For this reason, the monitor image from the TV camera is effective when roughly guiding the swing of the boom 12 and the vertical movement of the hook 13, but for fine setting, the work of the workers 1 and 2 by wireless communication is finely performed. Instructions were indispensable, and the instructions by wireless communication were very complicated.

The present invention has been made under the circumstances as described above, and its technical problem is to smoothly guide the unloading or unloading of building materials by a lifting machine in construction work. And to do it safely.

[0007]

The above-mentioned technical problems are as follows.
The present invention can effectively solve the problem. That is, the guidance support mechanism of the lifting machine according to the present invention, on the dolly moved to the unloading or unloading position by the lifting machine,
A sighting TV camera and a distance sensor mounted via a gyro-type vertical posture holding means, and means for transmitting image information from this TV camera and distance detection information from the distance sensor are provided, and the operating room of the lifting machine is provided. In addition, a monitor device for receiving and outputting the image information and the distance detection information is provided. In this case, as a preferred embodiment, the field of view of the optical system of the TV camera can be switched to a wide-angle region, a normal region and a zoom region, and the posture of the vertical posture maintaining means can be set at any elevation angle and horizontal angle. Fixing means for fixing may be provided, and voice transmitting / receiving means may be integrally provided in each of the operation rooms of the carriage and the lifting machine.

[0008]

According to the above construction, first, the TV camera on the carriage, which is placed at the unloading or unloading position, is held by the gyro-type vertical attitude holding means so that the optical axis is directed vertically upward. Then, when the hook or the suspended load slung on the hook is operated by operating the boom of the hoist, the image information of the lower surface of the hook or the suspended load is transmitted by the transmitting means, and the lifting means is transmitted. It is received by the monitor device in the operation room of the heavy equipment and output as a monitor screen. Here, when the position of the hook is to be monitored, it is sufficient to operate the lifting machine so that the aiming position on the monitor screen and the coordinates of the hook coincide with each other. By attaching a mark indicating the position of the center of gravity to the lower surface of the, the lifting machine may be operated so that the aiming position on the monitor screen and the coordinates of the image of the mark match. By this operation, the distance sensor detects the height of the hook or the suspended load just above the TV camera (unloading or unloading position) to some extent, and the distance detection information is monitored by the monitor device in the operation room. To the desired height, based on this information.

The field of view of the optical system of the TV camera is
If it is possible to switch between a wide-angle area, a normal area and a zoom area, first set the field of view to a wide-angle area, and if a hook or a load is placed in that area, then manually or remotely control the field of view to normal. When the hook or the suspended load enters the normal region, the field of view is further switched to the zoom region so that the aiming position on the monitor screen and the image of the mark on the lower surface of the hook or the suspended load are finally matched. Operate the lifting machine.

The time between unloading or unloading is
By fixing the TV camera at an arbitrary elevation angle and horizontal angle with fixing means, the environment around the construction site can be monitored. In addition, if each of the trolley and the operation room is provided with an audio transmitting / receiving means,
There is no need to carry a wireless communication means separately.

[0011]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS. 1 to 4. First, in FIG. 1, reference numeral 100 is a dolly, and 120 is a gyro-type vertical mount attached to the dolly 100. The posture holding device 130 is a TV camera attached to the vertical posture holding device 120,
Reference numeral 0 is also an ultrasonic sensor as a distance sensor attached to the vertical posture maintaining device 120.

The dolly 100 includes a main body 101 which is moved by a universal caster 102 having a stopper, and the main body 10.
1, a hand handle 103 provided on the rear part of
01, a pair of indicating needles 104 (only one is shown in the figure) arranged in the front-rear direction and a pair of (only one shown in the figure) indicating needles 105 in the left-right direction, and the TV camera 130 Operation panel 106 for operating the sound wave sensor 140
And a transmission / reception device 10 is provided in the main body 101.
7, a wireless communication device 108, and a power source (not shown). Reference numeral 109 is an antenna shared by the transceiver 107 and the wireless communication device 108, and 110 is the wireless communication device 1.
08 speaker, 111 is microphone, 11
2 is a power switch.

The vertical posture holding device 120 includes a pair of support columns 121, which are vertically erected on the upper surface of the main body 101 of the carriage 100.
121, and first support shafts 122, 122 rotatably provided on opposite surfaces thereof about coaxial and horizontal axes.
And an annular frame 123 fixed in diameter to the first support shafts 122, 122, and inside the frame 123, rotated about an axis in a diameter orthogonal to the first support shafts 122, 122. A second support shaft 124 freely erected,
It has a casing 125 fixed to the center of the second support shaft 124 in the longitudinal direction, and a balancing weight body 126 attached to the lower end of the casing 125.

A frame 123 centered on the horizontal axis of the first support shaft 122 is formed by pressing the tip of the support shaft 121 into the first support shaft 122.
Also, the first adjusting screw 123a for restricting the rotation (swing) of the casing 125, the tip of which is screwed into the frame 123, presses the second support shaft 124 against the axis of the second support shaft 124. A second adjusting screw 126a, 1 for controlling the rotation (swing) of the casing 125 around the center.
26b is a balancing weight 126 for the casing 125.
Is a third adjusting screw for finely adjusting the mounting position of the. Further, a level bubble tube (not shown) is attached to the frame 123 or the casing 125.

The TV camera 130 and the ultrasonic sensor 140
Is attached to the upper end of the casing 125, and by the balancing weight 126 of the casing 125, the optical axis O of the optical system 131 of the TV camera 130 and the transmission / reception direction of the ultrasonic sensor 140 are normally set to the frame. 123
The posture is maintained so as to face the direction perpendicular to the plane passing through the circumference of the carriage. In this state, the optical axis O is connected to the line connecting the pair of front and rear indicating needles 104 on the lower surface of the carriage body 101 and the pair of left and right sides. It is located on the intersection with the line connecting the indicator needles 105. In addition, the TV camera 130 and the ultrasonic sensor 140 have a casing in which the frame 123 rotates about the axis of the first support shaft 122 of the vertical posture maintaining device 120 and the center of the axis of the second support shaft 124. By rotating 125, it is possible to change to any posture with two degrees of freedom.

The TV camera 130 has an optical system 131.
Of the wide-angle region W and the normal region N shown in FIG.
And a drive device for switching to the zoom area Z. Further, the transmission / reception device 117 processes the image information from the TV camera 130 and the distance detection signal from the ultrasonic sensor 140 and transmits the processed signal to the transmission / reception device of the lifting machine 200, which will be described later. The transmitted signal is received and output to a control device (not shown), and the drive device of the optical system 131 is controlled by the input from this control device or the operation panel 106.

In FIG. 2, reference numeral 200 indicates a vehicle 20.
A boom 20 that can be horizontally swiveled, expanded and contracted, and moved up and down
2 and a hook 204 hung from the tip 202a thereof via a wire 203, and an operation chamber 2 for operating the hook 204.
It is a lifting machine equipped with 05. The operation room 205 is provided with a monitor device 206 including a transmission / reception device and a wireless communication device.

Further, the carriage 100 may be connectable with a distance detecting means such as a small TV camera and an ultrasonic sensor which can be fixed in a vertical posture on a tripod or the like. This is particularly useful when the setting position of the suspended load B is in a place where it is difficult to place the carriage 100.

Next, an explanation will be given of the case where the suspended load B such as a building material is unloaded on the building A under construction and set at a predetermined position according to the above-mentioned embodiment. First, the worker 1 on the building A is , 2 place the trolley 100 at the setting target position of the suspended load B. In this case, if the black striking lines L1 and L2 intersecting at right angles at the target position are struck, the indicating needles 10 on the front, rear, left and right of the carriage 100 can be attached to the black striking lines L1 and L2.
By combining 4, 105, TV camera 130
The carriage 100 can be easily and accurately positioned so that the optical axis O of the above is on the target position. On the other hand, on the lower surface of the suspended load B to be slung, a point mark P as shown in FIG. 3 is attached at its center of gravity position, in other words, at a position intersecting a vertical line from the hook 204.

The optical axis of the TV camera 130 on the carriage 100 and the ultrasonic sensor 140 are always vertically directed upward regardless of the floor surface or the inclination of the carriage 100 due to the equilibrium action of the vertical posture holding device 120. Further, this posture can be fixed by tightening the first and second adjusting screws 121a and 123a.

Here, the power switch 112 of the carriage 100
When is turned on, the field of view of the optical system 131 of the TV camera 130 is initially set to the wide-angle region W. On the other hand, the suspended load B slung on the hook 204 on the ground is lifted by the lifting machine 2
It was lifted by the boom of 00 boom 202, building A
Turn horizontally toward the setting target position in. Eventually, when the hanging load B enters the field of view of the TV camera 130 set in the wide-angle region W, an image of the hanging load B is displayed on the monitor screen D of the monitor device 206 in the operation room 205, as shown in FIG. Is displayed, the operator 3 in the operation room 205 can perform a turning operation of the boom 202 based on this image. In this case, unlike the prior art in which a TV camera is attached to the tip of the boom 202 or the hook 204, the entire monitor screen D does not sway unsteadily due to the swinging motion of the boom 202 or the swing of the hook 204, and the suspended load B The setting target position does not become a blind spot due to the size of the.

On the monitor screen D, required character data and a line of sight consisting of a plurality of concentric circles c centering on the coordinate axes x and y and their origin O'are displayed. The origin O ′ coincides with the optical axis O, that is, it indicates the setting target position. When the image of the suspended load B enters into the predetermined coordinates represented by the concentric circles c, the operator 3 operates the transmitter / receiver remotely or from the wireless communication device on the operation room 205 side via the wireless communication device 108 of the carriage 100. Then, by instructing the operator 1 or 2 on the building A to operate the operation panel 106 with a voice from the speaker 110,
The field of view of the optical system 131 of the V camera 130 is switched from the wide-angle area W to the normal area N.

As a result, on the monitor screen D of the monitor device 206 in the operation room 205, an image as shown in FIG. 4B set in the normal area N is displayed, that is, the image of the suspended load B is in the wide angle area. Since it is enlarged compared to the image at W, the operator 3 uses the boom 20 to bring the image of the point mark P of the suspended load B closer to the origin O ′ of the line of sight.
The turning operation of 2 can be performed precisely. The suspended load B
Enters the predetermined coordinates near the origin O ', the ultrasonic sensor 140 at that time transmits the ultrasonic wave and receives the reflected wave reflected by a part of the lower surface of the suspended load B. By doing so, the height of the suspended load B is detected, and the detected value is displayed on the monitor screen D. Therefore, the operator 3 refers to the detected value and holds the wire 203 while fixing the elevation angle of the boom 202. The suspended load B can be lowered to a safe height by an operation such as unwinding. When the image of the suspended load B enters within the predetermined coordinates represented by the concentric circles c ₁ of the line of sight, the TV camera 130 is operated in the same manner as above.
The field of view of the optical system 131 is switched from the normal area N to the zoom area Z.

On the monitor screen D, an image set in the zoom area N as shown in FIG. 4C is displayed, that is, the image of the suspended load B on the monitor screen D is more than the image on the normal area N. Operator 3
While monitoring this image, the boom 2 moves the image of the point mark P of the suspended load B closer to the origin O ′ of the line of sight.
The turning operation of 02 can be performed more precisely. Then, as shown in FIG. 4D, when the image of the point mark P coincides with the origin O ′ of the line of sight, the operator 3 promptly notifies the worker 1 or 2 on the building A by wireless communication. Contact.

According to the instruction from the operator 3, the workers 1 and 2 move the cart 100 from the setting target position of the suspended load B to an appropriate place on the building A, and
By rotating the frame 123 and the casing 125 of the vertical posture holding device 120, the TV camera 13
The posture of 0 is fixed by the first and second adjusting screws 121a and 123a so that the optical axis O of the optical system 131 becomes substantially horizontal. As a result, an image of the work landscape as shown in FIG. 4 (e) can be displayed in the horizontal direction on the monitor screen D of the operation room 205, so that the operator 3 can monitor the monitor screen D and wirelessly monitor it. Worker by communication 1,
Lifting load B to the setting position while guiding 2
Complete the unloading of.

The above-described series of operations has been described for the case where the hoisting load B is conveyed to the target position by the hoist and set, but the hook of the hoisting machine is accurately guided to the hoisting load B for slinging. The same operation can be performed when performing.

[0027]

As is apparent from the above description, according to the guidance support mechanism of the hoisting machine according to the present invention, first, the TV camera on the truck fixed at the unloading or unloading position is used to hook the hoisting machine or the hook. Since the suspended load is monitored from below, there is no problem that the monitor screen sways or becomes unmonitorable due to the size or shape of the suspended load, and it is displayed on the monitor screen in the operation room of the lifting machine. The boom may be operated so that the coordinates of the image of the hook position coincide with the aiming position, and the height of the hook or the suspended load can be detected to raise and lower the boom safely. . Further, the visual field of the optical system of the TV camera can be switched to a wide-angle region, a normal region, and a zoom region, so that the visual field can be changed to the wide-angle region as the coordinates of the hook or the suspended load on the monitor screen approach the origin. From the normal area to the normal area and then to the zoom area, the boom can be guided very accurately.

[Brief description of drawings]

FIG. 1 is a perspective view showing a truck equipped with a TV camera and an ultrasonic sensor in an embodiment of a guidance support mechanism for a lifting machine of the present invention.

FIG. 2 is an explanatory diagram showing a setting operation of a suspended load B by the guidance support mechanism of the lifting machine according to the above embodiment.

FIG. 3 is a conceptual diagram for explaining the field of view of the TV camera in the above embodiment.

FIG. 4 is an explanatory diagram showing a transition of a monitor screen in the setting work.

FIG. 5 is an explanatory diagram showing a setting operation of a suspended load B according to a conventional technique.

[Explanation of symbols]

100 dolly 102 universal caster 105 indicator needle 107 transmitter / receiver 108 wireless communication device 120 vertical attitude holding device 121 column 122 first spindle 123 frame 124 second spindle 125 casing 126 balancing weight body 130 TV camera 131 optical system 140 Ultrasonic sensor (distance sensor) 200 Lifting machine 202 Boom 204 Hook 205 Operating room 206 Monitor device B Suspended load D Monitor screen N Normal area O Optical axis W Wide angle area Z Zoom area x, y Coordinate axes (line of sight) c, c ₁ Concentric circle (line of sight)

Claims (4)

[Claims] 1. A TV camera with a sight and a distance sensor mounted via a gyro-type vertical posture holding device on a dolly that is moved to a unloading or unloading position by a hoist, and image information from this TV camera. And a means for transmitting distance detection information from a distance sensor, and a monitor device for receiving and outputting the image information and the distance detection information in the operation room of the lifting machine. Support mechanism. 2. The guidance support mechanism for a hoisting machine according to claim 1, wherein the field of view of the optical system of the TV camera can be switched between a wide-angle region, a normal region, and a zoom region. 3. The guidance support mechanism for a lifting machine according to claim 1, further comprising fixing means for fixing the posture of the vertical posture holding means at an arbitrary elevation angle and horizontal angle. 4. The guidance support mechanism for a lifting machine according to claim 1, wherein a voice transmitting / receiving means is integrally provided in each of the operation room of the carriage and the lifting machine.