JPH0684237B2 - Crane control device with jib - Google Patents

Description

The present invention relates to a control device for a crane with a jib, and more specifically,
The present invention relates to a crane with a jib that can correct the position of a suspended load that moves between an unloading target such as a quay wall and a hull. This makes it possible to prevent the occurrence of deviations in the passing position and the storing position of the suspended load even if the attitude of the hull during loading changes due to draft, tilt, tidal current, etc. in the unloading work from a ship, for example. It is used in the field.

[Prior art]

When loading and unloading luggage using a crane with a jib installed on the hull, the hull often tilts left and right or front and back due to changes in the loading state of the luggage and movement of the suspended load itself. If the heel angle of the hull when leaning to the left or right or the trim angle when leaning in the anteroposterior direction changes, the jib and the hoisting wire suspended from the tip of the jib will change even if the relative relationship between the jib and the hull does not change. The angle you make changes. Therefore, when the hull is tilted while moving the suspended load with the crane, even if the tip of the jib is moved to the desired position, the point where the tip of the jib is projected vertically will be at the desired position on the hull. I will not do it. As a result, the suspended load interferes with various devices and instruments provided on the hull, and it becomes impossible to place the suspended load with a desired high positional accuracy in the storage location. This not only causes problems when unloading a suspended load at a predetermined position on the hull, but also occurs when unloading to a target position on the quay using a crane on the hull, for example. That is, when the hull is trimmed or heeled, the target position of the quay, which is an object of loading and unloading independent of the hull, is also affected by the heel and trim of the hull as viewed from the crane on the hull. Therefore, in order to try to unload at a predetermined position on the unloading target different from the hull such as the quay, it is necessary to know the relative positional relationship on the unloading target as seen from the ship side.

[Problems to be solved by the invention]

In order to solve the above-mentioned problems, Japanese Patent Laid-Open No. 56-127
There is a crane hook position control device described in Japanese Patent No. 589. This is to detect the relative distance between the hook and the unloading point via the messenger rope, and the relative distance can be known, but the change in the relative position cannot be known. As a result, if an attempt is made to unload a load at a defined position, a worker near the unloading point needs to instruct the crane operator.

The present invention has been made in view of the above problems, and an object of the present invention is to improve a depression angle and a turning angle of a crane when a hull has a heel angle or a trim angle, regardless of the state of the jib. A crane with a jib that allows the suspended load to pass through a desired position on the hull by operation, and that can be accurately loaded and unloaded between the hull and the desired target of unloading. It is to provide a control device.

[Means for solving problems]

The features of the controller for a crane with a jib of the present invention will be described below with reference to FIG.

Heel angle detection means 20 for detecting the heel angle of the hull, trim angle detection means 21 for detecting the trim angle, depression angle and elevation angle of the jib, and depression angle detection means 1 for detecting the winding amount of the wire.
4, turning angle detecting means 15 and hoisting amount detecting means 16 are installed, and information output means 12 for storing the passing position information Pij (xij, yij, zij) of the suspended load and sequentially outputting the information is provided. Position detection means 18 for detecting the relative position between the ship and the loading / unloading target outside the hull is arranged. Based on the output value of the position detection means 18, the information output means 12
A coordinate conversion calculation means 19 for converting the target position on the unloading target output from the coordinate system in the hull is provided, and the output signal from the coordinate conversion calculation means 19 and the heel angle detection means 20 and the trim angle detection means are provided. Based on the detected value from 21, the correction calculation means 22 for calculating the signal from the information output means 12 to calculate the target values of the depression and elevation angle of the jib, the turning angle and the winding amount of the wire, which are corrected for the influence of heel and trim. Is provided and receives the target value signal from the correction calculation means 22,
Using the detected values from the depression / elevation angle detection means 14, the turning angle detection means 15, and the hoisting amount detection means 16, the hoisting / lowering command for controlling the driving angle 23-25 of the jib depression angle, the turning angle, and the wire winding amount is given. The device control means 26, the turning device control means 27, and the hoisting device control means 28 are provided so that the suspended load can be moved between the hull and the unloading target by following the planned trajectory to the target position. That is what I did.

〔The invention's effect〕

The present invention provides a heel angle detection means of a hull, a trim angle detection means, a depression / elevation angle detection means for detecting a depression / elevation angle of a jib, a turning angle and a winding amount of a wire, a turning angle detecting means, a winding amount detecting means, and passing position information. Information output means for outputting, coordinate conversion calculation means for converting the target position on the loading / unloading object into the coordinate system of the hull based on the output value of the position detecting means, correction for correcting the elevation of the jib, turning and winding amount of the wire Since the arithmetic means, the elevation angle of the jib, the turning angle, and the elevation device control means for instructing the respective drive devices to control the winding amount of the wire, the turning device control means, and the hoisting device control means are provided, the suspended load is placed on the hull. It is possible to follow a predetermined trajectory and move to a predetermined position on the loading / unloading target outside the hull. Therefore,
Even if the hull has a heel angle or trim angle, the hoisting amount, elevation angle and turning angle of the jib are corrected, and the suspended load can be accurately unloaded on the unloading target inside and outside the hold. , It will not hinder the movement of the suspended load.

〔Example〕

Hereinafter, the present invention will be described in detail based on examples thereof.

FIG. 2 is a schematic diagram of a jib-equipped crane 1 to which the present invention is applied, in which a post 3 fixed to a hull 2 is provided with a jib 4 which can be lifted and swung freely, and a wire which is extended downward from the tip of the jib 4. At the bottom of 5, hang a baggage (not shown),
The suspended load is moved by changing the depression angle and the turning angle of the jib 4.

FIG. 1 is a control system diagram of the present invention, which is based on the passing position information of the suspended load output by the information output means 12 of the command device 11, and in the computing device 13, the target of the elevation angle, turning angle and wire winding amount of the crane. Values are calculated, and the operation of the jib 4 in the elevation direction and the turning direction is controlled by these target values and the crane state, that is, the detection values of the elevation angle detection means 14, the turning angle detection means 15, and the hoisting amount detection means 16. With
The speed of winding and lowering the wire 5 can be controlled. Such a control system includes, in addition to the command device 11 and the arithmetic device 13 described above, a control means 17 and a position detection means 18 for detecting a relative position on the hull and an object to be unloaded.
Also, coordinate conversion calculation means 19 is provided, and the calculation device 13 is adapted to take in detected values such as the heel angle and trim angle of the hull and the depression and elevation angle of the jib 4 as necessary.
Therefore, the hull 2 is provided with heel angle detecting means 20 for detecting a heel angle and trim angle detecting means 21 for detecting a trim angle. On the other hand, in the crane 1 with jib, the depression / elevation angle sensor 14, the turning angle sensor 15, and the hoisting angle sensor 15 for detecting the elevation angle φ of the jib 4, the turning angle θ [see FIG. 2] and the hoisting amount ω [not shown] of the wire 5 are used. A quantity sensor 16 is attached. Each of these sensors is a known detection device, and the detection value obtained by the detection device is output as an electrical signal or the like.

The above-described command device 11 includes n pieces of passage position information Pij (xij, yij, zij) [where i = 1,2 ,.
.M, j = 1,2, ... n] is stored, and information output means 12 for sequentially outputting the information is provided. While receiving the signal from the information output means 12, the heel angle sensor 20
The correction calculation means 22 for calculating the depression / elevation angle and turning angle of the jib 4 and the target value of the winding amount of the wire in which the influence of the heel / trim is corrected by using the detected values from the trim angle sensor 21 and the trim angle sensor 21. It is provided in 13. This is the locus Pij (xij, yij, zij) on the hull 2 where the suspended load is scheduled to reach the predetermined target position even if the heel angle or trim angle is generated on the hull 2.
The calculation for correcting the movement of the jib 4 is performed so as to be able to trace and move. That is,
With heels and trims, the suspended load will
Attempt to take Pij ′ shown in FIG. 3 without passing through j. Therefore,
The passing position Pi on the hull 2 where the suspended load is scheduled, which can be known from the detected heel angle α and trim angle β [not shown]
In order that the projection point Pij ″ of j (xij, yij, zij) on the absolute horizontal plane and the projection point of the tip of the jib 4 on the absolute horizontal plane coincide, the target values of the crane elevation angle φ and turning angle θ are In addition, the jib top position given by the elevation angle φ and the turning angle θ of the crane and the passing position on the hull 2 where the suspended load is scheduled.
The target value of the winding amount ω is also calculated from the distance from Pij,
The suspended load can pass through a specified position on the target hull.

The control means 17 described above receives a signal from the correction calculation means 22, and also the depression / elevation angle sensor 14, the turning angle sensor 15,
Using the detection value from the hoisting amount sensor 16, the hoisting and lowering device control means 26, the turning device control means 27, which commands the drive devices 23 to 25 to control the elevation angle, the turning angle, and the hoisting amount of the jib 4, respectively.
A hoisting device control means 28 is provided. In this example, the elevation drive device 23 rotates the drum 29 to rotate the wire 30.
Winch for winding or unwinding, drive device for turning 24
Is a hydraulic motor that rotates the jib 4 around the post 3 via a gear mechanism 31 including a ring gear and a pinion,
The winding driving device 25 is a winch that rotates the drum 32 to wind or unwind the wire 5.

The position detecting means 18 described above is a known detecting device, and an automatic collimation type optical distance meter or the like is used. As shown in FIG. 4, it is composed of a set of detection unit 37A and target unit 38A, and the three-dimensional coordinates of the target unit 38A viewed from the detection unit 37A are given by polar coordinates (r, ζ, ξ). To be Using these three-dimensional coordinate values, any point on the quay 33 can be converted into the coordinate system of the hull, so it is as if the suspended load is unloaded into the hold.
It is possible to drop it to 33.

The coordinate conversion can be performed by using one set of the above position detecting means and the heel angle, trim angle and turning angle of the hull, but here, as shown in FIG. 5, there are three selected positions on the hull 2. Correspondingly, three positions were selected on the quay 33, and
The case where the position detection device 18 is arranged at the corresponding three positions will be described below.

Based on the output values of the position sensors 34 to 36, the coordinate conversion calculating means 19 described above coordinates the target position (X, Y, Z) on the loading / unloading target output from the information output means 12 on the hull 2. It is converted to the system (x, y, z). The output signal from the coordinate conversion calculation means 19 and the detected values from the heel angle sensor 20 and the trim angle sensor 21 are the elevation angle, the turning angle and the wire 5 of the jib 4 in which the signals from the information output means 12 are corrected.
It is adapted to be inputted to the correction calculation means 22 for calculating the target value of the winding amount. The principle of coordinate conversion will be described below in relation to the position detecting device 18 described above.

As shown in FIG. 5, the detectors 37A, 37B and 3 are provided on the hull 2 side.
7C is present, the detection unit 37A is located at a position ly ₁ on the y axis from the origin of the coordinates (x, y, z) on the hull 2, and the detection unit 37B is located at a position lx away from the detection unit 37A on the x axis. The detector 37C is installed at a position ly ₂ away from the detector 37A on the y-axis. On the other hand, for the berth 33 to be loaded and unloaded, three positions are selected corresponding to the selected three positions on the hull 2, and the target part 38
There are A, 38B and 38C, and the target part 38A is located at a position ly ₁ on the Y axis from the origin of the above-mentioned coordinates (x, y, z) which is the origin of the coordinates (X, Y, Z) on the quay 33. The target 38B is located at a position lx away from the target section 38A on the X axis,
7C is installed at a position ly ₂ away from the target portion 37A on the Y axis.

Generally, the relationship between the two coordinate systems (x, y, z) and (X, Y, Z) can be expressed by a combination of rotational movement and parallel movement. Now, if the coordinates fixed to the hull 2 are (x, y, z) and the coordinate system fixed to the quay is (X, Y, Z), the coordinates of the point P as seen from the ship side (x, y, z) ) And the coordinates (X, Y, Z) viewed from the quay are expressed by the following equation using the transformation matrices C ₁ and C ₂ .

[Xyz] ^t = C ₁ · [XYZ] ^t + C ₂ (1) Therefore, given the transformation matrices C ₁ and C ₂ , any position on the quay 33 can be transformed into the ship's coordinate system. Therefore, the suspended load can be landed on the quay 33 as if the load was stored in the hold.

In order to obtain the transformation matrices C ₁ and C ₂ , the detection units 37A, 37B and 37C of the position sensors 34 to 36 are placed on the hull 2 side and the target units 38A, 38B and 38C are placed on the quay 33 side as shown in FIG. The case where it is provided will be described.

Detection unit 37A, 3 in the coordinate system (x, y, z) fixed on the ship side
7B, the coordinates of 37C, the detection unit 37A: is a _{(0, ly 1 + ly 2} , 0): (0, ly 1, 0) detector _{37B: (lx, ly 1,} 0) detector 37C.

The coordinates of the target part 38A, 38B, 38C in the coordinate system (X, Y, Z) fixed to the quay 33 are the target part 38A: (0,0,0) target part 38B: (lx, 0,0) Target part 38C: (0, ly ₂ , 0).

The position of the target part 38A, 38B, 38C in the coordinate system (x, y, z) of each position sensor 34-36 is calculated as follows: Target part 38A: (x ₁ , y ₁ , z ₁ ) Target part 38B: (x ₂ , y _2, z ₂₎ target section 38C: and _{(x 3, y 3, z} 3). The polar coordinates are displayed after being converted into rectangular coordinates.

The coordinate system (X, Y, Z) of each target part 38A, 38B, 38C is the hull 2.
Since it is parallel to the coordinate system (x, y, z) of, the position of each target part 38A, 38B, 38C in the coordinate system (x, y, z) of the hull 2 is 38A: (x ₁ , ly _{1 + y 1, z 1)} 38B: in _{(x 3, ly 1 + ly} 2 + y 3, z 3) ...... (2) wherein in formula (1): (lx + x 2, ly 1 + y 2, z 2) 38C The coordinate transformation is as follows.

Substituting the conditions of equations (1) and (2) into the above equation, C ₁ , C ₂
Ask for.

From the conditions of the target part 38A, From the conditions of the target part 38B, _{lx + x 2 = a · lx} + x 1 ly 1 + y 2 = d · lx + ly 1 + y 1 z 2 = g · lx + z 1 ∴ a = 1- (x 1 -x 2) / lx d = (y 2 -y 1) / lx g = (z ₂ −z ₁ ) / lx From the condition of the target section 38C, _{x 3 = b · ly 2 +} x 1 ly 1 + ly 2 + y 3 = e · ly 2 + ly 1 + y 1 z 3 = h · ly 2 + z 1 ∴ b = (x 3 -x 1) / ly 2 e = 1- From (y ₁ −y ₃ ) / ly ₂ h = (z ₃ −z ₁ ) / ly ₂ a ² + b ² + c ² = 1 From d ² + e ² + f ² = 1 From g ² + h ² + i ² = 1 As described above, the conversion matrices C ₁ and C ₂ can be obtained from the output values of the position sensors 34 to 36 and the values of the mounting positions.

The coordinate conversion calculation means 19 uses the output values of the position sensors 34 to 36 to obtain the conversion matrices C ₁ and C ₂ by the equations (3) and (4), and further the C ₁ and C ₂ and the information output means 12 Substituting the target position of the quay 33 into the equation (1), the coordinate system of the hull 2 (x, y, z)
To the correction calculation means 22. Therefore, the target position of the quay 33 can be converted into the coordinate system of the hull 2, and the heel / trim correction is added to unload the target position on the quay 33 as if unloading to a predetermined position in the hold. be able to. It should be noted that not only the quay but also the offshore loading can be loaded according to this calculation.

According to the control device for a crane with a jib having the above-described configuration, the movement of the jib 4 is corrected based on the heel angle or the like as described below, and the suspended load is moved so as to follow a predetermined position on the hull 2. Can be made. The description will be made with reference to the flowchart of FIG.

When a crane suspends a load on the hull 2, information about the passing position of the suspended load until it reaches a predetermined target position is passed from the information output means 12 to the coordinate conversion calculation means 19 to obtain a calculation device.
It is output to 13 [Step 1 of the flow chart, hereinafter S1
Etc.]. When the position P ₁₁ (x ₁₁ , y ₁₁ , z ₁₁ ) on the hull 2 through which the suspended load to be moved first should pass is output to the correction calculation means 22 and the suspended load is on the hull 2 [ In [S2], the current heel angle α and trim angle β of the hull 2 are detected by the heel angle sensor 20 and the trim angle sensor [S5] and input to the correction calculation means 22. Hull 2 as shown in FIG.
If there is no heel or trim, P from the information output means 12
₁₁ (x ₁₁ , y ₁₁ , z ₁₁ ) is not corrected by the correction calculation means 22 for the elevation angle and turning angle of the jib 4 and the winding amount of the wire 5, and P ₁₁ (x ₁₁ , y ₁₁ , z ₁₁₎ ) Corresponding to
₁₁ , θ ₁₁ , ω ₁₁ are output to the controller 17. On the other hand, the third
Even if the hull 2 is heeled or trimmed as shown in the figure, it is necessary to pass the position P ₁₁ (x ₁₁ , y ₁₁ , z ₁₁ ) to the suspended load. The elevation angle, turning angle, and winding amount for passing there are φ ₁₁ , θ
An operation is performed to modify ₁₁ and ω ₁₁ to φc ₁₁ , θc ₁₁ , and ωc ₁₁ [S6]. These correction amounts are output to the control device 17 [S7], and the elevation device control means 26 causes the elevation drive device 23.
And the drum 29 for winding the wire 30 is rotated in a desired direction by a desired amount. The turning device control means 27,
A drive command is issued to the turning drive device 24 so that the turning angle becomes the input turning angle, and the jib 4 is turned to the post 3 via the gear mechanism 31. The winding device control means 28 also issues a drive command to the winding driving device 25 so that the corrected winding amount is obtained, and the drum 32 is rotated [S8].

When the suspended load passes through the position P ₁₁ (x ₁₁ , y ₁₁ , z ₁₁ ), the information output means 12 outputs the next position P ₁₂ (x ₁₂ , y ₁₂ , z ₁₂ ), which is calculated as described above. And controlled. This is sequentially performed for n points of the passing position, and even for different suspended loads, for example, from P ₂₁ (x ₂₁ , y ₂₁ , z ₂₁ ) to P _2n (x _2n , y
The passing positions up to _2n , z _2n ) are corrected by the above calculation.

By the way, even if the crane is not located on the hull 2, that is, even if the suspended load is located on the quay 33 or another hull, if there is no change in heel, trim, or water flow in the hull 2, then the passage of the crane The position matches the position seen from the hull 2.
However, when the attitude of the hull 2 changes, for example, P ₁₄ (x ₁₄ , y ₁₄ , z ₁₄ ) output from the information output means 12 does not match the corresponding position on the quay 33. Therefore, when the position of the suspended load is outside the hull 2 [S2], the rotation angle at the follow-up part 40 at the three positions is detected by the detection parts 37 of the position sensors 34 to 36 attached to the hull 2 and the target part 38 on the quay 33. ζ, ξ and the distance r between the detection unit and the target unit are measured [S3].
As a result, three-dimensional coordinates of the target parts 38A, 38B, 38C are given, and those values are input to the coordinate conversion calculation means 19. In this coordinate conversion calculation means 19, information output means
The current position on the quay 33 output from 12 is converted into the coordinate system of the hull 2 [S4]. Based on this converted value and the detected values [S5] from the heel angle sensor 20 and the trim angle sensor 21, the signal from the information output means 12 is used to correct the influence of heel / trim by the correction calculation means 22. Angle, turning angle, and wire winding amount are converted into target values [S6
7. After that, similarly to S7 and S8 described above, the detection values from the depression / elevation angle sensor 14, the turning angle sensor 15, and the winding amount sensor 16 are used to determine the depression / elevation angle of the jib, the turning angle, and the winding amount of the wire in each drive device. It is commanded to control and unloads the suspended load to the final target position on the quay 33. In this way, the suspended load can be moved between the hull and the unloading target by following the planned trajectory to the target position [S9].

[Brief description of drawings]

FIG. 1 is a control system diagram of a control device for a crane with a jib according to the present invention, FIG. 2 is a schematic diagram of a crane with a jib to which the present invention is applied, and FIG. 3 is a hull with a heel trim and a posture of a crane. FIG. 4 is a state diagram showing the relationship with the passing position of the suspended load, FIG. 4 is an example of the mounting state of the position detecting means, FIG. 5 is a layout of the position detecting means, FIG. 6 is a flow chart of the crane operation by the controller, FIG. FIG. 7 is a state diagram showing the relationship between the posture of a hull without a heel trim and the crane, and the passing position of the suspended load. 2 ... Hull, 4 ... Jib, 5 ... Wire, 12 ... Information output means, 14 ... Depression angle sensor (depression angle detection means), 15 ...
... Turning angle sensor (turning angle detecting means), 16 ... Winding amount sensor (winding amount detecting means), 17 ... Drive device, 18 (34-
36) ... position sensor (position detecting means), 19 ... coordinate conversion calculating means, 20 ... heel angle sensor (heel angle detecting means), 21 ... trim angle sensor (trim angle detecting means), 22
...... Correction calculation means, 26 ...... Depression device control means, 27 ...... Turning device control means, 28 …… Rolling device control means, α …… Heel angle, β …… Trim angle, φ …… Depression elevation angle, θ… … Turning angle, ω …… Winding amount.

Claims (1)

[Claims] 1. A heel angle detection for detecting the heel angle of a hull in a crane with a jib for a ship, wherein a load is suspended from the end of a wire fed from a jib, and the jib is lifted and swung to move the suspended load. Means, trim angle detection means to detect trim angle, depression / elevation angle of jib, rotation angle and depression / elevation angle detection means to detect winding angle and winding amount of wire, swing angle detection means, and winding amount detection means are installed. Information output means for storing information and sequentially outputting the information is provided, and position detection means for detecting the relative position between the hull and the loading / unloading target outside the hull is arranged, and the output value of the position detection means is displayed. Originally, coordinate conversion calculation means for converting the target position on the unloading target output from the information output means into the coordinate system of the hull is provided, and the output from this coordinate conversion calculation means is provided. Based on the detected values from the signal and the heel angle detecting means and the trim angle detection means,
A correction calculation unit is provided for calculating a target value of the depression / elevation angle of the jib, the turning angle, and the winding amount of the wire in which the signal from the information output unit is corrected for the influence of the heel / trim, and the target value from the correction calculation unit is provided. In addition to receiving the signal, the detection values from the depression / elevation angle detection means, the turning angle detection means, and the winding amount detection means are used to control and command the depression / elevation angle of the jib, the turning angle, and the winding amount of the wire to each drive device. A device control means, a turning device control means, and a hoisting device control means are provided so that the suspended load can be moved between the hull and the unloading target by following a planned trajectory to the target position. Control device for crane with jib.