JPH08143274A - Automatic operation method of crane - Google Patents

Abstract

PURPOSE: To realize automatic transfer and also fine adjustment operation by the remote control of a slinging worker by conducting automatic operation to carry out transfer to a stock place and an installing position, conducting slinging, load arrival and installation by the wireless control operation of the worker. CONSTITUTION: A wireless control device 4 is also used as a transmitting device for a crane 3 retrieving a member installation position 1, and this transmitting electric wave is detected by means of wireless electric field intensity detecting antennas 5a provided around the crane 3, and by this, the member installation position 1 is specified. Also, a slinging worker B is positioned at a stock position 2, and by means of a carried wireless control device 6, the remote control operation of the crane 3 is conducted. After changeover to a receiver 19, fine adjustment operation is conducted by means of remote control operation by means of the wireless control device 6 carried by the slinging worker B on standby at the stock position 2, and slinging by a helping hand is conducted.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a crane equipped with an automatic operation function, in which a stock position and a member installation position are automatically moved to perform slinging work and loading / installing work requiring fine operation. The present invention relates to a method of automatically operating a crane that can be wirelessly operated by a sling operator.

[0002]

2. Description of the Related Art Generally, in a crane work such as a tower crane, an image picked up by a television camera provided at the tip of a boom is displayed on a monitor TV provided near a driver's seat.
A wireless call is carried out between the slinging sling worker and the crane operator, and the crane operator operates according to the instruction. However, recently, along with the development of automatic piloting technology, it has become possible to automate driving, but there are the following problems in automation.

[0003]

First, from the flow of work, the machine itself cannot be operated unless it is decided where to carry what from where. Further, even in the manual operation, fine control is performed by guiding a slinging worker who stands by at the stock position and the member installation position, and the automatic piloting requires a guiding operation by the worker.

However, with regard to the former problem, which member should be carried from where if the member installation location is specified by determining the stock position of the installed member and utilizing the process control data. I can judge. For the latter problem, the slinging workers themselves can perform remote control.

The present invention has been made based on the above-mentioned points of view, and its purpose is to recognize the necessary member and its installation position by detecting from which installation position the transmission is made, and based on this, It provides an automatic operation method of a crane that can automatically transfer the necessary parts from its stock position to the installation position, and at the stock position and installation position, allows fine adjustment operation by remote control of a slinging worker. is there.

[0006]

In order to achieve the above-mentioned object, the method of the present invention is a detection means for detecting the member installation position by transmitting a signal from a slinging worker located at the member installation position, and the detection means. Means for retrieving a necessary member at a corresponding position, means for retrieving a stock location of a required material, and a crane tip based on the retrieval result of each retrieving means from the current crane position to the designated stock location and Equipped with automatic driving means for moving to the installation position and switching means for switching between the automatic driving means and remote control by radio, and the slinging of the necessary members is completed by the radio control operation of the slinging worker located at the stock location. At that point, the crane is automatically moved to the member installation position, and then the member is loaded and installed by the radio control operation of the slinging worker. It is characterized in that to perform.

[0007]

According to the above construction, when the member installation position is determined by the signal transmission, the corresponding member and stock position are searched, and based on this result, the crane moves to the stock position by automatic operation and moves to this position. After the stop, the sling operator slings the members by remote control, and after the sling is finished, the sling members are automatically moved and stopped at the member installation position, and then the sling worker is remotely controlled to load and install.

[0008]

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

FIG. 1 is a conceptual diagram showing an automatic operation method of a crane according to the present invention, in which a crane 3 is located between a member installation position 1 of a building and a member stock position 2 on the ground, and the member installation position is shown. The boom 3a and the wire 3b of the crane 3 are remotely adjusted by the radio control device 4 carried by the worker A located at 1. The radio control unit 4 also serves as a transmitter for the crane 3 to search for the member installation position 1, and the transmitted electric wave is detected by a wireless electric field strength detecting antenna 5a provided around the crane 3 to detect the member installation position. 1 is specified.

Further, a slinging worker B is located at the stock position 2 so that a remote control operation of the crane 3 can be performed by a portable radio control device 6 in the same manner as described above.

FIG. 2 is a block diagram showing the electrical construction of the automatic piloting system for the crane 3, in which the antenna 5 is used.
a radio wave transmission position confirmation device 5 that searches for a radio wave transmission position according to the electric field strength received by a, a first storage unit 7 that stores process control data, a second storage unit 8 that stores a member stock position, and Data is calculated and a necessary moving amount is calculated, the proportional control devices 10, 11 and 12 are driven through the switching device 9, and the swing drive part 14, the tilt drive part 15 of the crane 3 linked to the proportional control devices 10, 11 and 12 are connected. A CPU 18 for automatically operating the wire feeding drive unit 16 is provided.

A receiver 19 for receiving radio waves from the radio control devices 4 and 6 is connected to the switching device 9, and C
The proportional control devices 10 to 12 are driven according to the received radio waves by a switching command from the PU 18.

The radio control devices 4 and 6 are multi-channel control devices driven by weak radio waves, and the proportional control devices 10, 11 and 12 through the receiver 19 by stick operation.
In addition to the function of finely adjusting the turning drive unit 14, the tilting drive unit 15 and the wire feeding drive unit 16 by proportionally controlling the above, the above-mentioned calling and termination of work are provided.

FIG. 3 is a flow chart showing the operation procedure of the above-mentioned automatic control system. At first, the boom 3a of the crane 3 is stopped at any standby position (x0, y0, z0), and the sling worker A By the transmission of a signal from the radio control device 4 by, the radio wave is received by the confirmation device 5 via the antenna 5a, and from the electric field strength and the emission direction,
The floor of the building and the location of the member installation position 1 are detected (steps 1 to 3).

The CPU 18 retrieves the detected member installation position 1 and the contents of the process control data in the first storage unit 7 and searches for a member (beam in FIG. 1) to be supplied to the member installation position 1 and confirms it. After that, the stock position data stored in the second storage unit 8 is collated to search where the relevant member is stocked and confirmed (steps 4 to 4).
6).

Based on this result, the CPU 18 determines from the current coordinate position of the beam 3a to the coordinate (x1,
y1 and z1), the turning amount and the tilting amount of the beam 3a are calculated, and a control amount corresponding to the calculation result is given to the proportional control devices 10, 11, and 12, whereby the turning device 14,
The tilting device 15 and the wire feeding device 16 are driven, and when the coordinate values of the beam 3a coincide with the stock position 2, the respective devices are stopped and the switching device 9 is switched to the receiver 19 side (steps 7 to 11).

After switching to the receiver 19, a fine adjustment operation is performed by a remote control operation by a radio control device 6 carried by a slinging worker B standing by at the stock position 2, and slinging is performed manually. (Step 12).

Then, when the signal of the end of the sling is transmitted,
The CPU 18 switches the switching device 9 to the automatic operation side, and according to the difference between the coordinate of the beam 3a at the end of the switching device 9 and the coordinate (x2, y2, z2) of the member installation position 1, the turning amount and tilting of the beam 3a. The amount is calculated, and a control amount corresponding to the calculation result is given to the proportional control devices 10, 11, 12 in the same manner as described above, and thereby the swivel device 14, the tilting device 15, and the wire feeding device 16 are driven, and the beam 3a is controlled. If the coordinate values match the member installation position 1, each device is stopped and the switching device 9 is switched to the receiver 19 side again (step 13).
~ 19).

In this state, when the operator A carries the remote control operation by the radio control unit 4 carried by the operator A, the fine adjustment operation is performed for loading and installation, and when the signal of this end is transmitted,
The CPU 18 rewrites the process control data stored in the first storage unit 7 based on the content of the work already performed, returns the switching device to the automatic operation side again, and moves the crane beam 4 to the original standby position. (Step 20-
24) Then, again as shown in step 1, stop at this position until a call is made.

In order to further simplify the above work, the slinging worker A oscillates the member installation position 1 and at the same time informs the slinging worker B, who is in the stock position, of the necessary member names and dimensions. It is desirable to keep.

In the automatic operation mode, the safest and most efficient operation can be performed by incorporating programs for optimum turning speed, optimum tilting speed, movement path, and wire runout prevention.

[0022]

As described above in detail with reference to the embodiments, in the automatic crane operating method according to the present invention, when the member installation position is determined by the signal transmission, the corresponding member and its stock position are determined. Based on the search result, the crane moves to the stock position by automatic operation, and after stopping at this position, the slinging of the member is performed by the sling operator's remote control, and after the slinging ends, the crane automatically moves and stops at the member installation position. After that, since it can be loaded and installed by remote control by a slinging worker, most of the movement can be performed automatically, and there is an advantage that the operating speed and movement route can be optimized, and at the stock position or member installation position, Instead of relying on communication with the crane operator as in the past, the sled workers who need the position adjustments most need Work efficiency at the rigging position since it is finely adjusted crane can also be greatly improved.

[Brief description of drawings]

FIG. 1 is a conceptual diagram showing an automatic operation method for a crane according to the present invention.

FIG. 2 is a block diagram showing an electrical configuration of an automatic piloting system for the crane.

FIG. 3 is a flowchart showing an operation procedure of the automatic pilot system.

[Explanation of symbols]

 1 member mounting position 2 stock position 3 crane 3a beam 3b wire 4,6 radio control device 5 radio wave transmission position confirmation device (member installation position detection means) 7 process control data storage unit 8 stock position storage unit 9 switching device 18 CPU ( Automatic driving means) 19 Receiver A, B sling worker

Claims (1)

[Claims] 1. A detection means for detecting the member installation position by transmitting a signal from a slinging worker located at the member installation position, a means for searching for a necessary member at the corresponding position by the detection of the detection means, and a necessary means. Means for searching the stock location of the member, automatic operation means for automatically moving the crane tip from the current crane position to the specified stock location and installation position based on the search result of each search means, Equipped with a switching means for switching between automatic driving means and remote control by wireless, when the slinging of the necessary members is completed by the wireless control operation of the sling worker located at the stock location, the crane is automatically moved to the member installation position. Automatic operation method of a crane, characterized in that the member is loaded and installed by a radio control operation of a slinging worker after being moved to .