JPH08165090A - Crane controller - Google Patents

Abstract

PURPOSE: To prevent a radio wave passage from being shutdown by predicting an intersection in an access to the radio wave passage of a crane. CONSTITUTION: A radio wave passage information holding part 81 holds positioning information on a radio passage 20 near a building 1. A status decision processing part 54 decides the status of a crane 4 at that point based on the operation of the crane 4. Based the positioning information on the radio wave passage 20 and the determined status of the crane 4, a detection processing part 56 detects that the crane 4 has approached the radio wave passage 20. Based on the detected results, a crane controller 50 controls the crane 4 and prevents the radio wave passage 20 from being shut down.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a crane controller, and more particularly to a crane controller for controlling a crane used in high-rise building construction in consideration of a radio wave path.

[0002]

2. Description of the Related Art Recently, as the buildings to be built have become higher in height, the cranes used have become larger, and the cranes have arm lengths of 20 m to 50 m.
For this reason, when the construction site construction progresses and approaches the top floor, the tip of the crane or a metal structure in the middle of the crane may block the radio wave path.

Examples of this radio wave path include NTT (Nippon Telegraph and Telephone Corporation), NCC (new telecommunications carrier),
Microwave band used by broadcasting companies (4,5, 6, 7,
The paths of radio waves of 11, 14, 20 GHz, etc.) are typical, and it is the most important thing to be careful when building a building that the crane does not block these paths.

Radio waves in the microwave band are generally transmitted and received using a parabolic antenna having a diameter of 3 m to 5 m, and the shape of the passage is a linear beam connecting between the transmitting and receiving parabolic antennas. Has become. When an object that shields radio waves, such as a metal structure such as a crane, enters this beam, the electric field strength at the receiving antenna decreases. As a result, the line is disconnected, or an alarm is generated even if the line is not disconnected.

[0005]

As described above, since it is necessary to avoid blocking the radio wave passage due to the construction of a building, it is necessary to know the range from which the obstacle caused by the crane will occur before operating the crane. (Operation) is necessary.
That is, it is necessary to recognize the position of the radio wave passage and prevent the crane jib or the like from entering the radio wave passage. But,
Since the radio wave passage cannot be visually recognized, it is actually impossible for the crane operator (operator) to recognize the radio wave passage during operation and avoid the interruption.

On the other hand, at present, there is no control means for recognizing the presence of the radio wave passage and automatically controlling the crane in order to prevent the jib of the crane from entering the radio wave passage. However, considering that the beams in the microwave band of radio waves are densely propagating in large cities such as Tokyo and Osaka, and that the trend of skyscrapers in cities will become more intense in the future,
Such control means is essential.

Further, due to the development of satellite communication, a large number of small earth stations (VSAT) will be installed, but it is necessary to consider this satellite beam in the same way as a microwave band beam when building a building.

An object of the present invention is to provide a crane controller for automatically controlling a crane in consideration of a radio wave path. It is another object of the present invention to provide a crane control device capable of preventing the occurrence of radio wave interference by avoiding the blockage of the radio wave passage by the crane.

Another object of the present invention is to provide a crane controller for detecting an approaching intersection between a crane and a radio wave passage. A further object of the present invention is to provide a crane control device for displaying the positional relationship between the crane and the radio wave passage to the operator.

[0010]

FIG. 1 is a block diagram showing the principle of the present invention, showing the structure of a crane controller according to the present invention.

In FIG. 1, a crane controller 50 controls a crane 4 used for constructing a building 1. The crane control device 50 includes a radio wave path information holding unit 81 that holds position information about the radio wave path 20 near the building 1.
And a state determination processing unit 54 that determines the state of the crane 4 at that time based on the operation of the crane 4, and the radio wave passage 2
The detection processing unit 56 that detects that the crane 4 is approaching the radio wave passage 20 based on the position information about 0 and the state of the crane 4 determined by the state determination processing unit 54.
With.

[0012]

According to the present invention, during the construction of the building 1,
The state of the crane 4 is always determined and grasped in real time by the state determination processing unit 54 based on its actual operation. Then, by using the latest state of the crane 4 obtained by the state determination processing unit 54 and the position information of the radio wave passage 20 held by the radio wave passage information holding unit 81, the detection processing unit 5 is performed.
When the crane 4 approaches the radio wave path 20, 6 detects the approach before a failure such as blocking of the crane 4 occurs.

Therefore, according to the crane control device 50 of the present invention, it is possible to detect the approach of the crane 4 to the radio wave passage 20 in advance and control the crane 4, and to prevent the crane 4 from blocking the radio wave passage 20 in advance. It can be avoided to prevent the occurrence of radio interference. Further, since such control is automatically performed as necessary and is not control based on the experience of the operator or the like, it is possible to reliably detect the approach of the crane 4 to the radio wave passage 20 and avoid blocking of the radio wave passage 20. be able to.

As a result, even if the height of the building 1 is increased and the size of the crane 4 is increased, the radio wave passage 20 by the crane 4 is increased.
Can be avoided. Further, even if the building 1 in a large city such as Tokyo or Osaka where the beam of the microwave band radio wave passage 20 is densely propagated is increased in height, it is possible to avoid blocking the radio wave passage 20 by the crane 4.

[0015]

EXAMPLES Before explaining the details of the examples, an outline of the construction work of the building 1 using the crane 4 is shown in FIG.
Will be explained.

In FIG. 2, a building body 1 which is a building 1.
A crane (tower crane) is used as a part of the building frame 2 of A.
The mast bottom 3 of 4 is fixed. A crane body 4A is installed on the top of the mast bottom 3. A control room 5 is provided in the crane body 4A. The operator of the crane 4 operates the crane 4 from within the control room 5. A crane controller 50 according to the present invention is provided in the control room 5.

The crane main body 4A is a jib crane, and has a jib (arm or arm of hoist) 6, electric motor (motor) 7, hoisting wire 8, wire tip portion (luggage portion) 9, crane rotating portions 10 and 11, It is composed of 12 parts. The length of the jib 6 is, for example, 10 m to 50 m. The operation of the crane 4 is performed in a known manner. That is,
The jib 6 is raised and lowered by the electric motor 7 and turned by the crane rotating part 10. At the same time, the winding wire 8 stretched along the jib 6 (correctly, the crane rotating parts 11 and 12) is wound up / down by the electric motor 7. As a result, the luggage is attached to the wire tip portion 9 and the ground line (ground surface) 23 to the building body 1
Carry on A.

The upper part of such a high-rise building body 1A is
As shown in FIG. 2, the radio wave passage 20 may pass through. The radio wave passage 20 (its beam) is composed of a cylindrical radio wave passage center portion 21 having a diameter of about 3 m to 5 mφ, and a hollow cylindrical radio wave passage peripheral portion 22 around it. In this specification, the central portion of the radio wave passage 21 is the main body of the radio wave passage 20, and when an obstacle such as the crane 4 invades, a portion where the transmission of information in the radio wave band is obstructed or the electric field strength is large. The electric wave passage peripheral portion 22 means 10 dB to 20 d from the electric field strength of the outer periphery of the electric wave passage central portion 21.
Only the part where the electric field strength is decreased by B is referred to.

As can be seen from FIG. 2, the jib 6, the wire 8 and the wire tip portion 9 of the crane 4 may cross the radio wave path 20 depending on the movement thereof. At this time, if the jib 6 or the like enters the central portion 21 of the radio wave path, the electric field strength received by the antenna is lowered, and a signal interruption occurs.
Since the microwave line has a large capacity, if a momentary interruption occurs, this will cause noise on the analog line and loss of synchronization or burst errors on the digital line. Therefore, the jib 6 or the like should not enter the central portion 21 of the radio wave path because it seriously impairs the line quality.

Therefore, in the present invention, when the jib 6 or the like approaches or crosses the radio wave passage peripheral portion 22, it is automatically detected to generate an alarm or the like, and the radio wave passage 20, particularly the radio wave is generated. The crane 4 is automatically controlled so as to avoid the entry of the jib 6 or the like into the center 21 of the passage. Such control is executed by the crane controller 50. The crane controller 50 is composed of, for example, a personal computer or a workstation.

For convenience of explanation, FIG. 2 shows a state in which the wire 8 of the crane 4 penetrates deeply into the radio wave passage 20, but according to the present invention, such a state may occur in advance. Needless to say, it can be prevented. This also applies to FIG. 14 and the like below.

FIG. 3 is a block diagram of the embodiment, and shows the configuration of the crane controller 50 of FIG. In FIG. 3, the crane control device 50 includes a control processing unit 51, a display device 52, and a file 53. These are provided in the control room 5.

The control processing section 51 comprises, for example, a CPU (central processing unit) of a personal computer and a crane control processing program stored in the memory of the personal computer. The control processing unit 51 includes a state determination processing unit 54, a display processing unit 55, a detection processing unit 56, and a control signal formation processing unit 57.

The display device 52 is, for example, a CRT,
The operator operating the crane 4 in the control room 5 is displayed with various information necessary for the operation. In this embodiment, the positional relationship between the crane 4 and the radio wave passage 20 is displayed three-dimensionally, and a warning is displayed when the crane 4 approaches the radio wave passage 20. In addition to the display on the display device 52, it is desirable that this warning be performed by issuing a warning sound such as a buzzer and / or blinking light.

The file 53 comprises, for example, an auxiliary storage device (magnetic disk device) of a personal computer,
It is used to store various data and a predetermined area thereof is used as the radio wave path information holding unit 81.

The position information of the radio wave passage 20 is, for example, the position of the radio wave passage 20 represented by (x, y, z) coordinates. Among these, the x-coordinate and the z-coordinate are the x direction (for example, north-south direction) from this point on the basis of a predetermined point.
And the z direction (for example, the east-west direction), and the y coordinate represents the height from the ground surface (ground line 23) as a reference.

Apart from these, the crane controller 50
Includes rotary encoders 31, 33 and 35 as signal input means for inputting various signals indicating the state of the crane 4 to the crane controller 50. The rotary encoders 31, 33, and 35 are attached to the jib angle drive motor 30, the turning angle drive motor 32, and the wire length control drive motor 34, which will be described later, respectively, and are provided at predetermined positions outside the control room 5. . The rotary encoder 31 or the like mechanically detects and holds the mechanical rotation (displacement) amount of the corresponding jib angle drive motor 30 or the like,
The held displacement amount is converted into an electric signal corresponding thereto and output. The jib angle drive motor 30, the turning angle drive motor 32, and the wire length control drive motor 34 are collectively shown as the motor 7 in FIG. 2.

The state determination processing unit 54 always determines the state of the crane 4 at that time in real time based on the actual operation of the crane 4. For this purpose, the state determination processing unit 54 takes in the outputs of the rotary encoders 31, 33, 35 and the like and performs a predetermined process. As a result, the state determination processing unit 54 obtains the jib angle θ, the turning angle φ, the wire length L, and the like as the state indicators indicating the state of the crane 4, and writes these in a predetermined area of the file 53 at one time.

The display processing unit 55 includes a radio wave path information holding unit 8
The positional relationship between the crane 4 and the radio wave passage 20 is displayed on the display device 52 based on the position information about the radio wave passage 20 in 1 and the state of the crane 4 determined by the state determination processing unit 54. Here, as the determined state of the crane 4, the value written in the file 53 by the state determination processing unit 54 is used. The value written in the file 53 is updated in real time by the state determination processing unit 54, and is always a value indicating the latest state of the crane 4. Therefore, the display device 52 always displays the latest positional relationship between the crane 4 and the radio wave passage 20 in real time.

The detection processing unit 56 includes a radio wave path information holding unit 8
It is detected that the crane 4 is approaching the radio wave passage 20 based on the position information about the radio wave passage 20 in 1 and the state of the crane 4 determined by the state determination processing unit 54. Here, as the determined state of the crane 4, a value that is updated in real time in the file 53 and always indicates the latest state of the crane 4 is used, as in the above-described display process. Therefore, the detection processing unit 56 always detects the approach based on the latest positional relationship between the crane 4 and the radio wave passage 20.

The detection processing unit 56 also detects that the crane 4 intersects the radio wave passage 20. However, even in this case, it is necessary to avoid the crane 4 from crossing the radio wave passage central portion 21. Therefore, when the crane 4 crosses the radio wave passage peripheral portion 22, the crane 4 should not be crossed.
It is automatically detected as an intersection with 0, and the center of the passage 2
Avoid the invasion of the crane 4 into 1. That is, the intersection with the radio wave passage peripheral portion 22 is grasped as an emergency state where the degree of the approach to the radio wave passage central portion 21 which should be originally prevented is the highest, and is distinguished from the approach to the radio wave passage peripheral portion 22. To be done.

The control signal formation processing unit 57 includes the detection processing unit 5
6, when it is detected that the crane 4 is approaching the radio wave passage 20, the crane 4 is controlled so as not to enter the radio wave passage 20 under the control of the control processing unit 51 notified of the detection result. It forms various control signals for controlling. These control signals are transmitted to the jib angle drive motor 30,
It is supplied to the turning angle drive motor 32 and the wire length control drive motor 33 to control them. Thereby, the control processing unit 51 controls the crane 4 so as not to enter the radio wave passage 20.

Next, parameters for determining the state of the crane 4, which is a prerequisite for determining the state of the crane 4, will be described with reference to FIG. Since the mast bottom 3 of the crane 4 is fixed to the building frame 2 of the building body 1, as shown in FIG. 4, the crane 4 is in the state of the jib 6 and the state of the wire tip 9, especially the jib 6 It can be determined by the length from the tip of the wire to the wire tip 9. The state of the jib 6 can be determined by an angle (jib angle) θ formed by the jib 6 with the ground line 23 (see FIG. 2) and an angle (turning angle) φ formed by the jib 6 with the true north. The jib angle θ defines the undulating state of the jib 6. The turning angle φ defines the turning state of the jib 6. The length from the tip of the jib 6 to the wire tip 9 can be determined by the stretched amount of the wire 8 (wire length L).

Therefore, the first rotary encoder 31
Is attached to the jib angle drive motor 30 of the crane 4, as shown in FIG. The jib angle drive motor 30 raises and lowers the jib 6. That is, the jib 6 is driven in the vertical direction (y direction or θ direction). Jib angle drive motor 30 is jib 6
The jib angle θ can be obtained by obtaining the amount of rotation for driving the vertical direction by the rotary encoder 31 and performing a predetermined calculation.

The second rotary encoder 33 is shown in FIG.
The crane 4 is attached to the turning angle drive motor 32 as shown in FIG. The turning angle drive motor 32 turns the jib 6. That is, the crane rotating part 1 to which the jib 6 is attached
Rotate 0 clockwise. The crane rotating unit 10 is a rotating machine base attached to the upper end of the mast bottom 3. The turning angle φ can be obtained by obtaining the amount of rotation of the turning angle drive motor 32 for turning the jib 6 in the clockwise direction by the rotary encoder 33 and performing a predetermined calculation.

Thus, the state of the jib 6 can be determined by obtaining the jib angle θ and the turning angle φ. That is, since the fixed position and length of the jib 6 can be obtained in advance, by converting the spherical coordinates (θ, φ) representing the position of the tip of the jib 6 into (x, y, z) coordinates. , The position of the tip of the jib 6 can be specified and represented by (x, y, z) coordinates.

The third rotary encoder 35 is shown in FIG.
As shown in FIG. 5, the crane 4 is attached to the drive motor 34 for controlling the wire length. The wire length control drive motor 34 adjusts the length of the hoisting wire 8 stretched along the jib 6 (more precisely, the crane rotating parts 11 and 12). The crane rotating parts 11 and 12 are pulleys for hanging and winding the wire 8. The state of the wire tip 9, especially the jib 6
The length from the tip to the wire tip 9 (that is, the height from the ground line 23 to the wire tip 9) is defined by the wire length L. The rotary encoder 35 determines the amount of rotation of the wire length control drive motor 34 in order to extend the wire 8 from the winding drum (not shown) by the wire length L, and if a predetermined calculation is performed, the jib 6
The length from the tip of the wire to the wire tip 9 can be obtained. Then, considering the position coordinates (x, y, z) of the tip of the jib 6 previously obtained, the height (y coordinate) from the ground line 23 to the wire tip 9 can be obtained.

As described above, in this embodiment, the rotary encoder 31 or the like is used as the state index input means for determining the state of the crane 4. Thereby, the mechanical rotation of the jib angle drive motor 30 or the like can be converted into an electric signal with high accuracy, reliability and reproducibility.

In this embodiment, although not shown, an appropriately selected gear is interposed between the rotary shaft of the jib angle drive motor 30 or the like and the rotary shaft of the rotary encoder 31 or the like. That is, a gear having an appropriate gear ratio is attached to both rotary shafts, the rotational speed of the jib angle drive motor 30 or the like is reduced at an appropriate reduction ratio, and then input to the rotary encoder 31 or the like. As a result, the detection accuracy of parameters such as the jib angle θ can be improved, and the accumulation of detection errors of the state index such as the jib angle θ can be suppressed. Therefore, it is possible to further improve the accuracy, reliability, and reproducibility of detecting the state index.

Further, in this embodiment, by selecting an appropriate gear ratio (reduction ratio), an electric signal with high detection accuracy, which has not been obtained in the past, can be obtained. As a result, the position of the jib 6 of the crane 4 and the positional relationship between the jib 6 and the radio wave passage 20 can be accurately grasped, and the occurrence of obstacles in the radio wave passage 20 can be reliably prevented.

Next, the state determination processing section 54 will be described with reference to FIG. As shown in FIG. 5, the state determination processing unit 54 includes a jib angle processing unit 61, a turning angle processing unit 62, a wire length processing unit 63, a correction processing unit 64, and a load detection processing unit 65.
Is provided. Each of these processing units 61 to 65 is composed of a subroutine program called from the state determination processing unit 54.

The file 53 includes a jib angle table 71,
A turning angle parameter 72, a wire length table 73, a correction table 74, and a load parameter 75 are provided. These are provided in a predetermined area in the file 53 corresponding to the respective processing units 61 to 65 as illustrated. For this reason, the file 53 is divided into a plurality of predetermined areas in advance, as indicated by the dotted line in the figure. These tables and parameters 71 to 75 are created in the initial setting process by the corresponding processing units 61 to 65, respectively.

Corresponding to each table and each of the parameters 71 to 75, the respective state index storage sections 71A to 75A are provided in the file 53. Each state index storage unit 71A
To 75A are corresponding tables and parameters 71
The state indexes such as the jib angle θ obtained by referring to each of Nos. To 75 are stored. The status indexes such as the jib angle θ stored in the status index storage sections 71A to 75A are updated in real time in the status determination processing by the corresponding processing sections 61 to 65, respectively.

Separately from this, the file 53 includes a radio wave path information holding unit 81, an operating environment holding unit 82, and an operating condition holding unit 83. The operating environment holding unit 82 stores operating environment information about the crane 4. As the operating environment information, information about the construction site (shape, position, etc.), surrounding buildings (distance, height, etc.), the building under construction (current height, etc.), etc. is stored. It Operating condition holding unit 8
3 stores operating condition information about the crane 4.
As the operating condition information, luggage (limited weight, length, etc.), operating radius (range within which the operation of the crane 4 is permitted due to safety etc.), etc. are stored. This information is (x,
It is expressed using y, z) coordinates.

The respective data held by the radio wave path information holding unit 81, the operating environment holding unit 82, and the operating condition holding unit 83 are background data for displaying the state of the crane 4 on the display device 52. Also, these are data that do not need to be grasped in real time, unlike the state of the crane 4,
Data to be processed by the state determination processing unit 54 (state index stored in each state index storage unit 71A to 75A)
Is distinguished from.

When the control is passed from the control processing unit 51, the state determination processing unit 54 executes the initial setting process when the operation of the crane 4 is started, and during the operation of the crane 4, the state determination processing unit 54 State determination processing for always determining the state in real time is executed. In the initial setting process, the state determination processing unit 54 causes the processing units 61 to 6 to perform processing.
5 calls a subroutine program, and each table and parameters 71 for determining the crane state are called.
Request creation of Nos. 75 to 75. In the state determination process, the state determination processing unit 54 calls each of the processing units 61 to 65 and requests it to update each state index (state index storage units 71A to 75A) for determining the crane state.

The jib angle processing unit 61 creates the jib angle table 71 when called by the state determination processing unit 54 in the initial setting process. The jib angle table 71, as shown in FIG.
The jib angle θ is stored corresponding to.

In order to execute such an initialization process, the jib 6 is operated once or a plurality of times in the entire vertical range (θ direction) in which the crane 4 can be operated at the start of operation of the crane 4. When the jib angle drive motor 30 is driven, the output E1 of the rotary encoder 31 is correspondingly changed.
Changes, and the jib angle θ also changes. Therefore, the operator operates the jib 6 at appropriate intervals, and the jib angle θ at that time is set.
Is measured and input to the jib angle processing unit 61. On the other hand, the jib angle processing unit 61 takes in the output E1 of the rotary encoder 31 at that time and writes the output E1 and the corresponding jib angle θ in the jib angle table 71.

Further, the jib angle processing unit 61, when called from the state determination processing unit 54 in the state determination process, takes in the output E1 of the rotary encoder 31 at that time and uses this value to make the jib angle table 71. refer. Then, the jib angle θ corresponding to the output E1 is read from the jib angle table 71, and the state index storage unit 71A
To be stored. As a result, the state of the crane 4 can be determined in real time by using the jib angle θ corresponding to the output E1 of the rotary encoder 31 at that time.

The turning angle processing unit 62 creates the turning angle parameter 72 when called from the state determination processing unit 54 in the initial setting processing. Turning angle parameter 72
Has the same configuration as the jib angle table 71, and stores the turning angle φ corresponding to the output E2 of the rotary encoder 33.

In order to carry out such an initial setting process, when the crane 4 starts to operate, the jib 6 is operated once or a plurality of times in the entire range of its operable rotation direction (φ direction). When the turning angle drive motor 32 is driven, the output E2 of the rotary encoder 33 is correspondingly changed.
Changes, and the turning angle φ also changes. Therefore, the operator operates the jib 6 at an appropriate interval, and the turning angle φ at that time is changed.
Is measured and input to the turning angle processing unit 62. On the other hand, the turning angle processing unit 62 takes in the output E2 of the rotary encoder 33 at that time and writes the output E2 and the turning angle φ corresponding thereto into the turning angle parameter 72.

Further, the turning angle processing unit 62, when called by the state determining processing unit 54 in the state determining process, takes in the output E2 of the rotary encoder 31 at that time and uses this value to set the turning angle parameter 72. refer. Then, the turning angle φ corresponding to the output E2 is read from the turning angle parameter 72, and the state index storage unit 72 is read.
Store in A. As a result, the state of the crane 4 can be determined in real time using the turning angle φ corresponding to the output E2 of the rotary encoder 33 at that time.

The wire length processing unit 63 creates the wire length table 73 when called from the state determination processing unit 54 in the initial setting processing. The wire length table 73 has the same configuration as the jib angle table 71, and stores the wire length L corresponding to the output E3 of the rotary encoder 35.

In order to execute such an initialization process, the wire 8 is operated once or a plurality of times in the entire range in which the wire 8 can be wound / wound when the operation of the crane 4 is started. When the wire length control drive motor 34 is driven, the output E of the rotary encoder 35 is correspondingly generated.
3 changes, and the wire length L also changes. Therefore, the operator changes the wire length L at appropriate intervals, measures the wire length L at that time, and inputs it to the wire length processing unit 63. On the other hand, the wire length processing unit 63 takes in the output E3 of the rotary encoder 35 at that time and writes the output E3 and the wire length L corresponding thereto into the wire length table 73.

When called by the state determination processing unit 54 in the state determination processing, the wire length processing unit 63 takes in the output E3 of the rotary encoder 35 at that time and uses this value to generate the wire length table 73. refer. Then, the wire length L corresponding to this output E3 is read from the wire length table 73, and the state index storage unit 73A
To be stored. Thus, using the wire length L corresponding to the output E3 of the rotary encoder 35 at that time,
The state of the crane 4 can be determined in real time.

The correction processing section 64 creates the correction table 74 when called from the state determination processing section 54 in the initial setting processing. As shown in FIG. 5, the correction table 74 stores correction values corresponding to the outputs E1 and E3 of the rotary encoder 31.

Such a correction value is obtained by the crane 4 using the jib 6
It is necessary to provide a mechanism for keeping the position of the wire tip 9 at substantially the same height even if the jib angle θ of is changed. When the operator uses this function, the wire length L changes in accordance with the change in the jib angle θ of the jib 6 in order to keep the position of the wire tip 9 at substantially the same height. Therefore, in order to correct the wire length L corresponding to the jib angle θ when this function is used, the variation in the jib angle θ and the position of the wire tip 9 is actually measured and corrected at the stage of the initial setting process. The table 74 is created. Therefore, the correction value is a value for correcting the jib angle θ and the wire length L or the corrected jib angle θ.
And the wire length L.

In order to carry out such an initialization process, when the crane 4 is started to operate, the jib 6 can be operated in the vertical direction (θ) while the position of the wire tip 9 is maintained at substantially the same height. Direction 8), the wire 8 is operated once or plural times within the range in which the wire 8 can be wound / wound. Therefore, the operator changes the jib angle θ and the wire length L at appropriate intervals while keeping the position of the wire tip 9 at substantially the same height, and actually measures the jib angle θ and the wire length L at that time. Input to the correction processing unit 64. On the other hand, the correction processing unit 64 outputs the outputs E1 of the rotary encoders 31 and 35 at that time.
And E3 are fetched, and the outputs E1 and E3 and the corresponding jib angle θ and wire length L are written in the correction table 74.

Further, the correction processing unit 64, when called from the state determination processing unit 54 in the state determination processing, fetches the outputs E1 and E3 of the rotary encoders 31 and 35 at that time, and uses this value to correct the correction table. 74. Then, the correction values corresponding to the outputs E1 and E3 are read out from the correction table 74, stored in the state index storage unit 74A, and the stored correction values are used (predetermined calculation is performed as necessary). The values in the storage units 71A and 73A are corrected. Thereby, the complicated calculation process for the correction is omitted altogether, and the state of the crane 4 is determined in real time using the correction values corresponding to the outputs E1 and E3 of the rotary encoders 31 and 35 at that time. (Correction) is possible.

The load detection processing unit 65, when called from the state determination processing unit 54 in the initial setting processing, takes in the output of the load detector and creates the load parameter 75.
The load detector is, for example, a well-known load cell, and is provided at a predetermined position of the crane 4. Load parameter 75
Has a configuration similar to that of the jib angle table 71 and stores the actual load corresponding to the output of the load detector.

In order to carry out such an initial setting process, at the start of operation of the crane 4, the wire tip 9 is allowed to have the entire range (or the range actually used).
At, a plurality of different loads are applied. When a load is applied, the output of the load cell changes accordingly. Therefore, the operator changes the load at appropriate intervals, measures the load at that time, and inputs it to the load detection processing unit 65. On the other hand, the load detection processing unit 65 takes in the output of the load detector at that time, and writes this output and the actual load corresponding thereto in the load parameter 75.

Further, the load detection processing unit 65, when called from the state determination processing unit 54 in the state determination processing, fetches the output of the load detector at that time and refers to the load parameter 75 using this value. . Then, the load parameter 75 corresponding to this output is read out and stored in the state index storage unit 75A. Thereby, the state of the crane 4 can be determined in real time using the actual load corresponding to the output of the load detector at that time.

In the above initial setting process, for example, the jib angle θ for creating the jib angle table 71 and the like.
Etc. may be obtained by a predetermined calculation using the output E1 or the like of the rotary encoder 31 instead of actual measurement. Further, with respect to the values between the sampled outputs E1 and the like, the values of the jib angle θ and the like corresponding thereto may be interpolated by a predetermined calculation to create the jib angle table 71 and the like corresponding to the finer output E1. . Further, instead of the above-mentioned initial setting process, a previously created jib angle table 71, etc.
The file 53 may be input before the operation of the crane 4 is started.

As described above, the state index such as the jib angle θ needs to be obtained by converting the value detected by the rotary encoder 31 or the like into an actual value. In the present embodiment, the actual value can be obtained by omitting the predetermined calculation for this conversion and referring to each table and the parameters 71 to 75 generated during the initialization processing. That is, each table and the parameters 71 to 75 are a conversion table for converting the output of the rotary encoder 31 or the like into a state index such as the jib angle θ. As a result, in the present embodiment, the processing time for obtaining the state index can be shortened, and it is possible to sufficiently cope with the fast movement of the crane 4 entering the radio wave path 20 at high speed.

Although not shown, the state determination processing section 54
In addition to the processing units 61 to 65, includes a unit that monitors the power supply voltage supplied to the crane 4 and the wind speed around the crane 4. As a result, the state determination processing unit 54 constantly monitors the fluctuation of the power supply at the work site in real time, and when the power supply has decreased to a predetermined value or less, determines the suspension of the operation of the crane 4. In addition, the state determination processing unit 54 always monitors the wind speed at the work site in real time, and when it exceeds a predetermined value, determines the stop of the operation of the crane 4. Therefore, a multimeter for detecting the power supply voltage and an anemometer for detecting the wind speed are provided. The decision to stop the crane 4 is written in a predetermined area in the file 53.

FIG. 6 is a flowchart of the initial setting process, showing the initial setting process executed by the state determination processing section 54. When control is passed from the control processing unit 51, a process of creating each table and parameters 71 to 75 for determining (estimating) the crane state is started (S1).

It is checked whether or not all the tables for determining the crane state and the processing (correction) of the parameters 71 to 75 have been completed (S2). If not completed, process the items (parameters and tables) that should be processed (set),
Subroutine programs constituting the processing units 61 to 65 that execute this are called to request processing (S3),
When the requested processing is completed, S2 and subsequent steps are repeated. This S
3, initial setting processing (creation processing) of each table and parameters 71 to 75 shown in FIGS. 7 to 11 below.
Is executed.

If it has been completed, the process of creating each table and parameters 71 to 75 for determining the crane state is completed (S4). FIG. 7 shows a jib angle processing flowchart, and shows an initialization process executed by the jib angle processing unit 58.

When called from the state determination processing section 54,
Creation of the jib angle table 71 is started (S5). The input current jib angle θ of the jib 6 is fetched (S6).

The output E1 of the rotary encoder 31 is sampled and the jib angle table 7 together with the jib angle θ is sampled.
It is written in a predetermined position of 1 (S7). After performing S6 and S7 for the full range of possible jib angles of the jib 6,
The creation of the jib angle table 71 is completed (S8).

FIG. 8 shows a turning angle processing flowchart, and shows the initial setting processing executed by the turning angle processing unit 62. When called from the state determination processing unit 54, creation of the turning angle parameter 72 is started (S9).

With the jib 6 aligned with the reference direction (true north) of the turning angle φ, the present turning angle φ of the jib 6 (that is, 0 °) and the sampled output E2 of the rotary encoder 33 are shown. Turn angle parameter 7
It is written in a predetermined position of 2 (S10).

The output E2 of the rotary encoder 33 is sampled, and the input turning angle φ is written into a predetermined position of the turning angle parameter 72 (S1).
1). This is also to record the reduction ratio.

After executing S11 for the entire range of the turning angle that the jib 6 can take, the creation of the turning angle parameter 72 is completed (S12). FIG. 9 shows a wire length processing flowchart, and shows the initial setting processing executed by the wire length processing unit 63.

When called from the state determination processing section 54,
Creation of the wire length table 73 is started (S13). The input current wire length L is fetched (S14).

The output E3 of the rotary encoder 35 is sampled, and this and the wire length L are written in a predetermined position of the wire length table 73 (S15). After executing S14 and S15 for the entire range of the possible length of the wire 8, the creation of the wire length table 73 is completed (S1).
6).

FIG. 10 shows a processing flow chart of the jib angle vs. wire length correction, and shows the initial setting processing executed by the correction processing section 64. When called from the state determination processing unit 54, the creation of the correction table 74 is started (S17).

In the operation mode using the function of keeping the height of the wire tip 9 substantially constant, the input current jib angle θ and the wire length L are fetched (S18). The outputs E1 and E3 of the rotary encoders 31 and 35 are sampled and written in a predetermined position of the correction table 74. Further, the jib angle θ and the wire length L are written in the positions corresponding to the outputs E1 and E3 of the correction table 74 (S19).

After executing S19 for the range of the angle that the jib 6 can take and the range of the length that the wire 8 can take, the preparation of the correction table 74 is completed (S20). Figure 11
Shows a load detection processing flowchart, and shows an initial setting processing executed by the load detection processing unit 65.

When the processing is called from the state determination processing section 54, the setting of the load parameter 75 is started (S2).
1). Load the current actual load input, sample the output of the load detector, and load parameter 7
It is written in a predetermined position of 5 (S22).

After S22 is executed for the entire allowable load range, the setting of the load parameter 75 is finished (S
23). FIG. 12 is a flow chart of the crane state determination process. In order for the state determination processing unit 54 to obtain the state index with reference to each table and the parameters 71 to 75 created by the initialization process shown in FIGS. 6 to 11. The state determination process performed during operation of the crane 4 is shown.

When control is passed from the control processing unit 51, a process for determining the current state of the crane 4 in real time is started (S24). When the turning angle processing unit 62 is called, the turning angle processing unit 62 takes in the output E2 of the rotary encoder 33 at that time, refers to the turning angle parameter 72 using this, reads the corresponding turning angle φ, and reads it. It is stored in the state index storage unit 72A (S2
5).

When the jib angle processing unit 61 is called, the jib angle processing unit 61 causes the rotary encoder 3 at that point in time.
The output E1 of No. 1 is fetched, the jib angle table 71 is referred to by using this, and the corresponding jib angle θ is read out and stored in the state index storage unit 71A (S26). S26
Following this, the wire length processing unit 63 is called, and the wire length processing unit 63 fetches the output E3 of the rotary encoder 35 at that time and uses this to output the wire length table 73.
, The corresponding wire length L is read out and stored in the state index storage unit 73A. Further, following this, the correction processing unit 64 is called, and the output E captured in S26 is acquired.
1 and the output E3 captured in this step are used to refer to the correction table 74, the corresponding correction value is read out and temporarily stored in the state index storage unit 74A, and this is used to store the jib in the state index storage units 71A and 73A. Angle θ and wire length L
Is corrected (S27).

When the load detection processing unit 65 is called, the load detection processing unit 65 takes in the output of the load detector at that time, refers to the load parameter 75 using this, reads the corresponding actual load, and reads it. It is stored in the state index storage unit 75A (S28).

Further, when the power supply voltage monitoring subroutine is called, the subroutine fetches the output of the multimeter for detecting the power supply voltage at that time, checks whether or not this is below a predetermined value, and if it is below a predetermined value, This is stored in a predetermined storage area (S29).

When the wind speed monitoring subroutine is called, the subroutine fetches the output of the anemometer for wind speed detection at that time, checks whether this is a predetermined value or more, and if it is the predetermined value or more, Is stored in a predetermined storage area (S30).

With the above, the processing for determining the current state of the crane 4 in real time is completed (S31). As described above, in this embodiment, by referring to each table created by the initial setting and the parameters 71 to 75, the state index indicating the latest state of the crane 4 is always obtained. This makes it unnecessary to repeatedly set the data stored in each table and the parameters 71 to 75, and the crane 4 can be continuously operated for a long period of time.

Further, in the present embodiment, the rotary encoder 31 or the like is of a type capable of mechanically counting the displacement of the jib angle drive motor 30 or the like in both up and down directions even if the power is not turned on. Use one. As a result, even if the crane 4 is operated without turning on the power due to a power failure or human error, the correspondence between the actual state of the crane 4 and the output E1 of the rotary encoder 31 and the like is destroyed and the initial setting process is performed. It is possible to prevent the need to perform again.

Next, the processing executed by the detection processing unit 56 will be described with reference to FIGS. 13 to 17. In FIG. 13, the detection processing unit 56, based on the position information about the radio wave passage 20 in the radio wave passage information holding unit 81 and the state of the crane 4 determined by the state determination processing unit 54, as described above. It is detected that the crane 4 is approaching the radio wave passage 20. Here, as the determined state of the crane 4, as shown in FIG. 13, a value (state index) that is updated in real time in the file 53 and always indicates the latest state of the crane 4 is used.

That is, using the information in the file 53,
As shown in FIG. 14, the relationship between the radio wave passage 20 and the building 1 can be grasped by three-dimensional coordinates (x, y, z).
Specifically, the building 1 and the radio wave path 2 that do not need to be grasped in real time from the respective data held by the radio wave path information holding unit 81, the operating environment holding unit 82, and the operating condition holding unit 83.
The position such as 0 is grasped. Furthermore, with these as the background,
The positions of the crane 4, the wire tip 9 and the like, which need to be grasped in real time, are grasped from the respective data held by the respective state index storages 71A to 75A. As a result, the position of an object that may obstruct the radio wave path 20 can be grasped in real time.

The detection processing unit 56 includes an (x, z) detection processing unit 91, an (x, y) detection processing unit 92, and a wire tip detection processing unit 93. These are subroutine programs called from the detection processing unit 56. The detection process is executed in three stages, that is, the intersection detection process on the (x, z) plane, the intersection detection process on the (x, y) plane, and the intersection detection process on the wire tip.

The (x, z) detection processing unit 91, when called by the detection processing unit 56, detects the possibility of the crane 4 and the radio wave passage 20 crossing (PHASE of the detection process).
Execute 1). For this purpose, the (x, z) detection processing unit 9
1 is the crane 4 in the (x, z) plane using only the values of the x coordinate and the z coordinate of the crane 4 and the radio wave passage 20.
And the possibility of the radio wave passage 20 crossing is detected. here,
The (x, z) plane is a two-dimensional top view parallel to the ground surface (ground line 23) or the radio wave path 20.

That is, the (x, z) detection processing unit 91 is shown in FIG.
As shown in FIG. 5, a state in which the radio wave passage 20, the crane 4 and the like are viewed from above is created (two-dimensional top view), and the height direction is not considered. In this state, the possibility of the radio wave passage 20 and the tip of the jib 6 of the crane 4 intersecting is detected. Here, the possibility of intersection is determined by the radio wave passage peripheral portion 22 and the radio wave passage central portion 2
Both of 1 are detected. Further, the possibility of intersection in the operable range of the crane 4 is also detected.

The (x, y) detection processing section 92 uses (x, z)
When the possibility of intersection is detected in the detection processing unit 91, the detection processing unit 56 calls. When called by the detection processing unit 56, the (x, y) detection processing unit 92 executes processing (PHASE2 of detection processing) for detecting the possibility of intersection between the crane 4 and the radio path 20 in the height direction. Therefore, the (x, y) detection processing unit 92 uses only the values of the x-coordinate and the y-coordinate of the crane 4 and the radio wave passage 20 to determine the crane 4 and the radio wave passage 2 in the (x, y) plane.
Detect possible zero crossings. Here, the (x, y) plane is a side surface two-dimensional view perpendicular to the traveling direction of the ground surface (ground line 23) or the radio wave path 20.

That is, the (x, y) detection processing unit 92 is
As shown in FIG. 6, a state in which the radio wave path 20 passes perpendicularly to the (x, y) plane (two-dimensional side view) is created, and the z direction is not considered. In this state, the radio wave passage 20 and the crane 4
A possible intersection of the jib 6 tips is detected. here,
The positional relationship that the crane 4 interferes with the radio passage 20 is
As can be seen from FIG. 16, this is the case where the jib 6 crosses the radio wave passage 20 or the wire 8 exists in the radio wave passage 20.

As described above, first, the intersection between the radio wave path 20 and the crane 4 is detected in the (x, z) plane, and if there is a possibility of the intersection, the possibility of the intersection in the (x, y) plane is detected. To do. As a result, it is possible to reliably detect the intersection between the radio wave passage 20 and the crane 4. Also, (x,
By performing the detection processing separately for the z) plane and the (x, y) plane, the complicated processing for directly handling the three-dimensional coordinates can be omitted.

The wire tip detection processing section 93 is called by the detection processing section 56, and the wire tip section 9 of the crane 4 is called.
And a process of detecting a possibility of crossing the radio wave passage 20 in the height direction. That is, the jib 6 itself is the radio wave passage 20.
Even if the wire tip portion 9 does not intersect with the wire tip portion 9 or the building material or the like attached to the wire tip portion 9 may intersect with the radio wave passage 20.
Therefore, the wire tip detection processing unit 93 uses only the values of the x-coordinate and the y-coordinate of the wire tip 9 and the radio wave path 20 to intersect the wire tip 9 and the radio wave path 20 on the (x, y) plane. Detect the possibility of.

That is, as in the case of the (x, y) detection processing unit 92, as shown in FIG. 16, assuming that the radio wave path 20 passes perpendicularly to the (x, y) plane, z
The direction is not considered (it has been detected in FIG. 15). In this state, the possibility of the radio wave passage 20 crossing the wire tip 9 is detected. Here, the positional relationship in which the wire tip portion 9 interferes with the radio wave passage 20 is the case where the wire tip portion 9 exists in the radio wave passage 20 as can be seen from FIG. 16.

As described above, not only the possibility of crossing the jib 6 is detected, but also the possibility of crossing the wire tip 9 is detected.
It is possible to detect the intersection of the crane 4 and the crane 4.

FIG. 17 is a flow chart of the intersection detection processing, showing the processing executed by the detection processing unit 56. In FIG. 17, when the control processing unit 51 transfers control to the detection processing unit 56, the detection processing unit 56 starts the detection processing (S3).
2).

The detection processing unit 56 is the (x, z) detection processing unit 9
When 1 is called, the (x, z) detection processing unit 91 starts a process of calculating an intersection of the radio wave path 20 and the jib 6 on the (x, z) plane (S33), and executes S33 to S35.

First, the radio wave passage peripheral portion 22 of the radio wave passage 20.
It is checked whether or not there is an intersection in the (x, z) plane with the jib 6 (S34). If there is an intersection, the process of the (x, z) detection processing unit 91 is terminated, and S37 is executed.

If there is no intersection, a future intersection is predicted (S
35), whether or not there is a future intersection, that is, the jib 6 is the radio wave passage 2
It is checked whether or not it is close to 0 (S36). here,
The approach means, for example, a case where the distance between the radio wave passage peripheral portion 22 of the radio wave passage 20 and the jib 6 in the (x, z) plane is smaller than a certain value. This value is given in advance to the (x, z) detection processing unit 91 by the operator, for example.

If there is a future intersection, that is, if the jib 6 is approaching the radio wave path 20, the processing in the (x, z) detection processing section 91 is terminated, and S37 is executed. If there is no future intersection, that is, if the jib 6 is not close to the radio wave path 20, the processing in the (x, z) detection processing unit 91 is terminated, and S42 is executed. Therefore, in this case, (x, y)
The detection processing unit 92 is not called.

When there is an intersection in S34, and S
If there is a future intersection at 36, the detection processing unit 56 calls the (x, y) detection processing unit 92, and (x, y)
The detection processing unit 92 causes the radio wave path 20 and the jib 6 (x,
y) Start the process of calculating the intersection on the plane (S3
7), S38 to S41 are executed.

First, the presence or absence of an intersection, that is, the distance between the radio wave passage peripheral portion 22 of the radio wave passage 20 and the jib 6 in the y direction is checked (S38). If there is no interval, a collision warning is output (S39), and the processing in the (x, y) detection processing unit 92 ends. Then, S42 is executed. As can be seen from the above, the collision warning in this embodiment indicates that the radio wave passage peripheral portion 22 and the jib 6 intersect with each other, and the radio wave passage central portion 21 and the jib 6 are not yet formed. It does not intersect. Therefore, blocking of the radio wave path 20 can be prevented.

If there is an interval, it is checked whether or not the jib 6 is approaching the radio wave path 20 (S40). Here, the approach means, for example, a case where the distance between the radio wave passage peripheral portion 22 of the radio wave passage 20 and the jib 6 in the (x, y) plane is smaller than a certain value. This value is given to the (x, y) detection processing unit 92 in advance by the operator, for example.

When approaching, an approach warning is output (S
41), the processing in the (x, y) detection processing unit 92 ends. Then, S42 is executed. As can be seen from the above, the approach warning in this embodiment indicates that the radio wave path peripheral portion 22 and the jib 6 are approaching.
Therefore, it is possible to prevent the intersection of the central portion 21 of the radio wave passage and the jib 6, that is, the interruption of the radio wave passage 20.

If they are not close to each other, the processing in the (x, y) detection processing section 92 is terminated and S42 is executed. After the above processing, when the detection processing unit 56 calls the wire tip detection processing unit 93, the wire tip detection processing unit 93 calculates the intersection of the radio wave path 20 and the wire tip 9 in the (x, y) plane. Processing is started (S42), and S43 to S48
To execute.

First, the radio wave passage 2 is placed at the position of the wire tip portion 9.
It is checked whether or not there is a zero radio wave passage peripheral portion 22 (S
43). If it does not exist, the process in the wire tip detection processing unit 93 is ended, and the detection process is ended (S48).

If it exists, the distance in the y direction between the wire tip portion 9 and the radio wave passage peripheral portion 22 of the radio wave passage 20 is checked (S44). If there is no interval, a collision warning is output (S45), the processing at the wire tip detection processing unit 93 is ended, and the detection processing is ended (S48).

If there is a space, it is checked whether or not the wire tip portion 9 is close to the radio wave passage 20 (S46). Here, the approach means, for example, the radio wave passage peripheral portion 2 of the radio wave passage 20.
It is assumed that the distance between 2 and the wire tip 9 in the (x, y) plane is smaller than a certain value. This value is given to the wire tip detection processing unit 93 in advance by the operator, for example.

When approaching, an approach warning is output (S
47), the processing at the wire tip detection processing unit 93 is completed,
The detection process ends (S48). If you are not close,
The process in the wire tip detection processing unit 93 is ended, and the detection process is ended (S48).

The approach warning and the like formed as above are directly displayed on the display processing unit 55 and the control signal formation processing unit 57.
It is stored in a predetermined area in the file 53 instead of being input into the file. When the detection processing ends and control is returned from the detection processing unit 56 to the control processing unit 51, the control processing unit 51
Forms an operation control command corresponding to the approach warning or the like stored in the file 53 with reference to the file 53. If the approach warning or the like is not stored, the operation control command is not formed. The operation control command is also file 53
It is stored in a predetermined area within.

The operation control command in the file 53 is the control signal formation processing unit 5 to which the control is transferred from the control processing unit 51.
Referenced by 7. The control signal formation processing unit 57 forms a control signal corresponding to the operation control command based on the operation control command. These control signals are transmitted to the jib angle drive motor 3
0, the turning angle drive motor 32, and the wire length control drive motor 34, and these are controlled. This allows
The control processing unit 51 controls the crane 4 so as not to enter the radio wave passage 20.

These control signals are signals for immediately stopping the jib angle drive motor 30, the turning angle drive motor 32, and the wire length control drive motor 34 in consideration of the inertia of the rotation. Alternatively, the signal is set to operate the crane 4 in a direction opposite to the direction in which the jib angle drive motor 30 or the like is closer to the central portion 21 of the radio wave passage 20. For example, depending on the degree of approach of the crane 4, the crane 4 may be stopped in the case of an approach alarm and the crane 4 may be operated in the reverse direction in the case of a collision alarm.

Incidentally, the control signal formation processing section 57 is omitted, and the operator who sees the screen displayed on the display device 52 operates the crane 4 and controls so that the crane 4 does not enter the radio wave passage 20. Good.

In addition to the control signals described above, a control signal for stopping the crane 4 is formed based on the power supply voltage supplied to the crane 4 and the wind speed around the crane 4. That is, as described above, the state determination processing unit 54 determines to stop the operation of the crane 4 based on the result of monitoring the power supply voltage and the wind speed, and this is written in a predetermined area in the file 53. Therefore, the control processing unit 51 forms an operation control command for stopping the crane 4 by referring to the file 53.

This operation control command is referred to by the control signal formation processing unit 57, like the above-mentioned control signal,
A control signal is generated to stop the crane 4. These control signals are supplied to the jib angle drive motor 30, the swing angle drive motor 32, and the wire length control drive motor 34 to stop them. As a result, the control processing unit 51
Stops the crane 4.

Next, the display processing section 55 will be described with reference to FIGS. 13 to 16. In FIG. 13, the display processing unit 55, as described above, the position information about the radio wave passage 20 in the radio wave passage information holding unit 81 and the state determination processing unit 5.
Based on the state of the crane 4 determined in 4,
A display device 52 for displaying the positional relationship between the crane 4 and the radio wave passage 20.
To be displayed. Here, as the determined state of the crane 4, the value written in the file 53 by the state determination processing unit 54 is used.

The display processing section 55 is, for example, shown in FIGS.
A screen such as that shown in is displayed on the display screen of the display device 52. This allows the operator of the crane 4 to easily visually recognize the current state of the crane 4.

Incidentally, such a screen can be obtained by using the information in the file 53. Specifically, the radio wave path information holding unit 81 and the operating environment holding unit 8
2. It is not necessary to grasp in real time from each data held by the operation condition holding unit 83, the building 1, the radio wave passage 20.
An image such as Furthermore, these as the background image,
Images of the crane 4, the wire tip portion 9 and the like, which need to be grasped in real time, can be obtained from each data stored in each of the state index storage units 71A to 75A. As a result, an image of an object that may interfere with the radio wave path 20 can be displayed in real time.

Further, the display processing section 55, as described above,
Based on the detection processing in the detection processing unit 56, the collision warning and / or the approach warning are displayed in an overlapping manner on the screens shown in FIGS. This display is executed by referring to the approach warning and the like stored in the file 53. Thereby, the operator of the crane 4 can easily visually recognize that the crane 4 is crossing or approaching the radio wave passage 20.

18 and 19 are flow charts of the crane control process, which together show the control process of the crane 4 of this embodiment. 6 to 1 when the crane 4 is installed in the building 1 prior to the start of operation of the crane 4.
The initial setting process of the crane controller 50 shown in FIG. 1 is executed, and each table and the parameter 71 are stored in the file 53.
Through 75 are created.

In FIG. 18, when the operation of the crane 4 is started (S49), the control processing unit 51 causes the file 53
The operating environment is read from the operating environment holding unit 82 (S5
0), the operation condition is read from the operation condition holding unit 83 (S
51). At the same time, the position information of the radio wave passage 20 is also read from the radio wave passage information holding unit 81.

The state determination processing unit 54 reads the output from the rotary encoder 31 or the like in order to obtain the elevation angle (jib angle θ) or the like (S52). State determination processing unit 54
However, by referring to each table and the parameters 71 to 75 using the output of the rotary encoder 31, etc., the state index such as the jib angle θ indicating the current state of the crane 4 is obtained,
These are stored in the respective state index storage units 71A to 7 of the file 53.
Write to 5A (S53).

The display processing unit 55 causes the building 1 and the radio wave passage 20 to be based on the operating environment read out in S50 and S51.
Etc. and the state indicator storages 71A to 75A in the file 53 in reference to the state of the crane 4 and the like.
And the state of the display device 5 as shown in FIGS.
2 is displayed (S54).

When the control processing unit 51 calls the detection processing unit 56 (S55), the detection processing unit 56 causes the detection processing unit 56 to execute S50 and S5.
17 by using the operating environment and the like read in step 1 and the information in each state index storage unit 71A to 75A in the file 53.
It is detected whether the crane 4 approaches or intersects the radio wave passage peripheral portion 22 of the radio wave passage 20 by the process shown in (S5).
6), the result is returned to the control processing unit 51.

In FIG. 19, the control processing unit 51 creates the operation control command and the parameter for the alarm display on the display device 52 based on the detection result of the detection processing unit 56 (S57). The created operation control command and alarm display parameter are written in a predetermined area in the file 53, for example. The parameters for alarm display are
For example, it is set for each of the crane 4 and luggage,
"0" indicates a safe range, "1" indicates that the vehicle is approaching, and "2" indicates that there is a risk of crossing. Therefore, "1" is when the approach warning is output in the process shown in FIG. 17, and "2" is when the collision alarm is output in the process shown in FIG.

The display processing unit 55 refers to the alarm display parameters and displays each alarm on the display device 52 (S5).
8). The alarm display, for example, "A (J) = 1" indicates that the crane 4 is approaching the radio wave passage 20.

The control signal formation processing unit 57 causes the file 53
Is checked to see if the operation control command is formed (S59). When it is formed, the control signal formation processing unit 57 controls the jib angle drive motor 30 and the like based on the operation control command so that the crane 4 does not approach or cross the radio wave passage 20 (S60).

When the operation control command is not formed in S59 and after the execution of S60, it is checked whether or not the operation of the crane 4 is completed (S61). If not finished, S52 and subsequent steps are repeated.

If it is the end, the operation of the crane 4 is ended (S62). Although the present invention has been described in detail above with reference to the embodiments, the present invention can be variously modified according to the gist thereof.

For example, in the embodiments, the prevention of the blocking of the radio wave path of the terrestrial microwave circuit has been described, but the present invention can also be applied to the radio wave path in satellite communication as shown in FIG. That is, with the development of satellite communication, a large number of satellite earth stations or small earth stations (VSAT) 102 will be installed. According to the present invention, when the building 1 is constructed, the radio wave passage 20 between the communication satellite 101 and the satellite earth station 102 is also blocked by the crane 4 as in the microwave band beam. It can be prevented.

Furthermore, the present invention can be applied to a radio wave path other than the microwave band and the satellite line. Further, in the embodiment, the crane 4 and / or the control room 5 are provided on the building 1, but the present invention is also applied to the case where the crane 4 and / or the control room 5 are provided on the ground. You can
It can also be applied when the crane 4 and / or the control room 5 are attached to an automobile.

The various aspects of the control of the crane 4 by the crane controller 50 according to the present invention, some of which are summarized below, are as follows. High-rise building 1
The information of the radio wave passage 20 (21, 22) is input to the electronic computer installed in the control room 5 of the crane 4 used for the construction of the crane 4, and the jib 6, wire 8, wire tip portion (luggage portion) 9 of the crane 4 is input. Motors 30, 32, 3 for generating the movement of
Rotary encoders 31, 33, through a plurality of gears for obtaining an axial ratio for obtaining the required accuracy for the rotation of 4
The electric signal is converted by 35 and input to the electronic computer to detect or predict the approach or intersection of the electric wave passage 20 and the crane 4, and an alarm is generated, a CRT is displayed, etc. Avoid crossing and blocking the radio wave path 20 (21, 22).

The turning angle φ of the crane 4 and the jib 6
When the parameters such as the angle θ of the wire and the length L of the wire 8 are input to the electronic computer, the rotary encoder 31,
By using the conversion table when converting the read values of 33 and 35 into actual numerical values, the calculation time is shortened and the accuracy is improved.

Further, in order to cope with the change in the length L of the wire 8 depending on the jib angle θ of the crane 4, this difference is actually measured at the time of initial setting, and a table is prepared to calculate the wire length L or the wire tip portion 9. By deciding the position, the simplification of the calculation process is realized.

[0139]

As described above, according to the present invention, the crane control device is provided with the radio wave path information holding section and the state determination processing section so that when the crane approaches the radio wave path. Since it is possible to detect the radio wave, it is possible to automatically control the crane in consideration of the radio wave path near the crane, and as a result, prevent the radio wave path from being blocked by the crane in advance to prevent radio wave interference. In addition, it is possible to surely avoid blocking the radio wave path.

[Brief description of drawings]

FIG. 1 is a principle configuration diagram of the present invention.

FIG. 2 is a diagram showing a crane installation situation.

FIG. 3 is a configuration diagram of an embodiment.

FIG. 4 is an explanatory diagram of a crane.

FIG. 5 is a configuration diagram of an embodiment.

FIG. 6 is a flowchart of an initial setting process.

FIG. 7 is a jib angle processing flowchart.

FIG. 8 is a turning angle processing flowchart.

FIG. 9 is a wire length processing flowchart.

FIG. 10 is a flowchart of a jib angle vs. wire length correction process.

FIG. 11 is a flowchart of load detection processing.

FIG. 12 is a flowchart of a crane state setting process.

FIG. 13 is a configuration diagram of an embodiment.

FIG. 14 is an explanatory diagram of position display.

FIG. 15 is an explanatory diagram of (x, z) plane intersection detection.

FIG. 16 is an explanatory diagram of (x, y) plane intersection detection.

FIG. 17 is an intersection detection processing flowchart.

FIG. 18 is a crane control processing flowchart.

FIG. 19 is a crane control processing flowchart.

FIG. 20 is an explanatory diagram of another embodiment.

[Explanation of symbols]

 1 Building 4 Crane 6 Jib 8 Wire 9 Wire Tip 10, 11, 12 Crane Rotating Part 20 Radio Wave Passage 21 Radio Passage Center 22 Radio Passage Peripheral 30 Jib Angle Drive Motor 31, 33, 35 Rotary Encoder 32 Swiveling Angle Drive Electric motor 34 Drive motor for wire length control 50 Crane control device 51 Control processing unit 52 Display device 53 File 54 State determination processing unit 55 Display processing unit 56 Detection processing unit 57 Control signal formation processing unit 61 Jib angle processing unit 62 Swing angle processing unit 63 wire length processing unit 64 correction processing unit 65 load detection processing unit 71 to 75 table and parameters 71A to 75A state index storage unit 81 radio wave path information holding unit 82 operating environment holding unit 83 operating condition holding unit 91 (x, z) detection Processing unit 92 (x, y) Detection processing unit 93 Wire tip Edge detection processing unit

 ─────────────────────────────────────────────────── ─── Continuation of the front page (71) Applicant 594201696 Katagiri Machinery Co., Ltd. 3-11, Minami 1jo East, Chuo-ku, Sapporo-shi, Hokkaido (72) Inventor Ken Hatta 6-10-11-24 Nishino, Nishi-ku, Sapporo-shi, Hokkaido (72) Inventor Kazumasa Sasaki 9-17 Maeda 9-17 Maeda, Teine-ku, Sapporo, Hokkaido (72) Ryuichi Mitsuhashi 3-6-6 15-201 Hiragishi, Toyohira-ku, Sapporo, Hokkaido

Claims (4)

[Claims] 1. A crane control device for controlling a crane (4) used in the construction of a building (1), which holds position information about a radio wave passage (20) near the building (1). A radio wave path information holding unit (81) and a state determination processing unit (5) that determines the state of the crane (4) at that time based on the operation of the crane (4).
4) and the position information about the radio wave passage (20) and the determined state of the crane (4), it is detected that the crane (4) is approaching the radio wave passage (20). A crane control device comprising a detection processing unit (56) and controlling the crane (4) based on a result of the detection. 2. Based on the position information about the radio wave passage (20) and the determined state of the crane (4),
The crane control device according to claim 1, further comprising a display processing unit (55) that displays a positional relationship between the crane (4) and the radio wave passage (20). 3. The crane (4) is provided with the radio wave passage (2).
The crane control device controls the crane (4) so as not to enter the radio wave passage (20) when it is detected that the crane is approaching (0). Crane control equipment. 4. The detection processing unit (56) is a two-dimensional view of the intersection of the jib (6) of the crane (4) and the radio wave passage (20) seen from the upper surface of the radio wave passage (20). Only when there is a possibility of crossing and verifying, the radio passage (20)
The intersection of the wire (8) and the wire tip (9) with the radio wave path (20) is verified on a two-dimensional side view perpendicular to the traveling direction of the radio wave, and if there is a possibility of crossing, the display processing unit ( 5
Crane controller according to claim 2 or 3, characterized in that 5) gives the display and the crane controller controls the crane (4).