JPH09240987A - Automatic operating method of cable crane - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic operating method of a cable crane of which control error is little, reliability is high, and rocking of a bucket can be automatically prevented so as to insure safety. SOLUTION: Locational survey of a three-dimensional position is performed by a pair of automatic tracking angle gauges and the like automatically tracking a traversing trolley 10, and a locational survey of the inclined angle of a traversing trolley 10 and the position of a bucket 20 against the traversing trolley 10 is performed, by a clinometer S11 provided on the traversing trolley 10, copying arms rotationally moving accompanying inclination of the suspended parts 6a of hoisting ropes 6 respectively fitted to a pair of pulleys 12, encoders detecting the rotation angles, and a range finder fitted to the one copying arm. The three-dimensional position of the bucket 20 is computed from the relative positional data, and driving of a winch for traversing and a winch for winding up/down is controlled, so that the three-dimensional positions of the traversing trolley 10 and the bucket 20 are conformed to scheduled positional data previously input to a computer.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for automatically operating a cable crane, and more particularly to a cable crane (hereinafter, referred to as "cable crane") used for placing concrete at a dam construction site.
It is called cable crane for dam. The present invention relates to an automatic driving method of a cable crane suitable for the above).

[0002]

2. Description of the Related Art A cab 50a of a cable crane for dams
Is usually near the position where the concrete is supplied to the bucket 20 on the side where the batcher plant (not shown), which is a concrete manufacturing facility, is arranged on the left and right banks of the dam. And the cable crane for dam is a bucket 20
Travel distance (both horizontal travel distance, which is called traverse distance, and vertical travel distance, which is called winding vertical distance)
Is long and the place for placing concrete is usually the cab 5
It is not visible from 0a.

Therefore, conventionally, in addition to the driver's cab 50a, a signal person who wirelessly communicates with the driver's cab 50a is placed at the place of placing concrete, and the operator of the driver's cab 50a operates according to the command. The most common. However, this conventional method involves a great danger because the operator actually operates by wireless communication from an invisible place.

Therefore, automatic operation of cable cranes for dams is strongly desired. However, it is considered that automatic operation of cable cranes for dams is difficult to be put into practical use for the following two major reasons.

The first cause is that the conventional automatic operation attaches the encoder to the traverse winch 4 and the hoisting winch 7 in the machine room 50b for traversing the traverse trolley 10 and hoisting and lowering the bucket 20. The position of the bucket 20 is determined by the number of revolutions of both winches 4 and 7 (it is needless to refer to the position data of the moving side tower 2 to be described later), and the control is performed so as to match this value with the planned position data. This is because the control error is large. That is, in this conventional method, a slight difference in tension of the cable has a great influence on the position calculation and causes an error.

The second cause is that the cable crane for a dam has a large load amount (both capacity and weight) on the bucket 20, and the most problematic is the shaking of the bucket 20.

In a cable crane for dams, concrete is transported from a batcher plant, which is a concrete manufacturing facility, into a bucket 20 that is unloaded at a concrete loading site, and the bucket 20 loaded with concrete is rolled up and traversed. At that time, the bucket 20 which is a heavy object suspended on the traverse trolley 10 starts traversing after the traverse trolley 10 in a delayed manner, as shown by a broken line in FIG. The bucket 20 is tilted at a predetermined angle and is suspended from the traverse trolley 10, and thereafter, a force is applied to reciprocally swing in the traveling direction. In addition, at the concrete pouring place, the traverse of the traverse trolley 10 is stopped, and the bucket 20 is moved downward. When the traverse is stopped, the bucket 20 stops after the traverse trolley 10 due to the law of inertia. Is hung at a predetermined angle in the opposite direction to that at the start of traversing, and thereafter, a force is applied to reciprocally swing in the traveling direction. In addition, even if the traverse speed of the traverse trolley 10 is accelerated or decelerated during traverse, the cause of the bucket 20 reciprocating in the traveling direction is similarly given.

When the bucket 20 which is a heavy object is greatly shaken, a person working on the bank below the bucket 20 is at risk, and this risk is ignored and the dam cable crane is automatically operated. You can't do anything. At present, in response to the sway of the bucket 20, the trolley 10 is moved back and forth several times near the stop position of the bucket 20 to stop the sway of the bucket 20 and then lower the bucket 20. Is going.

Conventionally, the operation of the above-mentioned cable crane and the swaying of the bucket due to the forward and backward movement of the traverse trolley are manually performed by the operator, which requires a certain amount of time and causes a delay in the construction cycle. Has become.

Further, the above-mentioned operation / operation requires a considerable amount of skill, and there is a great difference in work efficiency depending on the combination of the operator and the signal person, and it is difficult to secure a skilled person who can perform these works efficiently. Has become,
From this point as well, there is a strong demand for automatic operation of cable cranes for dams.

[0011]

Therefore, the present invention has been made to solve the above-mentioned problems, and has a small control error and high reliability, and further, it is possible to automatically prevent the bucket 20 from swinging and to be safe. It is an object of the present invention to provide an automatic operation method of a cable crane that can secure the property.

[0012]

In order to achieve the above object, the structure of the present invention has a pair of automatic tracking rangefinders or automatic tracking rangefinders 40 for automatically tracking the traverse trolley 10.
At 40, the three-dimensional position of the traverse trolley 10 is measured, and the inclinometer S11 provided on the traverse trolley 10 and the hanging portion of the hoisting rope 6 attached to the pair of pulleys 12, 12 of the traverse trolley 10 respectively. The copying arms 31 and 31 that rotate together with the inclination angle of 6a, and the encoder S12 that detects the rotation angles of the copying arms 31 and 31.
S12 and rangefinder S1 attached to one of the copying arms 31
3 and the inclination angle of the traverse trolley 10 and both pulleys 1
2, 12 and encoders S12, which are two angles of a triangle connecting the centers of the suspension pulley 21 of the bucket 20.
In S12, the length of one side is measured by the rangefinder S13 to measure the position of the bucket 20 with respect to the traverse trolley 10, and the three-dimensional position of the bucket 20 is calculated from the relative position data of the bucket 20 with respect to the traverse trolley 10. Is calculated, and the drive of the traverse winch 4 and the winding up / down winch 7 is controlled so that the three-dimensional positions of the traverse trolley 10 and the bucket 20 are matched with the predetermined position data input to the computer in advance. It is a technical measure that has been taken.

That is, in the method of the present invention, first, a pair of automatic tracking angle measuring devices or automatic tracking distance measuring angle measuring devices 40, 40 for automatically tracking the traverse trolley 10 (hereinafter, the automatic tracking angle measuring device 40 including both of them) will be described. Since the position of the traverse trolley 10 is measured by (for example, etc.), the three-dimensional position of the traverse trolley 10 exhibits a directly and accurately obtained action regardless of the tension of the conventional cable.

Next, the position of the bucket 20 is measured. The bucket 20 moves a long distance as the traverse trolley 10 traverses, and hoists up and down over a large height difference, so that it is realistic. Is difficult to visually recognize the bucket 20 over the entire movable range and cannot be tracked by the automatic tracking goniographs 40, 40 and the like. Therefore, the direct measurement of the position is abandoned, the relative position to the traverse trolley 10 is first obtained, and then the three-dimensional position of the bucket 20 is obtained by calculation. That is, the inclination angle of the traverse trolley 10,
The two angles of a triangle connecting the centers of the pulleys 12 and 12 and the suspension pulley 21 of the bucket 20 are encoder S.
In S12 and S12, the position of the bucket 20 with respect to the traverse trolley 10 can be measured by measuring the length of one side with the rangefinder S13, and the three-dimensional position of the traverse trolley 10 is obtained in advance. The function of obtaining the three-dimensional position of the bucket 20 is exhibited.

Therefore, if an accurate three-dimensional position of the traverse trolley 10 and the bucket 20 is obtained, this value is compared with the planned position data and the drive source is controlled so that the two meet, and automatic operation is possible. What is the same as the conventional one.

Further, in the invention of "claim 2", a pair of automatic tracking gyroscopes or automatic tracking measuring devices for automatically tracking the transverse trolley 10 by detecting the traveling direction and traveling speed of the transverse trolley 10 by the progress detecting device S1. The three-dimensional position of the traverse trolley 10 is measured by the rangefinders 40, 40, and the inclinometer S11 provided on the traverse trolley 10 and the traverse trolley 10 are measured.
Of the pair of pulleys 12, 12, which detect the rotation angles of the copying arms 31 and 31 that rotate in accordance with the inclination angle of the suspension portion 6a of the hoisting rope 6 and the rotation angles of the copying arms 31 and 31. The encoders S12 and S12 and the rangefinder S13 attached to one of the copying arms 31 indicate the inclination angle of the traverse trolley 10 and the centers of the pulleys 12 and 12 and the suspension pulley 21 of the bucket 20. The two angles of the connecting triangle are measured by encoders S12 and S12 and the length of one side is measured by a rangefinder S13 to measure the position of the bucket 20 with respect to the traverse trolley 10 and the relative position of the bucket 20 with respect to the traverse trolley 10. The three-dimensional position of the bucket 20 is calculated from the target position data, and the three-dimensional position of the traverse trolley 10 and the bucket 20 is input to the computer in advance. The driving of the traverse winch 4 and the winding up / down winch 7 is controlled so as to match the planned position data, and the acceleration and the direction of the bucket 20 are measured by the accelerometer S2 provided in the bucket 20, The value of the traveling direction and speed of the traverse trolley 10 by the progress detection device S1, the measurement result of the position of the bucket 20 relative to the traverse trolley 10, and the detection data of the acceleration and its direction by the accelerometer S2 are used to detect the bucket 20. This is a technical means in which a control signal for controlling the traveling speed or the traveling direction of the traverse trolley 10 is calculated so as to prevent shaking, and the drive of the traverse winch 4 is controlled by this control signal.

If accurate three-dimensional positions of the traverse trolley 10 and the bucket 20 are obtained, accurate automatic operation can be performed by the same function as in the above item, but the relative position of the bucket 20 with respect to the traverse trolley 10 is obtained. Therefore, by detecting whether or not the bucket 20 is swaying at that time, and by detecting how much acceleration and in which direction the velocity is applied, it is possible to recognize the swaying state of the bucket 20 and cancel the swaying. Alternatively, the moving speed and the moving direction of the traverse trolley 10 can be controlled so that the shaking does not occur.

Specifically, when the bucket 20 is located rearward with respect to the traveling direction of the traverse trolley 10 and is about to move rearward (that is, when the acceleration is in the negative direction), the traverse trolley 10 is in motion. When accelerating 10, the cause of the sway becomes larger, so in such a state, the sway of the traverse trolley 10 is decelerated, or stopped or moved backward, so that the sway of the bucket 20 can be prevented. .

In other words, when it is desired to accelerate the traveling of the traverse trolley 10, the above conditions are avoided and the bucket 20 swings in the traveling direction (when the acceleration is in the positive direction). By accelerating, the swaying is prevented or minimized and the traverse of the traverse trolley 10 is accelerated.

When the traverse trolley 10 is decelerated or stopped, when the bucket 20 is located in front of the traveling direction of the traverse trolley 10 and is about to move forward (acceleration is in the positive direction). In this case, deceleration of the traverse trolley 10 causes more and more shaking. Therefore, in such a case, avoid deceleration, and when the shaking of the bucket 20 is in the opposite direction, that is, the acceleration is in the negative direction. By performing deceleration at the time of, the swing is prevented and the transverse trolley 10 can be decelerated in the transverse direction.

[0021]

BEST MODE FOR CARRYING OUT THE INVENTION Next, embodiments of the present invention will be described. In the figure, 1 is a fixed side tower and 2 is a moving side tower. The fixed-side tower 1 is provided on one side of the left bank or the right bank of the dam construction site, and in the vicinity thereof, a batcher plant, which is a concrete manufacturing facility, is provided, which is omitted in the figure,
Further, the concrete 20 for pouring produced in the batcher plant can be supplied to the bucket 20 that is unloaded at the concrete loading place.

In the vicinity of the fixed-side tower 1 (usually where the concrete loading place can be seen), a cab 50a for driving a cable crane for a dam is provided.
As shown in the figure, the driver's cab 50a is
Is usually provided separately, but it is a matter of course that the same building may be used.

The moving side tower 2 is guided by a laid rail (not shown) so that it can be moved to the front side of "FIG. 1" (usually, the arc line centered on the fixed side tower 1). Yes. It should be noted that although the moving side tower 2 is not used and both are fixed towers, one of the figures is referred to as the moving side tower 2 for convenience of explanation. The cable crane includes a fixed type, a traveling type, a railroad type, a bridle type, etc., and the present invention can be applied to any of these methods. To

The fixed side tower 1 and the moving side tower 2 are connected by a main rope 3 (shown by a solid line in FIG. 1). The main rope 3 guides the traveling of the traverse trolley 10. The pulleys 11, 11 provided on the traverse trolley 10 roll on the main rope 3, and the traverse trolley 10 reciprocates on the main rope 3. It is made possible.

The traverse trolley 10 is connected to the traverse rope 5.
(Indicated by a chain double-dashed line in FIG. 1). This traverse 5 is passed from a traverse winch 4 installed in the machine room 50b, passes through the fixed-side tower 1 and the moving-side tower 2 and is folded back at the moving-side tower 2, and in the middle of the traverse trolley 10.
And the traverse winch 4 through the fixed-side tower 1
To form a return loop, the forward and backward movements of the traverse winch 4 cause the loop of the traverse rope 5 to rotate, and the traverse trolley 10 is guided by the main rope 3 to reciprocate back and forth (" In FIG. 1, the movement in the left-right direction is generally called the transverse direction.).

Therefore, the main rope 3 is seen from the plane,
The movement of the moving side tower 2 covers a predetermined fan surface around the fixed side tower 1, and also the traverse trolley 1 described above.
Since 0 can be moved to any position on the main rope 3 by the traverse rope 5, the traverse trolley 1 can be moved to any position on the fan surface.
It is made possible to move the bucket 20 suspended from 0 to the traverse trolley 10 described later.

A bucket 20 is wound around the traverse trolley 10 by a hoisting rope 6 (shown by a long broken line in FIG. 1) and is hung down so as to be hoisted. One end of the hoisting rope 6 is connected to a hoisting winch 7 installed in the machine room 50b, and the other end of the hoisting rope 6 is fixed to the moving side tower 2 after passing through the fixed side tower 1 and the traverse trolley 10. In addition,
This hoisting rope 6 is provided with a V-shaped hanging portion 6a between a pair of pulleys 12, 12 provided on a traverse trolley 10, and a hanging pulley 21 provided on an upper portion of a bucket 20 is hung on the hanging portion 6a. Then, the bucket 20 is hung up and down by hoisting and rewinding the hoisting winch 7.

The above is the configuration of a conventionally known cable crane for dams, but in the present invention, a pair of automatic tracking gyroscopes 40, 40 for automatically tracking the transverse trolley 10 and the like are used to form the three-dimensional shape of the transverse trolley 10. I am trying to measure the position.

The traverse trolley 10 is provided with an automatic tracking prism 18, and a pair of automatic tracking goniographs 40 and the like are adapted to automatically track the automatic tracking prism 18.
Automatic tracking gonados 40, etc. are installed on the right bank and the left bank over which all of the main ropes 3 can be overlooked, and the three-dimensional coordinates of the center of turning and undulation of each automatic tracking gonado 40 etc. are calculated, respectively. Traversing trolley 1 with respect to the base line between the two automatic tracking gyroscopes 40, 40 by tracking the tracking prism 18
Since a triangle with 0 is created, the three-dimensional position of the traverse trolley 10 can be obtained by calculation.

In addition, in the illustrated automatic tracking angle measuring device 40, etc., C
When the CD camera 41 is attached and the automatic tracking becomes impossible for some reason and the automatic tracking angle measuring device 40 or the like loses sight of the traverse trolley 10, the automatic tracking angle measuring device while watching the image of the CCD camera 41. The traverse trolley 10 can be searched for by turning and elevating the foreman 40 by remote control. In the case of darkness at night, the CCD camera 41 may be used to search for the night-time collimation marker. In addition, when the traverse trolley 10 is searched while the monitor 42, 42 is worn by the CCD camera 41 while remotely operating the automatic tracking gyro 40 manually, the automatic tracking function of the automatic tracking gyro 40 will operate thereafter. Of course there is nothing to do.

The position of the traverse trolley 10 is obtained from the rotation speed of the traverse winch 4 instead of the pair of automatic tracking goniographs 40, 40 (the position of the moving side tower 2 is also referred to). be able to. However, this method
Is not practical because it may expand and contract due to changes in tension, resulting in large errors in measured values. Even if a tensiometer for the traverse rope 5 is attached to correct the value of the rotational speed of the traverse winch 4, the accuracy of the position measurement of the traverse trolley 10 is low.

Next, the present invention relates to the inclinometer S11 provided on the traverse trolley 10 and the inclination angle of the suspension portion 6a of the hoisting rope 6 attached to the pair of pulleys 12, 12 of the traverse trolley 10, respectively. Copying arm 3
1 and 31, the encoders S12 and S12 for detecting the rotation angles of the copying arms 31 and 31, and the distance measuring device S13 attached to one of the copying arms 31, the traverse trolley 1
The two angles of a triangle connecting the inclination angle of 0 and the centers of the pulleys 12 and 12 and the suspension pulley 21 of the bucket 20 are measured with encoders S12 and S12, and the length of one side is measured with a rangefinder S13. Then, the position of the bucket 20 with respect to the traverse trolley 10 is measured.

The inclinometer S11 detects the inclination angle of the traverse trolley 10, and a conventionally well-known XY direction inclinometer may be used. The inclination of the traverse trolley 10 is mainly determined by the traveling direction of the traverse trolley 10. A uniaxial inclinometer may be used because the sides incline downwardly or incline upwards.

Further, as the encoders S12 and S12, those known in the related art may be used.
One end 31 is pivotally attached to the central axis of the pulley 12, a plurality of pulleys are attached, and the hanging portions 6a of the hoisting rope 6 are hung in a meandering state on the plurality of pulleys. Then, the encoder 32 detects how much the copying arm 31 has rotated with respect to the traverse trolley 10.

Further, as the distance measuring device S13, a conventionally known one can be used. In the present embodiment, a light wave type is used, but of course, other types may be used and fixed to the copying arm 31. Therefore, the distance to the predetermined location of the bucket 20 is always measured.

That is, referring to FIG. 3,
The inclinometer S11 calculates the inclination angle of the line segment L2, the encoders S12 and S12 calculate the angles θ1 and θ2, and the rangefinder S
By obtaining the length of the line segment L1 at 13, it is possible to obtain the relative position of the bucket 20 with respect to the traverse trolley 10.

In order to obtain the relative position of the bucket 20 with respect to the traverse trolley 10, the automatic tracking angle measuring device 4 is used.
The position of the bucket 20 itself is detected by the same method as 0, 40, etc., and both detection values (position bucket 2 of the traverse trolley 10 are detected).
It is also possible to obtain a relative position by (0 position), but in practice, this method is difficult to find a place where the entire range of movement of the bucket 20 can be collimated by the automatic tracking gonado 40 or the like. , This method is not very practical.

Next, according to the present invention, the three-dimensional position of the bucket 20 is calculated from the relative position data of the bucket 20 with respect to the traverse trolley 10. That is, since the three-dimensional position of the trolley 10 is measured first, if the measured value and the relative position data of the bucket 20 with respect to the trolley 10 are known, the three-dimensional position of the bucket 20 can be calculated. Become.

The traverse trolley 10 is provided with an arithmetic circuit device 15, a wireless communication modem 16 and a power generator 17 in addition to the automatic tracking prism 18.

The arithmetic circuit unit 15 includes an inclinometer S11,
When obtaining the relative position of the bucket 20 from the measured values of the encoders S12, S12 and range finder S13, a calculation result suitable for wireless communication is calculated, and the result is calculated by the wireless communication modem 16 in the cab 50a or the machine. Wireless transmission is made to the room 50b. Further, as the power generation device 17, a power generator that rotates the pulley 11 as in the power generation device 23 described later, or a wind power generator can be used. You may change.

The present invention also provides the above traverse trolley 10.
The drive sources of the traverse winch 4 and the winding up / down winch 7 are controlled so that the three-dimensional positions of the bucket 20 and the bucket 20 match the planned position data. In this control, the actual three-dimensional positions of the traverse trolley 10 and the bucket 20 are sequentially input to the computer, and comparison is made with these preset position data that have been input in advance so that the two values will always match. A command signal may be output to the traverse winch 4 and the winding up / down winch 7 which are the sources.

Therefore, according to the method of the present invention, the three-dimensional position of the traverse trolley 10 and the bucket 20 is constantly measured,
Since this is drive-controlled so as to match the planned position, accurate automatic operation is possible. In addition, as the other data to the computer, input the position data of the obstacle, control so as to avoid that position, input the data of the concrete loading place and the placing place, and close it. Of course, control such as changing the moving speed can be performed. In the present embodiment, the fuzzy logic control is used for the computer determination with reference to a large amount of data such as the image stabilization control included in "Claim 2".

Next, the invention of "Claim 2" adds the image stabilization control of the bucket 20 to the above control. Therefore, first, the traveling direction and the traveling speed of the traverse trolley 10 are detected by the progress detection device S1.

As the progress detecting device S1 for detecting the traveling direction of the traverse trolley 10, an encoder is provided on a traverse winch 4 or a pulley that is rotated by the traverse rope 5 and is driven by the traverse winch 4. The traveling direction of the traverse trolley 10 is detected by the moving direction of the traverse rope 5 (the direction of arrow P1 shown in FIG. 3 is detected. The traveling speed of the traverse trolley 10 is also detected by the moving speed of the traverse rope 5). Yes.) Yes. It is needless to say that the progress detecting device S1 using this encoder may be used in the present invention as well. However, by observing the trolley position detected by the above-mentioned automatic tracking gonados 40, 40 over time, the traverse trolley 10 Since the advancing direction and advancing speed can be detected, the automatic tracking goniographs 40, 40 and the like may be used as the advancing detection device S1.

Then, the pair of automatic tracking gyroscopes 40, 40, etc. for automatically tracking the transverse trolley 10 are used to drive the transverse trolley 1.
The measurement of the three-dimensional position of 0 is performed in the same manner as in "Claim 1".

Further, the inclinometer S11 provided on the traverse trolley 10 and the copying arm 31 which rotates together with the inclination angle of the suspending portion 6a of the hoisting rope 6 attached to the pulleys 12, 12 of the traverse trolley 10. , 31 and an encoder S1 for detecting the rotation angles of the copying arms 31, 31.
2, S12 and the rangefinder S13 attached to the copying arm 31
And the inclination angle of the traverse trolley 10 and the pulley 12,
12 and encoders S12 and S1 of two angles of a triangle connecting the centers of the suspension pulley 21 of the bucket 20.
In step 2, the length of one side is measured by the rangefinder S13 to measure the position of the bucket 20 with respect to the traverse trolley 10, and the three-dimensional position of the bucket 20 is calculated from the relative position data of the bucket 20 with respect to the traverse trolley 10. For controlling the drive of the traverse winch 4 and the winding up / down winch 7 so that the three-dimensional position of the traverse trolley 10 and the bucket 20 is matched with the planned position data. is there.

In the invention of this section, the bucket 2
The zero acceleration and its direction are measured by the accelerometer S2.

As the accelerometer S2, a conventionally known one such as a pendulum system can be used, and the direction and magnitude of acceleration are detected as an electric signal.

Then, the bucket 20 is made up of the traveling direction of the traverse trolley 10 by the progress detection device S1, the measurement result of the position of the bucket 20 with respect to the traverse trolley 10, and the detection data of the acceleration and its direction by the accelerometer S2. A control signal for controlling the traveling speed or the traveling direction of the traverse trolley 10 is calculated so as to prevent the swing of the traverse trolley 10, and the drive of the traverse winch 4 is controlled by this control signal.

As described above, in the above control, when the bucket 20 is behind the traverse trolley 10 and the acceleration toward the rear is applied to the bucket 20, the traverse trolley 10 is not accelerated and decelerated, Stop or move backward. Also, in this case, if the forward acceleration is applied to the bucket 20, the trolley 10 can be accelerated. If there is a need for acceleration, the trolley 10 is accelerated. When the bucket 20 is ahead of the traverse trolley 10 and the forward acceleration is applied to the bucket 20, the traverse trolley 10 is accelerated without being decelerated. Further, in this case, the deceleration is possible when the backward acceleration is applied to the bucket 20, and the deceleration is performed at this timing when the deceleration is necessary. In practice, the detection signal is calculated by a computer to obtain an operation command signal for the traverse winch 4 and the hoisting winch 7 (mainly for controlling the drive of the traverse winch 4). .

As one of the embodiments, the bucket 20 is provided with a bucket opening / closing detection sensor S21, a wireless communication modem 22, and a power generator 23.

A limit switch or the like can be used for the bucket opening / closing detection sensor S21, and it is confirmed that concrete has been discharged at the concrete pouring place and the bucket 20
The main purpose is to start the hoisting motion of the bucket, but when concrete is released from the suspended bucket 20, the load is extremely reduced, and the bucket 20 emptied by the reaction rises and goes up and down. Directional vibrations occur. This vertical vibration can be prevented by monitoring the tension applied to the hoisting rope 6 and controlling the drive of the hoisting winch 7, but it cannot be dealt with if a large load fluctuation occurs in a short time. It is also used to know in advance that a load reduction will occur in S21 and to be able to deal with it. .

Further, the wireless modem 22 wirelessly transmits the detection signals of the accelerometer S2 and the bucket opening / closing detection sensor S21 to the driver's cab 50a or the machine room 50b (in the present embodiment, to the traverse trolley 10). Cab 50a
Used to receive the command signal from.

The power generator 23 supplies electric power to various electric devices provided in the bucket 20. If the power line is connected to the bucket 20, there is a risk of disconnection. The electric power is obtained by rotating the generator by the rotational force of the suspension pulley 21. This power generation device 23 may be replaced with wind power generation, or may be used in combination with wind power generation. However, in the present embodiment example, a wind turbine is used to drive and generate power by the pulley 21 regardless of wind power. I made it.

Since the position of the traverse trolley 10 is constantly measured, it is possible to know in advance where the traverse trolley 10 needs to be accelerated / decelerated / stopped, and it is possible to deal with each positional condition. Efficient automatic driving control becomes possible.

The automatic control of the present invention enables smooth control when fuzzy control is performed, and various measured values are transmitted to the fuzzy controller. The fuzzy controller creates a membership function for each input variable, and defines each input variable as large, slightly large, neither, slightly small, small, etc. Define if you belong to a ship. After that, the output is determined by the fuzzy rule created by using each membership function. This fuzzy rule says, "If element a is greater than +, element b
When the value of the input variable is small to-, the output c is output to the large value of +.

The numerical values output from the fuzzy controller are set values on the control personal computer, and when it is determined that the control state is not optimal under normal control conditions, the fuzzy controller automatically changes the set values. Data is sent to the control PC. In the normal state, the fuzzy controller performs computation but does not directly control. This is to reduce the calculation time of the personal computer and speed up the control.

In the present invention, the traverse winch 4 and the hoisting winch 7 are automatically controlled. Further, the moving side tower 2 shown in FIG. It goes without saying that the respective drive sources such as the trolley and the pulley block moving cable may be controlled.

[0059]

As described above, according to the present invention, since the position of the bucket 20 is always accurately measured and the automatic operation is possible, it is possible to provide an extremely accurate automatic operation method of the cable crane within an error of several centimeters. Is.

In particular, the position measurement of the bucket 20 in which collimation is not always possible is performed by the automatic tracking angle measuring instruments 40, 40 of the traverse trolley 10 and the relative position measurement of the bucket 20 with respect to the traverse trolley 10. Since the three-dimensional position of the bucket 20 is obtained from the results of both surveys, it is possible to perform highly accurate survey and provide an accurate automatic operation method of the cable crane. It improves the workability of loading and unloading and greatly contributes to shortening the construction cycle.

Further, according to the present invention, by always obtaining the actual position of the bucket 20 and comparing it with the planned position, a safe route and a fastest route for moving the bucket can be calculated to shorten the construction cycle. It is possible to provide a driving method.

In addition to the accuracy of the above control, the invention of claim 2 can perform the automatic vibration isolation control of the bucket 20, so that the safety is high and the traveling speed of the bucket 20 can be set most efficiently. It is possible to provide an automatic operation method of a cable crane that can further shorten the construction cycle.

[Brief description of drawings]

FIG. 1 is a front view of a cable crane for a dam that implements the method of the present invention.

FIG. 2 is an enlarged front view of a main part.

FIG. 3 is likewise an enlarged front view of a main part.

[Explanation of symbols]

 4 Traverse winch 6 Hoisting rope 6a Suspension part 7 Winding up / down winch 10 Traverse trolley 12 Pulley 20 Bucket 21 Suspension pulley 31 Copying arm 40 Automatic tracking angle measuring instrument S1 Progression detector S2 Accelerometer S3 Trolley position detector S11 Tilt Total S12 Encoder S13 Rangefinder

Continuation of the front page (72) Inventor Kondo Manabu 1-20-10 Toranomon, Minato-ku, Tokyo Nishimatsu Construction Co., Ltd. (72) Inori Masanori Ishii 1-20-10 Toranomon, Minato-ku, Tokyo Nishimatsu Construction Incorporated (72) Inventor Kazutoshi Oda 2-7-1 Yakuin, Chuo-ku, Fukuoka-shi, Fukuoka Nishimatsu Construction Co., Ltd. Kyushu Branch (72) Inventor Yukiko Ekukuma 2--7 Yakuin, Chuo-ku, Fukuoka-shi, Fukuoka No. 1 Nishimatsu Construction Co., Ltd. in Kyushu Branch (72) Inventor Koji Tachibana Koji 1-36 Nishiawaji, Higashiyodogawa-ku, Osaka-shi, Osaka Prefecture Tachibana ▲ Taka ▼ Engineering Research Institute (72) Inventor Akira Akagi Osaka 1-36 Nishi-Awaji, Higashiyodogawa-ku, Osaka-shi, Tachibana Co., Ltd.

Claims (2)

[Claims] 1. A pair of automatic tracking rangefinders or automatic tracking rangefinders for automatically tracking a traverse trolley (10).
40), the three-dimensional position of the traverse trolley (10) is measured, and an inclinometer (S11) provided on the traverse trolley (10).
And a pair of pulleys (12, 12) of the traverse trolley (10)
The copying arms (3) which rotate in accordance with the inclination angles of the suspension parts (6a) of the hoisting ropes (6) respectively attached to the
1, 31), encoders (S12, S12) for detecting the rotation angles of the two copying arms (31, 31), and a rangefinder (S13) attached to one of the copying arms (31). The inclination angle of the traverse trolley (10) and the suspension pulleys (2) of the pulleys (12, 12) and the bucket (20).
1) Encoders (S12, S12) for two angles of a triangle connecting the respective centers with the distance measuring device (S
13) to measure the position of the bucket (20) with respect to the transverse trolley (10), and the three-dimensional position of the bucket (20) from the relative position data of the bucket (20) with respect to the transverse trolley (10). And a winch (4) for traverse and a winch (7) for winding up and down so that the three-dimensional position of the traverse trolley (10) and the bucket (20) is matched with the predetermined position data previously input to the computer. The automatic operation method of the cable crane that controls the driving of the cable crane. 2. A pair of automatic tracking angle measuring instruments or automatic tracking distance measuring angles for automatically tracking the traverse trolley (10) by detecting the traveling direction and traveling speed of the traverse trolley (10) with a progress detector (S1). A three-dimensional position of the traverse trolley (10) is measured by a foreman (40, 40), and an inclinometer (S11) provided on the traverse trolley (10).
And a pair of pulleys (12, 12) of the traverse trolley (10)
The copying arms (3) which rotate in accordance with the inclination angles of the suspension parts (6a) of the hoisting ropes (6) respectively attached to the
1, 31), encoders (S12, S12) for detecting the rotation angles of the two copying arms (31, 31), and a rangefinder (S13) attached to one of the copying arms (31). The inclination angle of the traverse trolley (10) and the suspension pulleys (2) of the pulleys (12, 12) and the bucket (20).
1) Encoders (S12, S12) for two angles of a triangle connecting the respective centers with the distance measuring device (S
13) to measure the position of the bucket (20) with respect to the transverse trolley (10), and the three-dimensional position of the bucket (20) from the relative position data of the bucket (20) with respect to the transverse trolley (10). And a winch (4) for traverse and a winch (7) for winding up and down so that the three-dimensional position of the traverse trolley (10) and the bucket (20) is matched with the predetermined position data previously input to the computer. Driving of the bucket (20) and the acceleration and direction of the bucket (20)
The traverse trolley (10) measured by the accelerometer (S2) provided in the bucket (20) by the progress detection device (S1).
Value of the traveling direction and speed of the vehicle, the survey result of the position of the bucket (20) with respect to the transverse trolley (10), and the accelerometer (S
The traverse trolley (10) so as to prevent the bucket (20) from swaying by the detection data of the acceleration and the direction thereof according to (2).
Calculating a control signal for controlling the traveling speed or traveling direction of
An automatic operation method for a cable crane in which the drive of the traverse winch (4) is controlled by this control signal.