JPH10330077A - Setting method for carrying route of crane - Google Patents

Abstract

PROBLEM TO BE SOLVED: To carry objects smoothly by avoiding obstacles while the set speed pattern is well maintained. SOLUTION: The running speed pattern of a running device 3 and the transverse moving speed pattern of a transverse moving device 4 are prepared from the running start position S and the target position E. The running device 3 and transverse moving device 4 are started simultaneously from the running start position S according to the prepared patterns, and the position patterns of the running device 3 and transverse moving device 4 are determined at certain time intervals. The time of interference of the transverse moving device 4 with the end of obstacle 8/9 and the time of interference of the running device 3 with the obstacle 8/9 are determined from the position patterns of the devices 3 and 4 and the positions of the obstacles 8 and 9. From the obtained times, the time difference from the start of the device 3 to that of the device 4 is decided.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a crane conveyor for use in cargo handling in various fields such as the steel industry.
More particularly, the present invention relates to a setting of a transport route for safely and quickly moving a transport object while avoiding an obstacle in a crane operation range.

[0002]

2. Description of the Related Art In a manual crane which has a hoisting, traversing and traveling device and which conveys a suspended load three-dimensionally by combining these movements, an operator operates an operation panel, a handle, and the like to hoist. , Traversing, running, etc. In order to perform these operations, it is necessary to suppress the deflection of the load and to stop at the target position while avoiding obstacles, and a skilled operator is required. On the other hand, in an automatic crane, the speed pattern at the time of acceleration or deceleration of traveling or traversing is obtained from the equation of motion relating to the swing angle of the suspended load, and the suspended load swings by making the speed follow this velocity pattern. Is preventing. Further, the crane automatic driving method disclosed in Japanese Patent Application Laid-Open No. 4-59598 discloses a transport route that optimizes a traveling distance and the number of operation switching based on information such as a current position, a target position, and an obstacle position. This setting is used to control the steadying during running, changing the moving speed, and at the time of stopping by fuzzy control.

[0003]

SUMMARY OF THE INVENTION
As shown in Japanese Patent No. 59598, when a conveyance route for switching the traveling speed or the traversing speed is set in order to avoid an obstacle, there is a disadvantage that the control for traveling the crane is not easy.

[0004] The present invention has been made to improve such disadvantages, and has a target speed pattern set in advance.
The running and traversing operations are performed simultaneously while following the vehicle speed.If there are obstacles in the operating range of the crane, avoid the obstacles while maintaining the set speed pattern and load the cargo. It is an object of the present invention to provide a method for setting a crane conveyance route that can be smoothly conveyed.

[0005]

SUMMARY OF THE INVENTION A method for setting a crane conveyance route according to the present invention is a method for setting a crane conveyance route having a traveling device and a traversing device. The travel speed pattern and the traverse speed pattern of the crane are created from the position and the target position in consideration of the control of the swing angle of the suspended load, and the crane is calculated from the created travel speed pattern and the traverse speed pattern. The travel position and the traversing position for each travel time of the
A time zone in which the calculated traveling position and traversing position for each traveling time interfere with the obstacle is calculated, and a running start time and a traversing start in which the crane does not interfere with the obstacle are calculated from the calculated time zone. The present invention is characterized in that the start time of the traveling speed pattern and the traversing speed pattern is changed after the time is determined.

The traveling position and the traversing position for each traveling time of the crane are calculated from the start timing of the changed traveling speed pattern and the traversing speed pattern, and the traveling crane is calculated.
It is preferable to measure the position of the crane and to compare the measured crane position with the calculated running position and traversing position at each time.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS In the present invention, when a crane having a traveling device and a traversing device is moved from a traveling start position to a target position, the traveling speed of the traveling device is calculated from the traveling start position and the target position. The pattern and the traversing speed pattern of the traversing device are created. When the traveling device and the traversing device are simultaneously started from the traveling start position based on the created traveling speed pattern and the traversing speed pattern, the position pattern of the traveling device and the position of the traversing device at each time are provided. Ask for a pattern. From the position pattern of the traveling device, the position pattern of the traversing device, and the position of each obstacle, the time when the traversing device interferes with the end of each obstacle and the time when the traveling device interferes with each obstacle are determined. From the obtained time, a time difference for starting the traveling device and then for starting the traversing device is determined. Based on the determined time difference for starting the traversing device and the traveling speed pattern of the traveling device and the traversing speed pattern of the traversing device, the speed command pattern of the traveling device and the traversing device for avoiding obstacles is obtained. -Create In this way, the traveling device is driven to some extent and then the traversing device is started to avoid interference with the obstacle. Therefore, the obstacle is determined by the traveling speed pattern and the traversing speed pattern set in advance. The transport route to be avoided can be set.

Further, the position pattern of the traveling device corresponding to the time from when the traveling is started from the set speed command pattern.
And the position pattern of the traversing device. The position of the traveling device and the position of the traversing device are detected at each moving time, and the created position pattern of the traveling device and the position pattern of the traversing device are created.
Check the position of the load at each time by comparing it with the load. As a result of this check, if the actual position of the traveling device deviates from the position pattern or the position of the traversing device deviates from the position pattern, it is determined that an abnormality has occurred and an emergency stop is performed, and the load being conveyed is damaged Prevents interference with objects.

[0009]

FIG. 1 is a structural view of a club type ceiling crane according to an embodiment of the present invention. As shown in the figure, a ceiling crane 1 has a pair of traveling rails 2 accommodated in a building and traveling devices 3 at both ends, and traverses along the traveling rails 2. It has a rail 4 and a traversing device 5 that moves along the traversing rail 4. A hook portion 6 is suspended by a wire from a hoisting device provided in the traversing device 5. When the load is carried by the ceiling crane 1, the hook pieces 6 of the hook portion 6 are used.
A load 7 suspended in a is traversed along a traverse rail 4 by a traversing device 5 while being transported along a traveling rail 2 by a traveling device 3 and is conveyed to a predetermined target position.

[0010] The ceiling crane - at down 1, for example, as shown in FIG. 2, the running Star - DOO position S (x _0, y ₀₎ from the target position E (x _1, y ₁₎ to the operation of the hook portion 6 When transporting the load 7 from the traveling start position S to the target position E on the transport path 10 having a plurality of obstacles 8 and 9 in the range, an optimal transport route is provided.
The operation when setting the port will be described. Here, the obstacle 8 is arranged at the leading end position in the traveling direction Y from the traveling start position S, and the obstacle 9 is arranged at a position along the traveling direction Y on the traversing direction X side from the traveling start position S. ing.

First, as shown in FIG. 3 (a), the travel start position S (x ₀ , y ₀ ) and the target position E (x ₁ , y ₁ ) at the travel start position S are used. Traveling speed pattern P
y and the traversing speed pattern Px of the traversing device 5 are created. The created traveling speed pattern Py and the traversing speed pattern P
When the traveling device 3 and the traversing device 5 are simultaneously started from the traveling start position S at x, the load 7 suspended on the hook portion 6 is transported by the transport route r indicated by a broken line in the traveling direction Y. It interferes with the obstacle 9 arranged along. In order to avoid the interference with the obstacle 9, it is necessary to start the traversing device 5 after traveling to some extent in the traveling direction Y as indicated by the transport route R. The timing of starting the traversing device 5 is determined by the end A (x ₂ ,
y ₂ ) and the end B (x ₃ , y ₃ ) of the obstacle 9 must be determined so as not to interfere with each other.

The load 7 to be conveyed is at the end B (x ₃ ,
The limit that interferes with y ₃ ) is that when the traveling device 3 travels a distance (y ₃ −y ₀ ) from the traveling start position S, the traversing device 5
Is traversed by the distance (x ₃ −x ₀ ). The limit at which the load 7 to be conveyed interferes with the end A (x ₂ , y ₂ ) of the obstacle 8 is limited by the distance (y ₂₎
−y ₀ ), the traversing device 5 moves the distance (x ₂ −x
₀ ) is when it traverses.

Therefore, as shown in FIG. 3 (b), the traveling speed pattern Py and the traversing speed pattern Px are integrated to start each of the traveling device 3 and the traversing device 5 at the same time. The position pattern Ly of the traveling device 3 and the position pattern Lx of the traversing device 5 at each time are obtained. And the time the traversing device 5 traverses the distance (x ₃ −x ₀ ) and the distance (x ₂ −x ₀ ),
That is, the time T1 at which the end B (x ₃ , y ₃ ) of the obstacle 9 interferes and the time T at which the end A (x ₂ , y ₂ ) of the obstacle 8 interferes
2 and the traveling device 3 calculates the distance (y ₃ −y ₀ ) and the distance (y ₂
−y ₀ ), ie, the end B of the obstacle 9
The time T3 that interferes with (x ₃ , y ₃ ) and the end A of the obstacle 8
A time T4 at which interference occurs with (x ₂ , y ₂ ) is obtained. Then, the time difference TD for starting the traveling device 3 from the traveling start position S and then for starting the traversing device 5 is represented by a time difference ΔT ₁₃ =
It is determined with a margin that does not cause interference in the time between (T3−T1) and the time difference ΔT ₂₄ = (T4−T2). For example, obstacles 8 and 9 are arranged as shown in FIG. 2, and ΔT ₂₄ > ΔT ₁₃
In this case, the time difference TD for starting the traversing device 5 is determined so that ΔT ₂₄ >TD> ΔT ₁₃ is satisfied.
When 9 is arranged as shown in FIG. 4 and ΔT ₂₄ <ΔT ₁₃ , the traversing device 5 is adjusted so as to satisfy ΔT ₂₄ <TD <ΔT _13.
Is defined as the time difference TD at which the start time is started.

From the determined time difference TD for starting the traversing device 5, the traveling speed pattern Py of the traveling device 3 and the traversing speed pattern Px of the traversing device 5 previously created, FIG. As shown in (1), a speed command pattern for causing the traveling device 3 and the traversing device 5 to actually travel is created. By this speed command pattern, a transport route for avoiding the obstacles 8 and 9 can be set. Also, the set speed command pattern
As shown in FIG. 5B, the position pattern Ly of the traveling device 3 and the position pattern Lx of the traversing device 5 corresponding to the time after the start of traveling are obtained from the position.

When the traveling of the traveling device 3 is started, the traveling position detector provided in the traveling device 3 and the traveling position detector provided in the traversing device 5 determine the position of the traveling device 3 and the position of the traversing device 5 at each moving time. Is detected, and the created position pattern Ly of the traveling device 3 is compared with the position pattern Lx of the traversing device 5 to confirm the position of the load 7 at each time. As a result of this check,
If the actual position of the traveling device 3 deviates from the position pattern Ly, or if the position of the traversing device 5 deviates from the position pattern Lx, it is determined that an abnormality has occurred and the emergency stop is performed, and the conveyed load 7 is obstructed. Prevents interference with objects 8 and 9.

In the above embodiment, the case where the start time of the traversing device 5 is delayed from the start time of the traveling device 3 has been described.
The start time may be delayed from the start time of the traversing device 5.

Although the above embodiment has been described with reference to a club type ceiling crane, other crane transport routes can be set in the same manner.

[0018]

As described above, according to the present invention, when the crane having the traveling device and the traversing device is moved from the traveling start position to the target position, the traveling device is moved from the traveling start position to the target position. When the traveling speed pattern and the traversing speed pattern of the traversing device are created, and the traveling device and the traversing device are simultaneously started from the traveling start position with the created traveling speed pattern and the traversing speed pattern. The position pattern of the traveling device and the position pattern of the traversing device at each time are determined, and the traversing device is determined from the obtained position pattern of the traveling device, the position pattern of the traversing device, and the position of each obstacle. The time at which the obstacle interferes with the end of each obstacle and the time at which the traveling device interferes with each obstacle are determined, and the time difference at which the traveling device and the traversing device are started is determined from the determined time, and the time difference determined and created earlier. Traveling speed pattern and lateral A speed command pattern for the traveling device and the traversing device that avoids obstacles is created from the traversing speed pattern of the device, and a time difference is provided between the start of the traveling device and the traversing device to avoid interference with the obstacle. With this configuration, it is possible to set a transport route for avoiding an obstacle by a predetermined traveling speed pattern and a traversing speed pattern, and to smoothly transport a load even on a transport path having an obstacle. Can be.

Further, the position pattern of the traveling device corresponding to the time from when the traveling is started from the set speed command pattern.
The position pattern of the moving device and the traversing device is obtained, and the position pattern of the traveling device and the position of the traversing device are compared with each other to confirm the position of the load at each moving time. The present load can be stably transported without interfering with obstacles.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of a club-type ceiling crane according to an embodiment of the present invention.

FIG. 2 is a plan view of a transport path having an obstacle.

FIG. 3 is a change characteristic diagram of speed and position when running and traversing are started simultaneously.

FIG. 4 is a plan view of another transport path having an obstacle.

FIG. 5 is a change characteristic diagram of a speed and a position when a time difference is provided between a running start and a traversing start.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Ceiling crane 2 Running rail 3 Running device 4 Traversing rail 5 Traversing device 8 Obstacle 9 Obstacle

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Hiromi Makita 1 Konocho, Tsurumi-ku, Yokohama-shi, Kobe Kogyo Kogyo Co., Ltd. (72) Inventor Koichi Abe 1 Koocho, Ono-cho, Tsurumi-ku, Yokohama Kochi Kogyo Co., Ltd.

Claims (2)

[Claims] 1. A method for setting a crane conveyance route having a traveling device and a traversing device, wherein the traveling of the crane in consideration of control of a swing angle of a suspended load from a traveling start position and a target position. A speed pattern and a traversing speed pattern are created, and a traveling position and a traversing position for each traveling time of the crane are calculated from the created traveling speed pattern and the traversing speed pattern, and the calculated traveling times are calculated. Calculate the time zone in which the traveling position and the traversing position interfere with the obstacle for each and determine the running start time and the traversing start time in which the crane does not interfere with the obstacle from the calculated time zone. A method for setting a crane conveyance route, which comprises changing a start start timing of a traveling speed pattern and a traversing speed pattern. 2. A traveling position and a traversing position for each traveling time of the crane are calculated from the changed traveling speed pattern and a start timing of the traversing speed pattern, and the traveling speed of the traveling crane is calculated. The method for setting a crane conveyance route according to claim 1, wherein the position is measured, and the measured crane position is compared with the calculated running position and traversing position at each time.