JPS62244893A - Swing-angle detector for hung load - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a device for detecting the swing angle of a suspended load, and more specifically, it detects the deflection angle of the suspended load with respect to the vertical direction from the inclination angle of the hanging rope with respect to the support. The present invention relates to a deflection angle detection device that can obtain the following values. This is used in the field of crane operation control to control the sway of a suspended load based on the sway angle of the suspended load.

[Prior art]

In order to prevent swinging of a suspended load during operation of a crane, etc., it is necessary to detect the swing angle of the suspended load. A well-known inclined needle has been conventionally employed to detect the deflection angle of a single object. It has a mechanical structure in which oil is sealed to improve damping, and it can accurately detect the angle of inclination of the hanging cable when the suspended load is stationary. This type of detection device is an irises system, in which a light source is attached to the suspended load, and the light source is observed with a two-dimensional imaging tube from directly above the suspended load to detect the deflection angle of the suspended load or hanging cable. However, for example, JP-A-54-157
It is described in Publication No. 953. This type of detection device allows for non-contact detection of the swinging of suspended loads and suspension cables, and the detection signal can be immediately input into a computer to simplify crane control. can.

[Problem that the invention seeks to solve]

Since the above-mentioned inclined needle has a mechanical structure, the response speed is slow when there is acceleration, and since oil is sealed for damping, temperature correction is required. On the other hand, if the light source is observed with a two-dimensional imaging tube to detect the deflection angle of a suspended load or hanging cable, the imaging tube must always be positioned so that it faces the light source directly above the suspended load. , there are restrictions on the mounting position of the image pickup tube and light source. Depending on the crane, installation space may be limited and installation may be difficult.

The present invention was made in view of the above-mentioned problems, and its purpose is to enable the imaging tube and the object to be imaged to be installed at any position, and to detect the inclination angle of the hanging cable without contact, at high speed, and with high precision. However, it is an object of the present invention to provide a swing angle detection device for a suspended load that can obtain the swing angle of the suspended load based on the swing angle.

Means for Solving Problem C] The hanging load swing angle detection device of the present invention is characterized by:
Referring to FIG. 1, in a crane device 2 that lifts, supports, or suspends a load using a suspension rope 1, a suspension rope following means 7 that behaves in accordance with the movement of the suspension rope 1 is used. , an imaged object 8 that is attached to the hanging rope follower l1t7 and reflects or emits light, and a support body 5 for the hanging rope l.
is fixed to the two-dimensional light spot position detector 21 [see Figure 3]
The three-dimensional position of the imaged object 8 is calculated from the imaging positions on the light-receiving surfaces 23 (see Figure 3) of the two cameras 9 and the two two-dimensional light spot position detectors 21 (see Figure 3). Inclination angle of the hanging rope l with respect to the support 5 from the dimensional position! , Φ, and uses the inclination angle to calculate the swing angles θ and θ2 of the hanging load 6 in the elevation direction and the turning direction with respect to the vertical direction.

[For production]

Since the hanging rope following means 7 follows the movement of the hanging rope 1 without interfering with the movement of the hanging rope 1, the field image body 8 attached thereto moves with the swinging of the hanging load 6. Two cameras 9 each having a built-in two-dimensional light spot position detector 21 fixed to a support 5 that supports the hanging cable 1 observe the imaged object 8, and the light received by each two-dimensional light spot position detector 21 is From the imaging position on the surface 23, the deflection angle calculating means 1O calculates the three-dimensional position of the imaged object 8. From that position, the angle of inclination of the hanging cable 1 to the support 5! , Φ are calculated, and the deflection angles θ1° θ2 of the hanging load 6 in the elevation direction and the turning direction with respect to the vertical direction are calculated. Therefore, it is possible to detect the inclination angle of the suspended load with respect to the support body without optical contact, and to detect the deflection of the suspended load using a two-dimensional light spot position detector and a microcomputer by installing the object to be imaged and the camera at arbitrary positions. By calculating the angle, the swing angle of the suspended load can be obtained with high accuracy.

〔Effect of the invention〕

According to the configuration of the present invention as described above, since the suspension rope following means and the optical observation means are used, the swing angle of the suspended load can be detected in a non-contact manner without causing any disturbance to the suspension rope. Since the object to be imaged and the camera can be placed in any position and measured,
Unlike conventional optical detectors, there are no restrictions on the type of crane or mounting location, and there is no need to mount the sensor directly above the suspended load with high precision. Fast response speed 2
The swing angle of the suspended load can be detected at high speed using a dimensional light spot position detector and high-speed calculation using a microcomputer. By improving the detection accuracy of the two-dimensional light spot position detector, it becomes possible to detect the deflection angle of the suspended load with high accuracy.

By using the negative swing output signal, it is possible to control the hanging load to prevent it from swinging, and stable automation of crane work is realized.

〔Example〕

FIG. 1 explains the configuration of an embodiment of the present invention, which includes a crane device 2 that lifts and supports or suspends a load using a hanging rope 1, and a swing angle detection device W3 for a suspended load attached to the crane device 2. FIG.

The crane main body 4 is rotatably installed on a ship, for example, and has a support 5 called a boom or jib that supports the suspension cable 1 so as to be able to move up and down, and the suspension cable 1 is hoisted up via a winch (not shown). The hanging load 6 is raised and lowered and transferred by being let out. The deflection angle detection device 3 is
It is equipped with a hanging cable following means 7, an object to be imaged 8, two cameras 9, and a deflection angle calculation unit ¥9t10. In addition, if the center of gravity of the ship moves while loading and unloading suspended cargo between the ship and the quay, or if the ship's attitude changes due to rocking due to wind and waves, the elevation angle of the support will immediately change to the crane device 2.
Therefore, the behavior of the suspended load during movement differs depending on the attitude of the ship.

The above-mentioned suspension cable following means 7 has two rotation axes. For example, when the suspension cable 1 swings in the up-and-down direction, it follows and rotates around the rotation axis 11, and when the suspension cable 1 swings in the turning direction, it rotates around the rotation axis. 12 and follows the movement of the hanging load 6 without inhibiting the movement of the hanging cable 1.

To explain in more detail, the support 5 for suspending the suspension cable 1
The apparatus shown in FIGS. 2(a) to 2(d) is provided on the upper part of the apparatus. A sheave 1 on which a suspension cable 1 is stretched is attached to the upper end of the support 5.
3 [see Figure 1], and an elevation arm 14 coaxially with it.
is attached, and it swings in a vertical plane about the rotating shaft 11 in a nearly horizontal state without losing its balance due to the counterweight 15. An auxiliary member 16 extending in a direction parallel to the rotating shaft 11 is integrally provided at the tip of the elevating arm 14, a rotating shaft 12 is protruded from a position facing the cable guide of the sheave 13, and a rotating arm 17 is attached to the rotating shaft 12. It is provided to swing in a direction perpendicular to the elevation arm 14. At the lower end of the swing arm 17, there is a guide body 20 that holds the suspension cable l between two pairs of opposing rollers 1B and 19, which controls the rotation and elevation of the crane device 2 and the swinging of the suspension cable 1. The angle of inclination of the suspension rope 1 with respect to the support 5 due to! , Φ (see FIGS. 7(b) and (d)) follows the hanging cable l. In this way, the hanging rope following means 7
In this case, the guide body 20 always moves together with the suspension cable 1 while the elevation arm 14 and the swing arm 17 swing.
Change that attitude.

The above-described imaged object 8 is the guide body 2 of the hanging rope following means 7.
In this example, a light source such as a light emitting diode is used, and two light sources are installed in the upper and lower positions. Note that the number of light sources is 1
However, depending on the calculation format, two may be required, which varies depending on the configuration of the device. These light sources 8
．． Two cameras 9 and 9 are mounted on the support 5 so as to face the camera 8.
is fixed. As shown in FIG.
A dimensional light spot position detector 21 is built in, and a lens 22 collects light from the outside onto a light receiving surface 23 of the two-dimensional light spot position detector 21 to form an image of the light source 8 . In FIG. 4, the two-dimensional light spot position detector 21 is, for example, a photodiode including two pairs of electrodes 24 to 27, and the two-dimensional light spot position detector 21 in the other camera 9 is also a two-dimensional light spot position detector 21. A photodiode including a set of electrodes 28-31. Note that the current generated by the incident light from the light source 8 that is imaged at the imaging positions Ql and Q2 of the two-dimensional light spot position detector 21 flows through the electrodes 24 to 27 and 28.
~31, respectively, and each current Ill
~In+Izt~I24.

The deflection angle calculation means 10 detects two two-dimensional light spot positions 2.
Image formation position Qs on the light receiving surface 23 of 1, from Q2 to the light source 8
The three-dimensional position of is calculated, and from that three-dimensional position, the inclination angle in the vertical direction of the hanging cable 1 with respect to the support body 5! and calculate the tilt angle Φ in the turning direction, and calculate the tilt angle! , Φ are used to calculate the deflection angle θi of the suspended load in the elevation direction with respect to the vertical direction and the deflection angle θ2 in the turning direction, and is configured by, for example, a microcomputer. Output 1+t of each electrode 24 to 27 described above
~h4 is given to the processing circuit 32, and the coordinates (X c+, Y c) of the imaging position Q are expressed as Xc+= (In -112) / (111
+ 1+z) −−−=−(1) Ycs−(1+x
-114) / (II! +114)
----121. The calculation result is input to the calculation circuit 33. In the case of the other two-dimensional light spot position detector 21, the output current IH~124 is outputted to the processing circuit 32 in a similar operation, and the output current IH~124 is outputted to the two-dimensional light spot position detector 21 in accordance with this current value. The coordinates (X
A signal representing C21YO2) is applied from the processing circuit 32 to the arithmetic circuit 33.

Here, a method for measuring and calculating the three-dimensional position of the light source 8 will be explained using FIG. A light source located at an arbitrary position on the hanging cable 1 is observed using two cameras. The coordinates of the light source P in the coordinate system fixed to the support 5 (see Figure 1) are
, Z), the imaging coordinate of point P in the camera coordinate system is Q*
(Xct, Yct).

C2 (XC2, YO2), the transformation from the coordinate system fixed on the support 5 at point P to the camera coordinate system can be done using the transformation matrix CI as shown in equation (3), (41) using a homogeneous coordinate system.
, C2 is expressed by equations (5) and (6).

Each element of the transformation matrix G+, Cz is called a camera parameter, but ([l'r, ([l'2 is known, (
Xct.

Q volume -・-(sword C+ (1,1) X+C+ (1,2) Y+C+
(1,3) Z+C+ 1.4)-C+ (3+1)
Xc+X-C+ (3,2) Xc+Y-C+ (
3+3) Xc+Z-C+ C3*4) X++=
0・---・(11) ◆C+ (2,1) X+CI(2,2) Y+CI
(213) Z+CI (2,4)-C+ C3+1
) Yc +X-C+ (3,2) Yc+Y-C
+ (Sr1) Yc+Z-C+ (&4) Y
c+-0・-(121 C+ (3,4) = 1
----- (15) Rt = (XctYct・
--...XcnYcn) ---
--(16) Kunishita Margin - Find the three-dimensional position of the point of interest in the object coordinate system from the data of Yc+) and (XC2, YC2). That is, Q, F, and V are expressed by equations (7), (8), and (9), respectively.
Then, it is expressed as F=QV, and the three-dimensional position of the point of interest can be more easily determined.

Each element of camera parameters ct and c2 is determined by the following procedure. Expanding equation (5) for one camera results in equations (11) and (12). Therefore, in order to find 12 unknowns, we need to find 3 points of 6 points that are not on the same plane.
What is necessary is to find the dimensional position and the corresponding position in the camera image. Note that in order to increase the accuracy of the parameters, it is sufficient to measure at six or more points and determine the parameters by the least squares method. Now, AICIRI is expressed as formula (13) (
14) (15) (16) One camera parameter can be determined from the % formula %.

Note that the same procedure may be performed for the other camera.

The swing angle of the suspended load is determined by the following procedure.

[When using 132 light sources ■ Two light sources 8.8 at any position of the hanging rope following means 7
to be fixed.

(2) Hanging the hanging cable 2 in the vertical direction, measure the three-dimensional position of the light source 8°8 of 21111il. LEDI
(x+, yI, zl) LED2 (X2,
y2.22), then 2(I?i1 light source 8,
The direction vector a determined by 8 is a= (x+-X2.yI-y2.zl-22)
is given by

■ 2 when the suspended load swings (flit light source 8, 8-3)
Measure the dimensional position, L E D 1 (x +', y I',
z I') LED2 (X2', X2', 22
'), the direction vector a' determined by the two light sources 8.8 is al'= (XI' - X2', 3z' - X2',
zI'-22').

■ The inclination angle θ of the suspended load at this time is: ■ If the inclination angle θ is decomposed into the components of the elevation direction (y direction) and the turning direction (X direction), we get: Elevation direction! is −・・・・−・・・(18) However, v−Or+ −72, 21−22) v′= (
y+'-yz', zt'-Z2')---1---・
・−(19) However, u= (XI −X2.zl −22)u
= (xt'-x2', zI'-22').

(ii) When using one light source Referring to FIG. 6, (1) Fix one light source 8 at an arbitrary position of the hanging rope following means 7.

(2) Hanging the hanging cable l in the vertical direction, measuring the three-dimensional position of the light source 8, and setting this position to (0, 0, 0).

■ Measure the three-dimensional position of the light source 80 when the suspended load 6 swings, and the above position f! The amount of change from (0, O, O) is (X, Y
, Z), the inclination angle θ of the suspended load in the elevation direction is as follows:
r-δ))] where r is the radius δ of the sheave 13 is the amount of deviation l of the light source 8 from the hanging cable l is the length along the hanging cable 1 from the center of the sheave 13 to the light source 8. As mentioned above, the calculation method differs slightly depending on whether there is one or two light sources, but the calculation of the inclination angle Φ in the elevation direction and the inclination angle Φ in the turning direction of the suspension rope 1 with respect to the support 5 is performed as described above. .

Next, as shown in FIG. 7(a), in an arbitrary initial state in the elevation direction of the crane device 2, when the suspended load 6 is hung vertically, the crane body 4 is tilted in the elevation direction with respect to the vertical direction. The angle is α0, the elevation angle of the support body 5 with respect to the crane body 4 is γ0, and the inclination angle of the suspension cable 1 in the elevation direction with respect to the support body 5 is A0. The above values are due to the fact that the hull is tilted for some reason or the crane body 5 has not returned to its original state, but in the operation control of the crane device 2, it is possible to change the value based on a certain state. Since it is sufficient to be able to grasp the movement from , the above-mentioned state is taken as an example of an arbitrary state as the initial state. Figure 7 (b
) is a state diagram in which the tilt angle θ1 is taken in the elevation direction, and this θ1 is the inclination angle of the crane body 4 in the elevation direction with respect to the vertical direction is α, the elevation angle of the support body 5 with respect to the crane body 4 is γ, and the support body This is the angle that occurs when the inclination angle of the suspension cable 1 in the elevation direction with respect to 5 is the instep. Part 01
is obtained using the bevel angle A0 and A obtained through the above-mentioned hanging rope tracking means 7, etc., and the swing angle θ1 of the suspended load in the elevation direction is as follows: θ1=(α0−α)×( Tor"
) + ('Po−'P)−・−・(22). Note that this calculation is also performed using the above-mentioned deflection angle calculation method Y! 110.

FIG. 7(C) is a schematic diagram of the initial state of the crane device 2 in the turning direction, and FIG. 7(d) shows the swing angle θ2 in the turning direction.
This is a state diagram in which β0°β is the inclination angle of the crane body 4 in the turning direction with respect to the vertical direction, Φ0. Φ is the inclination angle of the suspension cable 1 in the turning direction with respect to the support body 5. Then, the deflection angle θ2 of the hanging load in the turning direction is θ2=(β0−β)−(Φ0−Φ)・・・−・−・(23
). Therefore, even if the inclination angle of the crane main body 4 or the elevation angle of the support body 5 changes, the swing angle of the suspended load relative to the vertical direction can be obtained. This calculation is also performed by the swing angle calculating means 10 mentioned above, and the swing angle signal is inputted to the control device that drives and controls the crane device 2, so that it is possible to control the hanging load to prevent it from swinging, and to stabilize the crane operation. Automation is achieved.

Since such a device uses optical means, it is possible to perform non-contact measurement without adding any disturbance to the suspension cable.Moreover, the light source and camera can be installed at any position, which is different from conventional methods. This eliminates the trouble of precisely installing the sensor in a limited location, such as directly above the suspended load, as with the optical detector. As a result, it can be applied to all types of cranes that suspend loads using hanging ropes, regardless of the type, such as overhead cranes or deck cranes. In addition, the swing angle of the suspended load can be detected at high speed using a two-dimensional light spot position detector with a fast response speed and high-speed calculation using a microcomputer. If the detection accuracy of the two-dimensional light spot position detector is improved, it becomes possible to detect the deflection angle of the suspended load with high precision.

[Brief explanation of drawings]

Fig. 1 is a schematic diagram of a crane device that lifts and moves a load using a suspension rope, and a swing angle detection device for the suspended load attached thereto; Fig. 2(a) is a front view of the suspension cable tracking means; Figure (b
) is a plan view thereof, FIG. 2(C) is a view taken along the line nn in FIG. 2(a), FIG. 2(d) is a view taken along the line mm in FIG. 2(a),
Figure 3 is a perspective view of the camera, Figure 4 is a block diagram of the configuration of the deflection angle calculation means, Figure 5 is a diagram of the principle of determining the three-dimensional position from the image formed by the two-dimensional light spot position detector, and Figure 6 is the light source. 7(a) is a schematic diagram of the initial state of the crane device in the elevation direction, and FIG. 7(b) shows the swing angle in the elevation direction. FIG. 7(c) is a schematic diagram of the initial state of the crane device in the turning direction, and FIG. 7(d) is a state diagram showing the swing angle in the turning direction. l--suspension cable, 2-crane device, 5--support, 6
- Hanging load, 7... Suspension cable following means, 8 - Imaged object (light source), 9-... Camera, 10- Deflection angle calculation means, 13-
・Sheave, 14--Elevation arm, 17--Swivel arm,
20-guide body, 21-2-dimensional light spot position detector, 23
−・− Light receiving surface,! , Φ - tilt angle, °θ1.02 - deflection angle. Patent applicant Kawasaki Heavy Industries, Ltd. Agent Patent attorney Katsutoshi Yoshimura (and one other person) Figure 4 Figure 5 Figure 7 (a) Figure 7 (b) Figure M7 (C) i Figure 7 (d)

Claims (2)

[Claims] (1) In a crane device that lifts, supports, or suspends a load using a suspension rope, a suspension rope following means that behaves in accordance with the movement of the suspension rope; An imaged object that reflects or emits light, two cameras that are fixed to the support of the hanging cable and have built-in two-dimensional light spot position detectors, and two cameras on the light-receiving surfaces of the two two-dimensional light spot position detectors. The three-dimensional position of the object to be imaged is calculated from the imaging position, the inclination angle of the suspension cable with respect to the support body is calculated from the three-dimensional position, and the inclination angle is used to determine the elevation direction and turning of the suspended load with respect to the vertical direction. A swing angle detection device for a suspended load, comprising swing angle calculation means for calculating a swing angle in a direction. (2) The hanging rope following means includes an elevating arm coaxial with the sheave from which the hanging rope is hung, a swing arm that is attached to the elevating arm and rotates in the turning direction, and a swing arm that is attached to the swing arm and that hangs the hanging cable. 2. A swing angle detection device for a suspended load according to claim 1, further comprising a guide body that clamps a rope.