WO2014054318A1 - Dispositif de détection de position de centre de gravité, procédé de détection de position de centre de gravité et programme - Google Patents

Dispositif de détection de position de centre de gravité, procédé de détection de position de centre de gravité et programme Download PDF

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Publication number
WO2014054318A1
WO2014054318A1 PCT/JP2013/067496 JP2013067496W WO2014054318A1 WO 2014054318 A1 WO2014054318 A1 WO 2014054318A1 JP 2013067496 W JP2013067496 W JP 2013067496W WO 2014054318 A1 WO2014054318 A1 WO 2014054318A1
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Prior art keywords
center
suspended load
gravity
rope
tension
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PCT/JP2013/067496
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English (en)
Japanese (ja)
Inventor
唯明 門前
法貴 ▲柳▼井
大作 林
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三菱重工マシナリーテクノロジー株式会社
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Publication of WO2014054318A1 publication Critical patent/WO2014054318A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
    • B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/46—Position indicators for suspended loads or for crane elements

Definitions

  • the present invention relates to a gravity center position detection device, a gravity center position detection method, and a program.
  • the container center of gravity position detection device described in Patent Document 1 includes a radiation source, a detector disposed with a container entry space between the radiation source, and a detector. And an arithmetic device that performs arithmetic processing based on the output of the above.
  • the arithmetic unit obtains the intensity distribution of the radiation that has reached the detector from the radiation source in a state where the container has entered the container entry space, and calculates the density distribution of the container based on the intensity distribution of the radiation. Based on this, the position of the center of gravity of the container is specified.
  • the gravity center position of a container can be specified easily, without opening a container.
  • the center-of-gravity position detection device described in Patent Document 1 the center-of-gravity position can be specified also in the height direction of the container.
  • the present invention has been made in consideration of such circumstances, and an object of the present invention is to provide a center-of-gravity position detection device, a center-of-gravity position detection method, and a program that can more accurately determine the center-of-gravity position in the height direction. There is.
  • a gravity center position detection device is a gravity center position detection device that obtains the gravity center position of a suspended load suspended by a rope from a rope support position by a crane. The distance between the support position and the center of gravity of the suspended load is calculated from the distance between the rope support position and the center of gravity of the suspended load.
  • a suspended load center-of-gravity height calculation unit that subtracts the distance from the upper surface to obtain the height of the center of gravity of the suspended load in the suspended load.
  • the center-of-gravity position detection device is the above-described center-of-gravity position detection device, wherein the support position center-of-gravity distance calculation unit is in a state in which the suspended load is shaken.
  • the distance between the rope support position and the center of gravity of the suspended load is determined based on the amount of swing of the suspended load and the acceleration of the suspended load.
  • the center-of-gravity position detection device is the above-described center-of-gravity position detection device, wherein the support position center-of-gravity distance calculation unit is in a state in which the suspended load is shaken. A distance between the rope support position and the center of gravity of the suspended load is obtained based on the swing period of the suspended load.
  • the center-of-gravity position detection device is the above-described center-of-gravity position detection device, and when the swinging load does not occur, the rope support position is moved to move the suspension load. And a support position movement control unit for generating vibration.
  • a gravity center position detection device is the above-described gravity center position detection device, wherein the rope length is corrected to include an extension amount of the rope, and the corrected rope length Further, a rope length correction unit for obtaining a distance between the rope support position and the upper surface of the suspended load is provided, and the suspended load center-of-gravity height calculation unit includes the rope support position and the suspended load obtained by the rope length correction unit. Based on the distance from the upper surface, the height of the center of gravity of the suspended load in the suspended load is obtained.
  • the center-of-gravity position detection device is the above-described center-of-gravity position detection device, wherein the crane includes a trolley that supports the rope, and the distance calculation unit between the support position center of gravity is The distance between the rope support position and the center of gravity of the suspended load is determined based on the acceleration of the suspended load obtained by adding the swing acceleration of the suspended load to the acceleration of the trolley.
  • the center-of-gravity position detection device is the above-described center-of-gravity position detection device, wherein the suspended load is suspended by a plurality of the ropes, and the tension of each of the ropes, Based on the inclination of each of the ropes relative to the vertical direction, a tension vertical component acquisition unit that obtains a vertical component of the tension of each of the ropes, and based on the vertical component of the tension of each of the ropes, the center of gravity of the suspended load A suspended load center-of-gravity horizontal position calculation unit for obtaining a position in the suspended load in at least one of the horizontal directions.
  • the center-of-gravity position detection device is the above-described center-of-gravity position detection device, wherein each of the ropes is based on an acceleration at which the rope support position moves and a load of the suspended load.
  • An acceleration / deceleration tension correction unit that performs correction for subtracting a component based on acceleration / deceleration of the rope support position from a vertical component of tension of the tension, and the suspended load center-of-gravity horizontal position calculation unit includes the corrected vertical component of tension The position of the center of gravity of the suspended load in the suspended load is obtained.
  • the center-of-gravity position detection device is the above-described center-of-gravity position detection device, wherein a timing detection unit that detects a timing at which the suspended load is positioned at the center of deflection, and the suspended load includes: A tension acquisition unit that acquires the tension of each of the ropes at a timing that is located at the center of the swing, and the tension vertical component acquisition unit is configured so that each of the ropes at a timing at which the suspended load is positioned at the center of the swing. Based on the tension, the vertical component of each tension of the rope is determined.
  • the center-of-gravity position detection device is the above-described center-of-gravity position detection device, wherein each tension of the rope in a state where the suspended load is not suspended is determined from each tension of the rope. And a tension component correction unit that performs correction for subtracting the tension, and the tension vertical component acquisition unit obtains the corrected vertical component of each tension of the rope.
  • a center-of-gravity position detection method for a center-of-gravity position detection device that obtains the center-of-gravity position of a suspended load suspended from a rope support position by a crane.
  • a distance calculation step between the support positions and the center of gravity of the suspended load, and a distance between the rope support position and the center of gravity of the suspended load is subtracted from the distance between the rope support position and the center of gravity of the suspended load.
  • a suspended load center-of-gravity height calculation step for obtaining a height of the center of gravity of the suspended load in the suspended load is provided.
  • a program for a computer serving as a center of gravity position detecting device for obtaining a center of gravity position of a suspended load suspended from a rope support position by a crane serving as a center of gravity position detecting device for obtaining a center of gravity position of a suspended load suspended from a rope support position by a crane.
  • a support position center-of-gravity distance calculating step for obtaining a distance to the center of gravity; and a center of gravity of the suspended load by subtracting a distance between the rope support position and the upper surface of the suspended load from a distance between the rope support position and the center of gravity of the suspended load.
  • This is a program for executing a suspended load center-of-gravity height calculating step for obtaining the height of the suspended load in the suspended load.
  • the position of the center of gravity in the height direction can be obtained more accurately.
  • the center of gravity position detection device determines the height of the center of gravity of the suspended load. It is a flowchart which shows a procedure. It is a schematic block diagram which shows the function structure of the gravity center position detection apparatus in the 2nd Embodiment of this invention. In the same embodiment, it is explanatory drawing which shows the example of the state which hangs a suspended load using four ropes. It is explanatory drawing which shows the example of the timing which the timing detection part in the embodiment detects. It is a flowchart which shows the process sequence in which the gravity center position detection apparatus in the same embodiment calculates
  • FIG. 1 is a schematic block diagram showing a functional configuration of the center-of-gravity position detection apparatus according to the first embodiment of the present invention.
  • the center-of-gravity position detection apparatus 100 includes a data acquisition unit 101, a support position movement control unit 102, a support position center-of-gravity distance calculation unit 103, a rope length correction unit 104, and a suspended load in-center centroid height calculation unit 105. And a display unit 106.
  • the center-of-gravity position detection device 100 is a device that obtains the center-of-gravity position of a suspended load suspended by a rope from a rope support position by a crane. (Height) ”.
  • FIG. 1 is a schematic block diagram showing a functional configuration of the center-of-gravity position detection apparatus according to the first embodiment of the present invention.
  • the center-of-gravity position detection apparatus 100 includes a data acquisition unit 101, a support position movement control unit 102, a support position center-of-gravity distance calculation unit 103,
  • FIG. 2 is explanatory drawing which shows the example of suspension of the suspended load by a crane.
  • a crane trolley 910 a rope 920, a spreader 930, and a container as an example of a suspended load C11 are shown.
  • the suspended load C ⁇ b> 11 is held by the spreader 930 and is suspended from the trolley 910 by the rope 920.
  • the trolley 910 supports the rope 920 on its lower surface, and the position where the trolley 910 supports the rope 920 corresponds to an example of the rope support position.
  • the center-of-gravity position detection device 100 obtains the height of the center of gravity of the suspended load C11 in a state where the suspended load C11 is suspended from the crane.
  • the center-of-gravity position detection device 100 is not limited to a suspended load suspended on a crane including a trolley, and can be applied to the calculation of the height of the center of gravity of various suspended loads suspended in a state where a swing can occur.
  • the center-of-gravity position detection device 100 can calculate the height of the center of gravity of a suspended load suspended from a jib on a crane having a turnable jib.
  • the data acquisition unit 101 acquires sensing data from various sensors provided on the crane.
  • the support position movement control unit 102 moves the rope support position to cause the suspended load C11 to shake when the suspended load C11 is not shaken. That is, when the distance calculation unit 103 between the support position centroids calculates the distance between the rope support position and the center of gravity of the suspended load C11, the suspended position C11 needs to be shaken. The swing of the suspended load C11 is intentionally generated.
  • the suspended load center-of-gravity height calculation unit 105 subtracts the distance between the rope support position and the suspended load upper surface from the distance between the rope support position and the suspended load C11 and calculates the difference between the suspended load upper surface and the suspended load C11 center of gravity. Find the distance.
  • the suspended load center-of-gravity height calculation unit 105 subtracts the distance between the suspended load upper surface and the suspended load C11 from the height of the suspended load C11 to obtain the height of the suspended load C11.
  • the rope length correction unit 104 performs correction to include the extension amount of the rope 920 in the length of the rope 920, and obtains the distance between the rope support position and the suspended load upper surface from the corrected length of the rope 920. That is, the rope 920 that suspends the suspended load C11 is extended by the weight of the suspended load C11 and the like, so that the distance between the rope support position and the upper surface of the suspended load is increased. Therefore, the rope length correction unit 104 corrects the elongation. Do. As the rope length correction unit 104 performs the correction, the suspended load center-of-gravity height calculation unit 105 determines the center of gravity of the suspended load C11 based on the distance between the rope support position obtained by the rope length correction unit 104 and the suspended load upper surface.
  • the display unit 106 has a display screen capable of displaying characters, such as a liquid crystal panel or an organic EL (Organic Electroluminescence) panel, and displays various types of information.
  • the display unit 106 displays the height of the center of gravity of the suspended load C11 obtained by the suspended load in-center centroid height calculating unit 105.
  • FIG. 3 is an explanatory diagram of the positional relationship between the rope support position and the suspended load core when traversing the trolley.
  • x 1 indicates the position of the trolley 910 (distance from the reference point).
  • x 2 represents the deflection displacement of the suspended load C11 relative to the rope supporting position P11
  • theta denotes the deflection angle of the suspended load C11 relative to the vertical line L11.
  • l represents the distance between the rope support position P11 and the center of gravity P12 of the suspended load C11
  • m represents the load of the suspended load C11.
  • equation (2) can be obtained from equation (1).
  • the supporting position the distance between the centers of gravity calculation unit 103, the shake displacement x 2 of the suspended load C11, the acceleration x 1 of the trolley 910 (double dot), shake acceleration x 2 of the suspended load C11 ( From the double dot), the distance l between the rope support position P11 and the center of gravity P12 of the suspended load C11 is obtained. That is, the support position center-of-gravity distance calculation unit 103 calculates the distance between the rope support position P11 and the center of gravity P12 of the suspended load C11 based on the acceleration of the suspended load C11 obtained by adding the swing acceleration of the suspended load C11 to the acceleration of the trolley 910. Ask.
  • shake displacement x 2 of the suspended load C11 can be determined using, for example, vibration sensor.
  • a CCD camera for imaging downward from the trolley 910 is installed, the light source provided on the hanging tool (for example, the spreader 930 in FIG. 2) is imaged, and the shake displacement x 2 is calculated based on the position of the light source in the captured image. calculate.
  • the CCD camera since the CCD camera is provided in the trolley 910, it is not necessary to provide the shock countermeasure against deflection of the suspended load C11, also, it is possible to obtain the displacement x 2 shake with high accuracy without receiving such an impact.
  • an acceleration sensor provided in the load block may be obtained displacement x 2 shake acceleration detected by the acceleration sensor 2 order integration.
  • an increase in equipment cost can be suppressed in that an acceleration sensor is used.
  • the acceleration x 1 (double dot) of the trolley 910 can be obtained by detecting and differentiating the trolley speed using, for example, a trolley speed detector.
  • a trolley speed detector is already provided for trolley control or the like, the trolley detector can be used for acceleration detection, and there is no need to provide a new sensor.
  • the shake acceleration x 2 (double dot) of the suspended load C11 is obtained, for example, by second-order differentiation of the shake displacement x 2 obtained using the shake sensor.
  • the shake acceleration x 2 (double dot) can be obtained with high accuracy without receiving such impacts.
  • an acceleration meter may be provided on the hanging tool to measure the shake acceleration x 2 (double dot). In this case, similarly to the above, an increase in equipment cost can be suppressed.
  • FIG. 4 is a flowchart illustrating a processing procedure in which the gravity center position detection device 100 obtains the height of the gravity center of the suspended load C11.
  • the center-of-gravity position detection device 100 performs the process shown in FIG.
  • the data acquisition unit 101 acquires the acceleration of the trolley 910, the swing acceleration of the suspended load C11, the swing displacement of the suspended load C11, the length of the rope 920, and the load of the suspended load C11. (Step S101).
  • the support position movement control unit 102 When the swing of the suspended load C11 is small, the support position movement control unit 102 outputs a control signal instructing traverse inching (short traverse) to the trolley 910, and intentionally causes residual swing. And the data acquisition part 101 acquires the acceleration of the trolley 910, the swing acceleration of the suspended load C11, and the deflection displacement of the suspended load C11 again in the state in which the suspended load C11 has shaken.
  • the length of the rope 920 can be obtained by, for example, detecting the rotation of the winding drum of the trolley 910 with an encoder and calculating the winding length or rewinding length of the rope 920 from the number of rotations of the drum.
  • the crane already has a mechanism for detecting the winding length and the rewinding length for hoisting control, and in this case, it is not necessary to provide a new sensor. Further, in the method of obtaining the rope length from the rotation speed of the drum, the rope length can be detected with high accuracy.
  • the support position center-of-gravity distance calculation unit 103 calculates the rope support position from the acceleration of the trolley 910, the swing acceleration of the suspended load C11, and the swing displacement of the suspended load C11. And the center of gravity of the suspended load C11 are obtained (step S102). Further, the rope length correction unit 104 calculates the elongation amount of the rope 920 from the load of the suspended load C11, the length of the rope 920, and the Young's modulus of the rope 920, and includes the calculated elongation amount in the length of the rope 920. Correction is performed (step S103). That is, the rope length correction unit 104 adds the calculated amount of elongation and the length of the rope 920 acquired by the data acquisition unit 101.
  • the rope length correction unit 104 performs correction to include the extension amount in the length of the rope 920, for example, for each of the four ropes 920, and averages the lengths of the four ropes 920 after correction.
  • the value is determined as the length of the rope 920.
  • the rope length correction unit 104 outputs the calculated average value to the suspended load center-of-gravity height calculation unit 105 as the distance from the rope support position to the upper surface of the suspended load C11.
  • the suspended load center-of-gravity height calculation unit 105 calculates the rope support position calculated by the rope length correction unit 104 from the distance between the rope support position calculated by the support position center-of-gravity distance calculation unit 103 and the center of gravity of the suspended load C11.
  • the distance between the upper surface of the suspended load C11 (for example, approximated by the lower surface of the spreader 930) is subtracted to obtain the distance between the suspended load upper surface and the center of gravity of the suspended load C11 (step S104).
  • the suspended load center-of-gravity height calculation unit 105 subtracts the distance between the suspended load upper surface and the suspended load C11 from the height of the suspended load C11 to obtain the height of the suspended load C11.
  • the suspended load center-of-gravity height calculation unit 105 multiplies the distance between the suspended load upper surface and the center of gravity of the suspended load C11 by the cosine of the inclined load, The distance from the center of gravity of the suspended load C11 may be corrected. Then, the display unit 106 displays the height of the center of gravity of the suspended load C11 calculated by the suspended load center-of-gravity height calculation unit 105 (step S105). Thereafter, the process of FIG. 4 is terminated.
  • the support position center-of-gravity distance calculation unit 103 obtains the distance between the rope support position and the center of gravity of the suspended load
  • the suspended load center-of-gravity height calculation unit 105 calculates the distance between the rope support position and the center of gravity of the suspended load.
  • the height of the center of gravity of the suspended load is obtained by subtracting the distance between the rope support position and the upper surface of the suspended load.
  • the center-of-gravity position detection apparatus 100 can obtain the height of the center of gravity of the suspended load without using radiation, and the center of gravity (height direction) of the suspended load regardless of the radiation transmission amount of the suspended load. Can be determined more accurately.
  • the support position center-of-gravity distance calculation unit 103 calculates the distance between the rope support position and the center of gravity of the suspended load based on the amount of swing of the suspended load and the acceleration of the suspended load when the suspended load is shaken. Find the distance. As described above, the support position center-of-gravity distance calculation unit 103 can obtain the distance between the rope support position and the center of gravity of the suspended load using easily measurable data such as the amount of swing of the suspended load and the acceleration of the suspended load. it can.
  • the support position movement control unit 102 moves the rope support position to generate the vibration in the suspended load.
  • the distance between the support position center of gravity calculation unit 103 cannot obtain the distance between the rope support position and the center of gravity of the suspended load because there is no vibration in the suspended load.
  • the rope length correction unit 104 performs correction to include the amount of elongation of the rope in the rope length.
  • the suspended load in-center centroid height calculation part 105 can calculate
  • the method for calculating the distance between the support position center of gravity and the distance between the rope support position and the center of gravity of the suspended load is not limited to the method described with reference to FIG.
  • the support position center-of-gravity distance calculation unit 103 obtains the distance between the rope support position and the center of gravity of the suspended load based on the swing period of the suspended load in a state where the suspended load is shaken. Also good.
  • FIG. 5 is an explanatory diagram illustrating an example of a swinging period of a suspended load.
  • a line L21 indicates the traversing speed of the trolley 910
  • a line L22 indicates the deflection displacement of the suspended load C11.
  • the trolley 910 traverses and stops until time T21, and as shown by the line L22 in the area A21 in the figure, after the time T21, the suspended swing C11 has a residual swing with a period T.
  • the period and angular frequency of the residual shake depend on the length of the pendulum (that is, the distance between the rope support position and the center of gravity of the suspended load C11). More specifically, from the above equation (2), the angular frequency ⁇ of the swing of the suspended load C11 is expressed as in equation (4).
  • Equation (6) is obtained from Equation (4) and Equation (5).
  • the distance calculation section 103 between the support position centroids calculates the distance l between the rope support position P11 and the centroid P12 of the suspended load C11 from the swing period T of the suspended load C11.
  • swinging period T of the suspended load C11 can be determined from the time series of vibration displacement x 2 of the suspended load C11. Therefore, as described above, the swing period T can be obtained using, for example, a swing sensor or an acceleration sensor provided on a hanging tool, or from the torque of the traversing motor of the trolley 910.
  • FIG. 6 shows that the center-of-gravity position detecting device 100 determines the height of the center of gravity of the suspended load C11 when the distance calculation unit 103 between the support positions calculates the distance between the rope support position and the center of gravity of the suspended load C11 from the swing period of the suspended load C11. It is a flowchart which shows the process sequence which calculates
  • the center-of-gravity position detection apparatus 100 performs the process of FIG. 6 instead of the process of FIG. 4 in a state where the trolley 910 stops traversing.
  • the data acquisition unit 101 acquires the data of the deflection displacement of the suspended load C11 and detects the amplitude of the remaining deflection of the suspended load C11 after the trolley traverse stop (step S201). Then, the support position movement control unit 102 compares the amplitude detected by the data acquisition unit 101 with a predetermined threshold value to determine whether or not the residual vibration of the suspended load C11 is sufficiently large (step S202). When it is determined that the residual shake is not sufficiently large (step S202: NO), the support position movement control unit 102 outputs a control signal for instructing traverse inching to the trolley 910, and intentionally causes the residual shake (step S211). ).
  • the data acquisition unit 101 acquires the data of the deflection displacement of the suspended load C11 and detects the period of the remaining deflection of the suspended load C11 after the trolley traverse stop (step S221). Then, as described with reference to FIG. 5, the support position center-of-gravity distance calculation unit 103 obtains the distance between the rope support position and the center of gravity of the suspended load C11 based on the swing period of the suspended load (step S222). . Further, the data acquisition unit 101 acquires the length of the rope 920 (step S223).
  • steps S224 to S226 are the same as steps S103 to S105 of FIG. After step S226, the process of FIG. 6 ends. If it is determined in step S202 that the residual shake is sufficiently large (step S202: YES), the process proceeds to step S221.
  • the support position center-of-gravity distance calculation unit 103 obtains the distance between the rope support position and the center of gravity of the suspended load based on the swing period of the suspended load in a state where the suspended load is shaken. .
  • the distance calculation part 103 between support position gravity centers can calculate the period of a suspended load from the data which can be measured easily, such as a displacement of a suspended load, and can obtain
  • FIG. 7 is a schematic block diagram showing a functional configuration of the center-of-gravity position detection device according to the second embodiment of the present invention.
  • the center-of-gravity position detection apparatus 200 includes a data acquisition unit 101, a support position movement control unit 102, a support position center-of-gravity distance calculation unit 103, a rope length correction unit 104, and a suspended load in-center centroid height calculation unit 105.
  • portions having the same functions corresponding to the respective portions in FIG. 1 are denoted by the same reference numerals (101 to 106), and description thereof is omitted.
  • the data acquisition unit 101 in the present embodiment corresponds to an example of a tension acquisition unit in the present invention.
  • the center-of-gravity position detection device 200 has a horizontal position within the suspended load C11 of the center of gravity of the suspended load C11 (hereinafter referred to as “the horizontal position of the center of gravity of the suspended load”). Ask). Specifically, the center-of-gravity position detection device 200 determines the horizontal position of the center of gravity of the suspended load C11 in the traversing direction of the trolley 910 and the traveling direction of the trolley 910 (perpendicular to the traversing direction).
  • the tension vertical component acquisition unit 203 obtains the vertical component of each tension of the rope 920 based on the tension of each of the plurality of ropes 920 that suspends the suspended load C11 and the inclination of each of the ropes 920 with respect to the vertical direction. . Specific contents of the processing performed by the tension vertical component acquisition unit 203 will be described later.
  • the suspended load center-of-gravity horizontal position calculation unit 205 obtains the position of the center of gravity of the suspended load C11 in the suspended load based on the vertical component of the tension of each rope 920 in at least one of the horizontal directions.
  • the suspended load center-of-gravity horizontal position calculation unit 205 determines that the rope 920 is suspended in the horizontal direction based on the ratio of the vertical components of the tensions of the ropes 920 obtained by the tension vertical component acquisition unit 203. The ratio of the distance between each point supporting C11 and the center of gravity is obtained, and the horizontal position of the center of gravity of the suspended load C11 is obtained from the ratio.
  • the timing detection unit 201 detects the timing at which the suspended load C11 is located at the center of the swing. By using the data at the timing detected by the timing detection unit 201, the center-of-gravity position detection device 200 can reduce the influence of the swing of the suspended load C11 and more accurately determine the horizontal position of the center of gravity of the suspended load. it can.
  • the acceleration / deceleration tension correction unit 202 subtracts the component based on the acceleration / deceleration of the rope support position from the vertical component of the tension of each rope 920 based on the acceleration at which the rope support position moves and the load of the suspended load C11. I do.
  • the acceleration / deceleration tension correction unit 202 performs the correction, so that the center-of-gravity position detection device 200 reduces the influence of the completion force of the suspended load C11 even during the acceleration / deceleration of the trolley 910, thereby leveling the center of gravity of the suspended load. The position in the direction can be obtained more accurately.
  • the suspension component tension correction unit 204 performs correction by subtracting each tension of the rope in a state where the suspended load is not suspended from each tension of the rope. When the lifting device tension correction unit 204 performs the correction, the center-of-gravity position detection device 200 reduces the error due to the weight of the lifting device and more accurately obtains the horizontal position of the center of gravity of the suspended load. be able to
  • FIG. 8 is an explanatory diagram illustrating an example of a state in which a suspended load is suspended using four ropes.
  • the suspended load C11 is suspended from rope support positions (points FR1, FL1, AR1, and AL1) by four ropes 920.
  • the points FR1, FL1, AR1, AL1 coordinates respectively, (x 1FR, y 1FR, z 1FR), (x 1FL, y 1FL, z 1FL), (x 1AR, y 1AR, z 1AR), ( X1AL , y1AL , z1AL ).
  • the x coordinate is taken in the traveling direction
  • the y coordinate is taken in the transverse direction
  • the z coordinate is taken upward in the vertical direction.
  • the four ropes are connected to the spreader 930 at points FR2, FL2, AR2, and AL2, respectively, and suspend a suspended load C11 that is held by the spreader 930.
  • the coordinates of the points FR2, FL2, AR2, AL2 are respectively (x 2FR , y 2FR , z 2FR ), (x 2FL , y 2FL , z 2FL ), (x 2AR , y 2AR , z 2AR ), (X 2AL , y 2AL , z 2AL ).
  • Various methods can be used as a method for obtaining the coordinates of the points FR2, FL2, AR2, and AL2.
  • the points FL1 and FR1 are moved from the position directly above the points FL2 and FR2 by the same distance (in other words, line-symmetric), and the distance between x1FL , x1FR , the point FL1 and the point FR1, and the point You may make it obtain
  • Other coordinate values can be obtained in the same manner by moving similarly for FL1 and AL1, FR1 and AR1, and AL1 and AR1.
  • an image including the point FL2, the point FR2, the point AL2, and the point AR2 may be captured from a camera installed at a fixed point, and the coordinates of each point may be obtained from the captured image.
  • the inclination of the rope 920 connecting the point FR1 and the point FR2 with the vertical direction is represented by an angle ⁇ FR .
  • the inclination of the rope 920 connecting the point FL1 and the point FL2 with the vertical direction is represented by an angle ⁇ FL
  • the inclination of the rope 920 connecting the point AR1 and the point AR2 with the vertical direction is represented by an angle ⁇ AR.
  • connecting the AL1 and point AL2 represents the inclination of the vertical direction of the rope 920 at an angle theta AL.
  • Point O ′ indicates the center position of the points FR2, FL2, AR2, and AL2, and point G indicates the center of gravity of the suspended load C11. From FIG. 8, the angle ⁇ FR of the slope of the rope with respect to the vertical direction is expressed as in Expression (8).
  • the tension vertical component acquisition unit 203 calculates the value of the angle ⁇ FR based on Expression (8). The same applies to ⁇ FL , ⁇ AR , and ⁇ AL . Further, the vertical component of the tension can be obtained based on the equation (9) using the value of the inclination ⁇ FR and the value of the tension tens_FR of the rope 920.
  • the tension vertical component acquisition unit 203 calculates the tension vertical component M FR based on the equation (9). The same applies to M FL , M AR , and M AL .
  • the suspended load center-of-gravity horizontal position calculation unit 205 uses a known method in the horizontal direction of the center of gravity of the suspended load C11. The position can be determined. More specifically, the suspended load center-of-gravity horizontal position calculation unit 205 determines that the rope 920 is suspended in the horizontal direction based on the ratio of the vertical components of the tensions of the ropes 920 obtained by the tension vertical component acquisition unit 203. The ratio of the distance between each point supporting C11 and the center of gravity is obtained, and the horizontal position of the center of gravity of the suspended load C11 is obtained from the ratio.
  • the inertial force of the suspended load is applied to the tension detector (eg, load cell) of the rope 920, so that the acceleration / deceleration tension correction unit 202 performs the suspended load Mall and the transverse acceleration / deceleration x 1 (double dot). ) And the correction is performed based on the equation (10).
  • the load Mall here is a total value of weights in a state where the trolley is not performing transverse acceleration / deceleration.
  • This load Mall is measured, for example, when the trolley is stopped or at a constant speed. Or you may make it use the load calculation value at the time of the suspended load winding by a winding inverter as the load Mall.
  • the acceleration / deceleration tension correction unit 202 performs the correction, so that the center-of-gravity position detection device 200 reduces the influence of the inertial force of the suspended load during the transverse acceleration / deceleration, thereby further increasing the horizontal position of the suspended load's center of gravity. It can be determined accurately. The same applies to the tensions tens_FL, tens_AR, and tens_AL.
  • the data acquisition unit 101 may acquire the tensions tens_FR, tens_FL, tens_AR, and tens_AL after waiting for a state where the trolley is not performing the lateral acceleration / deceleration.
  • FIG. 9 is an explanatory diagram illustrating an example of timing detected by the timing detection unit 201.
  • a line L31 indicates the deflection displacement of the suspended load C11.
  • a line L32 indicates the center of the swing of the suspended load C11. The center of the runout corresponds to the position of the suspended load C11 when the runout of the suspended load C11 has subsided.
  • the timing detection unit 201 detects the timing at which the suspended load C11 is located at the center of the shake as at time T31.
  • the data acquisition unit 101 acquires the tension of each of the ropes at the timing detected by the timing detection unit 201, so that the center-of-gravity position detection device 200 reduces the influence of the swing of the suspended load C11 and the center of gravity of the suspended load.
  • the position in the horizontal direction can be determined more accurately.
  • the timing in the center of the deflection is suspended load C11 can be obtained from the time series of vibration displacement x 2 of the suspended load C11. Therefore, as described above, the timing can be obtained using, for example, a vibration sensor or an acceleration sensor provided on the hanging tool, or from the torque of the traversing motor of the trolley 910.
  • the center of shake is detected using the shake sensor, an offset error due to the tilt of the shake sensor camera or the like may occur in the detection value of the shake sensor.
  • the center of the shake is determined by removing the offset error with a high-pass filter or the like.
  • the timing detection unit 201 may detect the maximum swing speed as the timing at which the suspended load C11 is positioned at the center of the swing.
  • the timing detection unit 201 may detect the timing at which the suspended load C11 is located at the center of the swing a plurality of times. For example, the timing detection unit 201 detects data by averaging the data at a plurality of timings, such as calculating the horizontal position of the center of gravity of the suspended load at each timing and calculating the horizontal position of the center of gravity of the suspended load. And the influence of the deviation between the timing at which the suspended load C11 is located at the center of the swing can be reduced.
  • an allowable range of errors included in the timing detected by the timing detection unit 201 can be set according to the target accuracy of the center of gravity detection. For example, when the target accuracy of the center of gravity position is plus or minus ( ⁇ ) 10 percent (%), the range of 1/10 plus or minus 1 percent of the deflection angle can be set as the allowable range. For example, if the rope length is 10 meters (m), the timing detection unit 201 is set to detect the timing when the suspended load C11 is within a range of plus or minus 0.1 meters from the center of the swing.
  • the load block content tension correcting unit 204 the vertical component of the tension in a state where the vertical component M FR tension in a state that hung suspended load, from M FL, M AR and M AL, not hung suspended load M FR0 , M FL0 , M AR0 , and M AL0 are subtracted to obtain vertical components M FRC , M FLC , M ARC , and M ALC of tension based on the suspended load.
  • the vertical component of tension (M FR0 , M FL0 , M AR0 and M AL0 ) is obtained by performing the same processing as when the suspended load is suspended in the state where the suspended load is not suspended.
  • the correction unit 204 stores in advance.
  • FIG. 10 is a flowchart illustrating a processing procedure in which the center-of-gravity position detection device 200 calculates the position of the center of gravity of the suspended load C11 in the transverse direction.
  • the center-of-gravity position detection apparatus 200 performs the processing shown in FIG.
  • the data acquisition unit 101 acquires the deflection displacement of the suspended load C11, and as described with reference to FIG. 9, the timing detection unit 201 positions the suspended load C11 at the center of the deflection. Timing is detected (step S301).
  • the data acquisition unit 101 acquires the tension at each rope support position of the rope 920 (step S302).
  • tensile_strength in each rope support position of the rope 920 can be measured using the tension meter (for example, load cell) installed in each of a rope support position, for example.
  • the tension of the rope can be accurately detected.
  • the load cell is already provided in the rope support position, it is not necessary to provide a new sensor. Or you may make it obtain
  • each rope support position is movably provided in a sheave opening / closing cylinder, and the data acquisition unit 101 receives a signal from an encoder that detects the displacement of the cylinder and calculates the coordinates of the rope support position.
  • the data acquisition unit 101 acquires the length of each rope 920 (step S304).
  • the tension vertical component acquisition unit 203 calculates the inclination with respect to the vertical direction for each of the ropes 920 (step S305).
  • the data acquisition unit 101 acquires the acceleration of the trolley 910 and determines whether the trolley 910 is traversing acceleration / deceleration (step S306).
  • step S306 When it is determined that traverse acceleration / deceleration is in progress (step S306: YES), the acceleration / deceleration tension correction unit 202 determines each tension of the rope 920 based on the acceleration at which the rope support position moves and the load of the suspended load C11. Correction for subtracting the component based on the acceleration / deceleration of the rope support position from the vertical component is performed (step S307). Or you may make it return to step S306 and wait for completion
  • the tension vertical component acquisition unit 203 is based on the inclination obtained in step S305, and the vertical component of each tension of the rope 920 (or the corrected tension when the acceleration / deceleration tension correction unit 202 performs correction). Is calculated (step S308).
  • step S309 the tension
  • amendment part 204 performs correction
  • the processes of steps S301 to S308 are performed to obtain the vertical component for the hanging tool, and the hanging tool tension correcting unit 204 stores it in advance.
  • step S309 can be omitted.
  • the suspended load center-of-gravity horizontal position calculation unit 205 calculates the position of the center of gravity of the suspended load C11 in the transverse direction based on the corrected vertical component of the lifting device tension correction unit 204 (step S310). Then, the display unit 106 displays the horizontal direction position of the center of gravity of the suspended load C11 calculated by the suspended load center of gravity horizontal position calculating unit 205 (step S311). Then, the process of FIG. 10 is complete
  • the center-of-gravity position detection device 200 determines the center-of-gravity position in the X direction (traveling direction) as in the case of the Y direction. However, traverse acceleration / deceleration is replaced with travel acceleration / deceleration. Further, the traverse motor torque is replaced with the travel motor torque. Further, the transverse direction shake is replaced with the running direction shake.
  • the center of gravity position the sum of the tensions of the two front and rear points on the right side (FR1 and AR1 in the example of FIG. 8) and the front and rear two points (FL1 and AL1 in the example of FIG. 8). The position of the center of gravity is obtained from the ratio with the sum of the tensions.
  • the tension vertical component acquisition unit 203 obtains the vertical component of the tension of each rope 920 based on the tension of each rope 920 and the inclination of each rope 920 with respect to the vertical direction. Then, the suspended load center-of-gravity horizontal position calculation unit 205 obtains the horizontal position of the center of gravity of the suspended load C11 based on the vertical component of the tension of each rope 920. Thereby, the center-of-gravity position detection apparatus 200 can obtain the horizontal position of the center of gravity of the suspended load C11 based on data that can be easily measured, such as the rope support position, the length of the rope 920, and the tension of the rope 920.
  • the acceleration / deceleration tension correction unit 202 subtracts the component based on the acceleration / deceleration of the rope support position from the vertical component of each tension of the rope 920 based on the acceleration at which the rope support position moves and the load of the suspended load C11. Make corrections.
  • the center-of-gravity position detection device 200 can reduce the influence of the completion force of the suspended load C11 even during acceleration / deceleration of the trolley 910, and can more accurately determine the horizontal position of the center of gravity of the suspended load.
  • the timing detection unit 201 detects the timing at which the suspended load C11 is positioned at the center of the swing, and the data acquisition unit 101 acquires the tension of each of the ropes 920 at the timing at which the suspended load C11 is positioned at the center of the swing. .
  • the center-of-gravity position detection device 200 can reduce the influence of the swing of the suspended load C11 and more accurately determine the horizontal position of the center of gravity of the suspended load. it can.
  • the lifting device tension correction unit 204 performs correction to subtract each tension of the rope 920 in a state where the suspended load C11 is not suspended from each tension of the rope 920.
  • the center-of-gravity position detecting device 200 can reduce the error due to the weight of the hanging tool and more accurately determine the horizontal position of the center of gravity of the suspended load.
  • the second embodiment can be implemented independently of the first embodiment.
  • the center-of-gravity position detection device excluding the support position center-of-gravity distance calculation unit 103, the rope length correction unit 104, and the suspended load center of gravity height calculation unit 105 from the configuration illustrated in FIG. You can ask for the position.
  • a program for realizing all or part of the functions of each part of the gravity center position detection apparatus 100 or 200 is recorded on a computer-readable recording medium, and the program recorded on the recording medium is read by a computer system.
  • the processing of each unit may be performed by executing.
  • the “computer system” includes an OS and hardware such as peripheral devices. Further, the “computer system” includes a homepage providing environment (or display environment) if a WWW system is used.
  • the “computer-readable recording medium” refers to a storage device such as a flexible medium, a magneto-optical disk, a portable medium such as a ROM or a CD-ROM, and a hard disk incorporated in a computer system.
  • the “computer-readable recording medium” dynamically holds a program for a short time like a communication line when transmitting a program via a network such as the Internet or a communication line such as a telephone line.
  • a volatile memory in a computer system serving as a server or a client in that case and a program that holds a program for a certain period of time are also included.
  • the program may be a program for realizing a part of the functions described above, and may be a program capable of realizing the functions described above in combination with a program already recorded in a computer system.
  • the present invention is a center-of-gravity position detection device for obtaining a center of gravity position of a suspended load suspended from a rope support position by a crane, and a distance between the support position centers of gravity for obtaining a distance between the rope support position and the center of gravity of the suspended load.
  • the present invention relates to a center-of-gravity position detection device comprising: According to the present invention, the position of the center of gravity in the height direction can be obtained more accurately.

Abstract

La présente invention concerne un dispositif de détection de position de centre de gravité (100) qui obtient la position du centre de gravité d'une charge suspendue à une grue à partir d'une position de support de câble au moyen d'un câble. Selon l'invention, le dispositif de détection de position de centre de gravité (100) est équipé : d'une unité de calcul de distance (103) destinée à calculer la distance entre la position de support de câble et le centre de gravité de la charge suspendue ; et d'une unité de calcul de hauteur de centre de gravité (105) destinée à calculer la hauteur, à l'intérieur de la charge suspendue, du centre de gravité de la charge suspendue en soustrayant la distance entre la position de support de câble et la surface supérieure de la charge suspendue de la distance entre la position de support de câble et le centre de gravité de la charge suspendue.
PCT/JP2013/067496 2012-10-03 2013-06-26 Dispositif de détection de position de centre de gravité, procédé de détection de position de centre de gravité et programme WO2014054318A1 (fr)

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JP2012221474A JP2014073894A (ja) 2012-10-03 2012-10-03 重心位置検出装置、重心位置検出方法およびプログラム
JP2012-221474 2012-10-03

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CN105776022A (zh) * 2014-12-24 2016-07-20 中国二十冶集团有限公司 轧机牌坊搬迁时的拆卸方法
EP3626673A4 (fr) * 2017-05-15 2021-03-10 Hitachi Industrial Equipment Systems Co., Ltd. Machine de levage

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JP7069888B2 (ja) * 2018-03-15 2022-05-18 株式会社タダノ クレーンおよびクレーンの制御方法
KR102031140B1 (ko) * 2019-03-05 2019-11-08 지에스아이 주식회사 크레인 및 크레인의 제어방법

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JPH04213595A (ja) * 1991-02-05 1992-08-04 Nippon Steel Corp 吊荷の吊状態検出方法
JPH08157181A (ja) * 1994-12-02 1996-06-18 Meidensha Corp クレーンの振れ止め制御方法
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JPH1160153A (ja) * 1997-08-19 1999-03-02 Sumitomo Heavy Ind Ltd クレ−ンの吊り荷の振れ角計測装置
JP2012037469A (ja) * 2010-08-11 2012-02-23 Yamato Scale Co Ltd 重心位置測定装置
JP2012078317A (ja) * 2010-10-06 2012-04-19 Yamato Scale Co Ltd 吊下げ装置及び重心位置測定方法

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JPH04159998A (ja) * 1990-10-24 1992-06-03 Mitsubishi Heavy Ind Ltd 振れ止め制御装置
JPH04213595A (ja) * 1991-02-05 1992-08-04 Nippon Steel Corp 吊荷の吊状態検出方法
JPH08157181A (ja) * 1994-12-02 1996-06-18 Meidensha Corp クレーンの振れ止め制御方法
JPH09267989A (ja) * 1996-02-02 1997-10-14 Nkk Corp クレーン吊り荷の振れ止め制御方法
JPH1160153A (ja) * 1997-08-19 1999-03-02 Sumitomo Heavy Ind Ltd クレ−ンの吊り荷の振れ角計測装置
JP2012037469A (ja) * 2010-08-11 2012-02-23 Yamato Scale Co Ltd 重心位置測定装置
JP2012078317A (ja) * 2010-10-06 2012-04-19 Yamato Scale Co Ltd 吊下げ装置及び重心位置測定方法

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105776022A (zh) * 2014-12-24 2016-07-20 中国二十冶集团有限公司 轧机牌坊搬迁时的拆卸方法
EP3626673A4 (fr) * 2017-05-15 2021-03-10 Hitachi Industrial Equipment Systems Co., Ltd. Machine de levage

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