WO2016117143A1 - 報知装置及び移動システム - Google Patents
報知装置及び移動システム Download PDFInfo
- Publication number
- WO2016117143A1 WO2016117143A1 PCT/JP2015/067020 JP2015067020W WO2016117143A1 WO 2016117143 A1 WO2016117143 A1 WO 2016117143A1 JP 2015067020 W JP2015067020 W JP 2015067020W WO 2016117143 A1 WO2016117143 A1 WO 2016117143A1
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- WO
- WIPO (PCT)
- Prior art keywords
- motor
- notification
- operation input
- notification device
- unit
- Prior art date
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Classifications
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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
- B66C13/16—Applications of indicating, registering, or weighing devices
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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
- B66C15/00—Safety gear
- B66C15/06—Arrangements or use of warning devices
- B66C15/065—Arrangements or use of warning devices electrical
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B5/00—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied
- G08B5/22—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied using electric transmission; using electromagnetic transmission
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
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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
- B66C17/00—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports
Definitions
- the present invention relates to a notification device and a mobile system.
- the three-dimensional movement device includes a hook that can freely move in a three-dimensional space, and the article is moved by hanging the article from the hook.
- the operator of the three-dimensional movement apparatus operates the three-dimensional movement apparatus by performing operation input to the controller.
- the operation input includes a movement start operation input for moving the stopped hook in any direction, a movement stop operation input for stopping the moving hook, and the like.
- a notification device includes: This is a device used in a moving device including a main body unit that can move a moving body by a driving force of a motor and a control unit that controls the motor in accordance with an operation input, and the notification device is connected to the motor from the control unit.
- An operation information acquisition unit that acquires operation information; and a notification unit that performs notification in a different form from the case where the motor is stopped when the motor is operating.
- This notification device performs notification in a mode different from the case where the motor is stopped when the motor is operating. For this reason, the operator of the moving device can easily know, for example, if the motor is operating (that is, the moving body is moving) even after performing an operation input instructing to stop the motor. , Operator safety is improved.
- a notification device is a device used in a moving device including a main unit that can move a moving body by a driving force of a motor, and a control unit that controls the motor according to an operation input.
- the notification device includes an operation detection unit that detects an operation of the movable body or an article attached to the movable body, and the movable body or the article is stopped when the movable body or the article is in operation.
- a notification unit that performs notification in a mode different from a certain case.
- This notification device detects the movement of the moving body or the article, and when the moving body or the article is in operation, performs a notification in a mode different from that when the moving body or the article is stopped. Therefore, the operator of the moving device can easily know that the moving object or the article is operating even after performing an operation input instructing to stop the motor, for example. improves.
- a device used in a moving device including a main unit that can move a moving body by a driving force of a motor and a control unit that controls the motor in accordance with an operation input, and the notification device performs an operation for acquiring the operation input.
- the operation input acquisition unit acquires an input acquisition unit and an operation input instructing operation start of the motor
- the operation input acquisition unit performs operation notification instructing to stop operation of the motor while performing predetermined notification.
- a notification unit that continues the predetermined notification until a preset time elapses from the time of acquisition.
- This notification device continues the predetermined notification from the time when the operation input acquisition unit acquires the operation input instructing the motor operation stop until a preset time elapses. As a result, the safety of the operator is improved.
- FIG. 4A is an explanatory diagram illustrating a display during operation of the mobile device
- FIG. 4B is an explanatory diagram illustrating a display during stop. It is explanatory drawing showing the example of the relationship between operation
- FIG. 6 It is a flowchart showing the process which the alerting
- the notification device 1 is a device that performs notification regarding the state of the mobile device 3.
- the notification device 1 is a computer that includes a CPU, a RAM, a ROM, and the like. As shown in FIG. 1, the notification device 1 functionally includes an operation information acquisition unit 5 and a notification unit 7. The function of each unit will be described later.
- the notification device 1 controls the display 4 to perform a predetermined display.
- the display 4 includes a liquid crystal display and can display an image. Specific control executed by the notification device 1 will be described later.
- the moving device 3 is an overhead crane. As shown in FIG. 2, the moving device 3 includes travel rails 9A and 9B, saddles 11A and 11B, a crane girder 13, a hoisting machine 15, a support wire 17, a hook 19, a controller 21, and a communication cable 23.
- Travel rails 9A and 9B are laid near the ceiling of the building.
- the longitudinal directions of the traveling rails 9A and 9B are parallel to each other and belong to a horizontal plane.
- the longitudinal direction of the traveling rails 9A and 9B is defined as the X direction.
- the saddle 11A is provided on the traveling rail 9A and is movable in the X direction.
- the saddle 11B is provided on the traveling rail 9B and is movable in the X direction in conjunction with the saddle 11A.
- a drive source for moving the saddles 11A and 11B is an X-axis motor 25 described later.
- the longitudinal direction of the crane girder 13 is a direction belonging to a horizontal plane and is a direction orthogonal to the X direction (hereinafter referred to as Y direction).
- the saddles 11A and 11B and the crane girder 13 are integrally movable in the X direction.
- the hoisting machine 15 is attached to the crane girder 13 so as to be movable along the Y direction.
- a drive source for moving the hoisting machine 15 along the Y direction is a Y-axis motor 27 described later. Further, the hoisting machine 15 can wind up and pull out the support wire 17.
- a drive source for winding and pulling up the support wire 17 is a Z-axis motor 29 described later.
- the hook 19 is attached to the tip of the support wire 17. When the hoisting machine 15 winds up the support wire 17, the hook 19 moves upward, and when the hoisting machine 15 pulls out the support wire 17, the hook 19 moves downward. That is, the hook 19 is movable along the vertical direction (hereinafter sometimes referred to as the Z direction). The hook 19 can suspend an article to be moved.
- the controller 21 is a device that receives an operation input for operating the mobile device 3.
- the controller 21 includes a plurality of switches, and an operation input is performed by operating a specific switch by a specific operation method.
- the operation input includes X direction movement start, X direction movement stop, Y direction movement start, Y direction movement stop, Z direction movement start, Z direction movement stop, and the like.
- the communication cable 23 transmits a signal representing an operation input received by the controller 21 to a control unit 31 described later.
- the moving device 3 having the above configuration can move the hook 19 independently along the X direction, the Y direction, and the Z direction. That is, the hook 19 can be moved in the X direction by moving the saddles 11A, 11B in the X direction on the traveling rails 9A, 9B. Moreover, the hook 19 can be moved in the Y direction by moving the hoisting machine 15 in the Y direction on the crane girder 13. Further, the hoist 19 can move the hook 19 in the Z direction by winding or pulling up the support wire 17.
- the relationship between the operation input to the controller 21 and the movement of the hook 19 is as follows.
- the hook 19 is stopped in the X direction, if there is an operation input for starting movement in the X direction, the X-axis motor 25 is started, and the hook 19 starts moving in the X direction. Thereafter, if there is an operation input for stopping movement in the X direction during movement in the X direction, the movement in the X direction stops a few seconds after the operation input.
- the time difference of several seconds from the operation input for stopping the X-direction movement to the stop is caused by the time required for the X-axis motor 25 to decelerate and stop.
- the hook 19 when the hook 19 is stopped in the Y direction, if there is an operation input for starting movement in the Y direction, the Y-axis motor 27 is started, and the hook 19 starts moving in the Y direction. Thereafter, if there is an operation input for stopping movement in the Y direction during movement in the Y direction, the movement in the Y direction stops several seconds after the operation input.
- the hook 19 when the hook 19 is stopped in the Z direction, if there is an operation input for starting movement in the Z direction, the Z-axis motor 29 is started, and the hook 19 starts moving in the Z direction. Thereafter, if there is an operation input for stopping movement in the Z direction during movement in the Z direction, the movement in the Z direction stops several seconds after the operation input.
- the display 4 described above is provided above the moving device 3, and the screen 4A capable of displaying an image faces downward. Therefore, an operator who operates the controller 21 can easily see the screen 4A by turning up.
- the electrical configuration of the moving device 3 is as shown in FIG.
- the moving device 3 includes an X-axis motor 25, a Y-axis motor 27, a Z-axis motor 29, a control unit 31, and the controller 21 described above.
- the X-axis motor 25 is a drive source that moves the saddles 11A and 11B along the X direction.
- the Y-axis motor 27 is a drive source that moves the hoisting machine 15 along the Y direction.
- the Z-axis motor 29 is a drive source for the hoisting machine 15 to wind up and pull out the support wire 17.
- the control unit 31 controls the X-axis motor 25, the Y-axis motor 27, and the Z-axis motor 29 according to the operation input received by the controller 21.
- the control unit 31 includes an X-axis inverter 33, a Y-axis inverter 35, and a Z-axis inverter 37.
- the X-axis inverter 33 is used to control the X-axis motor 25.
- the Y-axis inverter 35 is used to control the Y-axis motor 27.
- the Z-axis inverter 37 is used to control the Z-axis motor 29.
- the relationship between the operation input to the controller 21 and the operation of each motor is as follows.
- the X-axis motor 25 starts when there is an operation input for starting movement in the X direction.
- the rotational speed is gradually increased, and when the rotational speed reaches a preset upper limit value, the upper limit value is maintained.
- the number of rotations is gradually reduced, and the X-axis motor 25 stops several seconds after the operation input for stopping movement in the X direction.
- the time difference of several seconds from the operation input for stopping the X-direction movement to the stop is caused by the time required for the rotation of the X-axis motor 25 to decrease and stop.
- the Y-axis motor 27 when the Y-axis motor 27 is stopped, if there is an operation input for starting movement in the Y direction, the Y-axis motor 27 is started. Thereafter, the rotational speed is gradually increased, and when the rotational speed reaches a preset upper limit value, the upper limit value is maintained. Thereafter, if there is an operation input for stopping movement in the Y direction, the rotational speed is gradually decreased, and the Y-axis motor 27 stops several seconds after the operation input for stopping movement in the Y direction.
- the Z-axis motor 29 when the Z-axis motor 29 is stopped, if there is an operation input for starting movement in the Z direction, the Z-axis motor 29 is started. Thereafter, the rotational speed is gradually increased, and when the rotational speed reaches a preset upper limit value, the upper limit value is maintained. Thereafter, when there is an operation input for stopping movement in the Z direction, the rotational speed is gradually reduced, and the Z-axis motor 29 stops several seconds after the operation input for stopping movement in the Z direction.
- the X-axis inverter 33 outputs the operation information of the X-axis motor 25 to the operation information acquisition unit 5 of the notification device 1.
- the operation information is information indicating whether the motor is operating (rotation speed is not 0) or stopped.
- the Y-axis inverter 35 outputs the operation information of the Y-axis motor 27 to the operation information acquisition unit 5.
- the Z-axis inverter 37 outputs the operation information of the Z-axis motor 29 to the operation information acquisition unit 5.
- the hook 19 is an example of a moving body.
- the traveling rails 9A, 9B, saddles 11A, 11B, crane girder 13, hoisting machine 15, support wire 17, hook 19, X-axis motor 25, Y-axis motor 27, and Z-axis motor 29 are examples of the main unit. is there.
- the combination of the notification device 1 and the moving device 3 is an example of a moving system.
- the electrical configuration of the moving device 3 (control unit 31, X-axis inverter 33, Y-axis inverter 35, Z-axis inverter 37, X-axis motor 25, Y-axis motor 27, Z-axis motor 29 ) Is omitted for convenience.
- These electrical configurations can be arranged at appropriately selected locations in FIG.
- step 1 of FIG. 3 the motion information acquisition unit 5 acquires the motion information of the X-axis motor 25 from the X-axis inverter 33, acquires the motion information of the Y-axis motor 27 from the Y-axis inverter 35, and the Z-axis The operation information of the Z-axis motor 29 is acquired from the inverter 37.
- step 2 the notification unit 7 determines whether the operation information acquired in step 1 includes at least one operation information indicating that the motor is operating. If there is even one piece of operation information indicating that the motor is in operation, the process proceeds to step 3; otherwise, the process proceeds to step 4.
- step 3 the notification unit 7 performs an operation display on the display 4.
- the display during operation is a display of an arrow indicating the direction in which the hook 19 is moving at that time, as shown in FIG. 4A.
- step 4 the notification unit 7 displays a stoppage display on the display unit 4.
- the stop display is a display in which no thing appears as shown in FIG. 4B.
- the display during stop and the display during operation described above are different displays.
- the notification device 1 is in operation while the X-axis motor 25 is in operation (while the hook 19 is moving in the X direction) even after an operation input for stopping movement in the X direction is received. Display. Therefore, the operator of the moving device 3 can easily know that the hook 19 is moving in the X direction even after the operation input for stopping the movement in the X direction is made, and the safety of the operator is improved. .
- the X-axis motor 25 was stopped before time t1. There was an operation input for starting movement in the X direction at time t1. After time t1, the rotational speed of the X-axis motor 25 gradually increased, reached the upper limit at time t2, and thereafter maintained the upper limit. Thereafter, there was an operation input for stopping movement in the X direction at time t3. After time t3, the rotation speed of the X-axis motor 25 gradually decreased and became zero at time t4. After time t4, the X-axis motor 25 was stopped.
- the notification device 1 performs an operation display from time t1 to time t4.
- the period during which the operation display is performed includes after the time t3 when an operation input for stopping movement in the X direction is made. Therefore, the operator of the moving device 3 can know that the hook 19 is moving in the X direction from the display during operation displayed on the display device 4 even after the time t3. As a result, the safety of the operator is improved.
- the notification device 1 displays an in-operation display while the Y-axis motor 27 is operating (while the hook 19 is moving in the Y direction) even after an operation input for stopping the movement in the Y direction is received. Therefore, the safety of the operator is improved.
- the notification device 1 displays an in-operation display during operation of the Z-axis motor 29 (while the hook 19 is moving in the Z direction) even after an operation input for stopping movement in the Z direction is received. Therefore, the safety of the operator is improved.
- the notification device 1 acquires operation information from the X-axis inverter 33, the Y-axis inverter 35, and the Z-axis inverter 37. As a result, the operation information can be easily acquired.
- the notification device 1 displays images during operation and during stop on the display 4. As a result, the operator can easily understand the contents of the display.
- Configuration of Notification Device 101, Moving Device 3, and Display 4 The configuration of the notification device 101, the moving device 3, and the display 4 will be described with reference to FIG. The configurations of the moving device 3 and the display 4 are the same as those in the first embodiment.
- the configuration of the notification device 101 is basically the same as that of the notification device 1 of the first embodiment, but is partially different. Below, it demonstrates centering on the difference.
- the notification device 101 functionally includes an operation detection unit 39 and a notification unit 7.
- the motion detection unit 39 acquires a detection result from the sensor 41.
- the sensor 41 is a sensor that detects the operation of the hook 19.
- the movement of the hook 19 detected by the sensor 41 may be a movement in a certain direction, a pendulum movement, or a random movement.
- the movement of the hook 19 detected by the sensor 41 is any of X-direction movement, Y-direction movement, Z-direction movement, movement in any two-dimensional plane, and movement in a three-dimensional space. Also good.
- the operation of the hook 19 detected by the sensor 41 may be an operation due to the shaking of the support wire 17 after each motor is stopped, or an operation when any one of the motors has not stopped yet. Also good.
- a laser distance meter for example, a laser distance meter, a photo sensor, an acceleration sensor, a motion sensor, or the like can be used.
- a laser distance meter or a photosensor it is a member other than the hook 19 and can be attached to a fixed member.
- an acceleration sensor or a motion sensor it can be attached to the hook 19. Specific functions of each unit will be described later.
- Step 11 of FIG. 7 the motion detection unit 39 acquires the detection result of the sensor 41.
- the detection result of the sensor 41 is information representing the operation of the hook 19.
- step 12 the notification unit 7 determines whether or not the hook 19 is operating from the detection result of the sensor 41 acquired in step 11. If the hook 19 is operating, the process proceeds to step 13, and if it is stopped, the process proceeds to step 14.
- step 13 the notification unit 7 performs an operation display on the display 4.
- the contents of the display during operation are the same as those in the first embodiment.
- step 14 the notification unit 7 performs a stop display on the display 4.
- the contents of the stop display are the same as those in the first embodiment.
- the notification device 101 further has the following effects.
- the notification device 101 detects the operation of the hook 19 using the sensor 41, and displays an in-operation display when the hook 19 is in operation. For this reason, the notification device 101 displays an in-operation display if the hook 19 is in operation even after an operation input for stopping the movement in the X direction, stopping the movement in the Y direction, and stopping the movement in the Z direction. As a result, the operator of the moving device 3 can easily know that the hook 19 is operating, and the safety of the operator is improved.
- Configuration of Notification Device 201, Moving Device 3, and Display 4 The configuration of the notification device 201, moving device 3, and display 4 will be described with reference to FIG. The configurations of the moving device 3 and the display 4 are the same as those in the first embodiment.
- the configuration of the notification device 201 is basically the same as that of the notification device 1 of the first embodiment, but is partially different. Below, it demonstrates centering on the difference.
- the notification device 201 functionally includes an operation input acquisition unit 43 and a notification unit 7.
- the operation input acquisition unit 43 acquires an operation input from the controller 21. Further, the operation input acquisition unit 43 acquires the operation information of the X-axis motor 25 from the X-axis inverter 33, acquires the operation information of the Y-axis motor 27 from the Y-axis inverter 35, and Z from the Z-axis inverter 37.
- the operation information of the shaft motor 29 is acquired.
- step 21 of FIG. 9 the operation input acquisition unit 43 acquires an operation input from the controller 21.
- the notification unit 7 determines whether or not it is on in at least one of the X direction, the Y direction, and the Z direction.
- the ON state in the X direction means a state in which there is already an operation input for starting movement in the X direction and no operation input for stopping movement in the X direction (the hook 19 is moving in the X direction).
- the ON state in the Y direction means a state in which an operation input for starting movement in the Y direction has already been made, and an operation input for stopping movement in the Y direction has not yet been reached (a state in which the hook 19 has moved in the Y direction). To do.
- the ON state in the Z direction means a state in which an operation input for starting movement in the Z direction has already been made, and an operation input for stopping movement in the Z direction has not yet been reached (a state in which the hook 19 has moved in the Z direction). To do.
- step 24 the process proceeds to step 24; otherwise, the process proceeds to step 23.
- the notification unit 7 determines whether or not the following condition is satisfied in at least one of the X direction, the Y direction, and the Z direction.
- the preset time has not yet elapsed since the operation stop operation input was received.”
- the preset time is equal to or longer than the time T required for the motor to stop after the operation input to stop the movement.
- the preset time can also be changed according to the time T.
- step 24 If the above condition is satisfied in at least one of the X direction, the Y direction, and the Z direction, the process proceeds to step 24. Otherwise, the process proceeds to step 25.
- the notification unit 7 performs an operation display on the display 4. The contents of the display during operation are the same as those in the first embodiment.
- step 25 the notification unit 7 performs a stop display on the display 4.
- the contents of the stop display are the same as those in the first embodiment. 3. Effects produced by the notification device 201 In addition to the effect (1C) of the first embodiment, the notification device 201 further has the following effects.
- the motor continues to operate for a while after the movement stop operation input, and the movement of the hook 19 may continue. Even if the hoisting machine 15 is stopped after an operation input for stopping the movement, the hook 19 or an object suspended on the hook 19 may be shaken.
- the notification device 201 has a condition that “a preset time has not yet elapsed from the time when a movement stop operation input is made” in at least one of the X direction, the Y direction, and the Z direction. When it is established, the display during operation is performed. That is, the notification device 201 continues to display during operation until a preset time elapses after the operation input acquisition unit 43 acquires the operation input for stopping movement.
- the motion information acquisition unit 5 may acquire motion information of some of the three motors (for example, the X-axis motor 25, the Y-axis motor 27, or both). Good. Then, if all of some of the motors are operating, an affirmative determination may be made in step 2, and a negative determination may be made otherwise.
- the sensor 41 and the motion detection unit 39 may detect the motion of the article attached to the hook 19 instead of the hook 19. Then, if the article is in operation, an affirmative determination may be made in step 12, and otherwise, a negative determination may be made.
- step 22 of the third embodiment it may be a part of the movement in the X direction, the Y direction, and the Z direction that determines whether or not it is in the ON state. An affirmative determination may be made if some of them are on, and a negative determination may be made otherwise.
- the control unit 31 may control the motor by a configuration other than the inverter (for example, a magnetic contactor).
- the display during operation and the display during stop can be set as appropriate.
- the operating display may display characters such as “operating”, “moving”, “dangerous”, “caution”, or may blink light. A specific color may be displayed.
- the display mode during stoppage can be appropriately set as long as the display mode is different from the display during operation. Examples of the difference between the display during stop and the display during operation include, for example, the presence or absence of characters and arrows, a difference in color, a difference in luminance, a difference between a moving image and a still image, and the like.
- the display device 4 may perform notification by sound or vibration instead of or in addition to the image display.
- the type of the moving device 3 can be selected as appropriate.
- the moving device 3 can be, for example, a hoist type overhead crane, a trolley type overhead crane, a swivel mantle type overhead crane, a slide-out type overhead crane, a swivel type overhead crane, an iron making overhead crane, or the like.
- a moving body other than the hook 19 may be used.
- a moving body that adsorbs an article by magnetic force a moving body that adsorbs an article by a vacuum chuck, a moving body that sandwiches and fixes an article like a vise, and the like can be used.
- All or part of the configurations of the embodiments may be appropriately selected and combined.
- a system including the movement system as a component for example, a crane work system including the movement system and the display 4
- the notification device 1, 101 a program for causing a computer to function as 201
- a program for causing a computer to function as the control unit 31 of the mobile device 3 a medium storing these programs
- the present invention can also be realized in various forms, such as a method for using a moving system, a method for using a moving system, a method for using a crane work system, and a method for moving an article.
Abstract
Description
モータの駆動力により移動体を移動可能な本体ユニット、及び操作入力に応じて前記モータを制御する制御ユニットを備える移動装置に用いられる装置であり、この報知装置は、前記制御ユニットから前記モータの動作情報を取得する動作情報取得ユニットと、前記モータが動作中である場合は、前記モータが停止中である場合とは異なる態様の報知を行う報知ユニットと、を備える。
モータの駆動力により移動体を移動可能な本体ユニット、及び操作入力に応じて前記モータを制御する制御ユニットを備える移動装置に用いられる装置であり、この報知装置は、前記操作入力を取得する操作入力取得ユニットと、前記モータの動作開始を指示する操作入力を前記操作入力取得ユニットが取得した場合、所定の報知を行うとともに、前記モータの動作停止を指示する操作入力を前記操作入力取得ユニットが取得した時点から、予め設定された時間が経過するまで、前記所定の報知を継続する報知ユニットと、を備える。
<第1の実施形態>
1.報知装置1、移動装置3、及び表示器4の構成
報知装置1、移動装置3、及び表示器4の構成を図1、図2に基づき説明する。報知装置1は、移動装置3の状態に関する報知を行う装置である。報知装置1は、CPU、RAM、ROM等を備えたコンピュータである。図1に示すように、報知装置1は、機能的に、動作情報取得ユニット5、及び報知ユニット7を備える。各ユニットの機能は後述する。
通信ケーブル23は、コントローラ21が受け付けた操作入力を表す信号を、後述する制御ユニット31に伝達する。
報知装置1が所定時間ごとに繰り返し実行する処理を図3、図4A-4Bに基づき説明する。図3のステップ1において、動作情報取得ユニット5は、X軸用インバータ33からX軸モータ25の動作情報を取得し、Y軸用インバータ35からY軸モータ27の動作情報を取得し、Z軸用インバータ37からZ軸モータ29の動作情報を取得する。
(1A)報知装置1は、X方向移動停止の操作入力があった後でも、X軸モータ25の動作中(フック19がX方向に移動している間)は動作中表示を行う。そのため、移動装置3の操作者は、X方向移動停止の操作入力があった後でも、フック19がX方向に移動中であることを容易に知ることができ、操作者の安全性が向上する。
<第2の実施形態>
1.報知装置101、移動装置3、及び表示器4の構成
報知装置101、移動装置3、及び表示器4の構成を図6に基づき説明する。移動装置3、及び表示器4の構成は前記第1の実施形態と同様である。
報知装置101が所定時間ごとに繰り返し実行する処理を図7に基づき説明する。図7のステップ11では、動作検出ユニット39が、センサ41の検出結果を取得する。センサ41の検出結果は、フック19の動作を表す情報である。
ステップ14では、報知ユニット7は、表示器4に停止中表示を行う。停止中表示の内容は前記第1の実施形態と同様である。
報知装置101は、前記第1の実施形態の効果(1C)に加え、さらに以下の効果も奏する。
<第3の実施形態>
1.報知装置201、移動装置3、及び表示器4の構成
報知装置201、移動装置3、及び表示器4の構成を図8に基づき説明する。移動装置3、及び表示器4の構成は前記第1の実施形態と同様である。
報知装置201が所定時間ごとに繰り返し実行する処理を図9に基づき説明する。図9のステップ21では、操作入力取得ユニット43が、コントローラ21から操作入力を取得する。
ステップ23では、報知ユニット7が、X方向、Y方向、Z方向のうち少なくともいずれかの方向において、以下の条件が成立するか否かを判断する。
なお、上記の予め設定された時間は、移動停止の操作入力があった時点から、モータが停止するまでに要する時間Tと同じか、それよりも長くすることが好ましい。時間Tが状況により変化する場合は、上記の予め設定された時間も、時間Tに応じて変化させることができる。
ステップ24では、報知ユニット7は、表示器4に動作中表示を行う。動作中表示の内容は前記第1の実施形態と同様である。
3.報知装置201が奏する効果
報知装置201は、前記第1の実施形態の効果(1C)に加え、さらに以下の効果も奏する。
<その他の実施形態>
以上、本発明の実施形態について説明したが、本発明は上記実施形態に限定されることなく、種々の形態を採り得る。
(5)前記第1~第3の実施形態において、動作中表示、停止中表示は適宜設定することができる。例えば、動作中表示は、「動作中」、「移動中」、「危険」、「注意」のような文字を表示するものであってもよいし、光が点滅するものであってもよいし、特定の色を表示するものであってもよい。また、停止中表示の態様は、動作中表示と異なる態様である限り、適宜設定できる。停止中表示と動作中表示との態様の違いとして、例えば、文字や矢印等の有無、色の違い、輝度の違い、動画と静止画の違い等が挙げられる。
(6)前記第1~第3の実施形態において、移動装置3の形式は適宜選択できる。移動装置3は、例えば、ホイスト式天井クレーン、トロリ式天井クレーン、旋回マントリル式天井クレーン、すべり出し式天井クレーン、旋回式天井クレーン、製鉄用天井クレーン等とすることができる。
(9)上述した報知装置1、101、201、及び移動システムの他、当該移動システムを構成要素とするシステム(例えば、移動システムと表示器4とを備えるクレーン作業システム)、当該報知装置1、101、201としてコンピュータを機能させるためのプログラム、移動装置3の制御ユニット31としてコンピュータを機能させるためのプログラム、これらのプログラムを記録した媒体、報知装置1、101、201の使用方法、移動装置3の使用方法、移動システムの使用方法、クレーン作業システムの使用方法、物品の移動方法等、種々の形態で本発明を実現することもできる。
Claims (6)
- 報知装置であって、
モータの駆動力により移動体を移動可能な本体ユニット、及び操作入力に応じて前記モータを制御する制御ユニットを備える移動装置に用いられ、報知装置は、
前記制御ユニットから前記モータの動作情報を取得する動作情報取得ユニットと、
前記モータが動作中である場合は、前記モータが停止中である場合とは異なる態様の報知を行う報知ユニットと、
を備える報知装置。 - 前記制御ユニットは、インバータを用いて前記モータを制御し、前記動作情報取得ユニットは、前記インバータから前記動作情報を取得する請求項1に記載の報知装置。
- 報知装置であって、
モータの駆動力により移動体を移動可能な本体ユニット、及び操作入力に応じて前記モータを制御する制御ユニットを備える移動装置に用いられ、報知装置は、
前記移動体又は前記移動体に取り付けられた物品の動作を検出する動作検出ユニットと、
前記移動体又は前記物品が動作中である場合は、前記移動体又は前記物品が停止中である場合とは異なる態様の報知を行う報知ユニットと、
を備える報知装置。 - 報知装置であって、
モータの駆動力により移動体を移動可能な本体ユニット、及び操作入力に応じて前記モータを制御する制御ユニットを備える移動装置に用いられ、報知装置は、
前記操作入力を取得する操作入力取得ユニットと、
前記モータの動作開始を指示する操作入力を前記操作入力取得ユニットが取得した場合、所定の報知を行うとともに、前記モータの動作停止を指示する操作入力を前記操作入力取得ユニットが取得した時点から、予め設定された時間が経過するまで、前記所定の報知を継続する報知ユニットと、
を備える報知装置。 - 前記報知装置は、画像を表示することで報知を行う請求項1~4のいずれか1項に記載の報知装置。
- 請求項1~5のいずれか1項に記載の報知装置と、前記移動装置と、を備える移動システム。
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EP15790815.3A EP3073633B1 (en) | 2015-01-23 | 2015-06-12 | Notification device and movement system |
CN201580074155.2A CN107251413A (zh) | 2015-01-23 | 2015-06-12 | 报知装置以及移动系统 |
KR1020177023079A KR20170107499A (ko) | 2015-01-23 | 2015-06-12 | 경보 장치 및 이동 시스템 |
US14/894,612 US9663332B2 (en) | 2015-01-23 | 2015-06-12 | Notification device and movement system |
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JP2015011317A JP6768183B2 (ja) | 2015-01-23 | 2015-01-23 | 報知装置及び移動システム |
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JP (1) | JP6768183B2 (ja) |
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- 2015-06-12 CN CN201580074155.2A patent/CN107251413A/zh active Pending
- 2015-06-12 WO PCT/JP2015/067020 patent/WO2016117143A1/ja active Application Filing
- 2015-06-12 US US14/894,612 patent/US9663332B2/en active Active
- 2015-06-12 EP EP15790815.3A patent/EP3073633B1/en active Active
- 2015-06-12 KR KR1020177023079A patent/KR20170107499A/ko not_active Application Discontinuation
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EP3073633B1 (en) | 2019-11-06 |
JP6768183B2 (ja) | 2020-10-14 |
US9663332B2 (en) | 2017-05-30 |
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US20160347587A1 (en) | 2016-12-01 |
CN107251413A (zh) | 2017-10-13 |
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JP2016135699A (ja) | 2016-07-28 |
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