WO2018105740A1

WO2018105740A1 - Crane

Info

Publication number: WO2018105740A1
Application number: PCT/JP2017/044233
Authority: WO
Inventors: 真輔神田
Original assignee: 株式会社タダノ
Priority date: 2016-12-09
Filing date: 2017-12-08
Publication date: 2018-06-14
Also published as: JP2018095369A; JP6772803B2

Abstract

Provided is a crane which allows an operator to select a proper conveyance path corresponding to an operating condition. The operable range R of a crane 1, which is determined from the weight of a package W, is calculated. With respect to the crane 1 disposed at a position shown by positional information, it is determined whether or not the tip position of a telescopic boom 8 for hoisting the package W located at a conveyance start position Pa and the tip position of the telescopic boom 8 for lowering the package W located at a target position Pb are within the operable range R. A conveyable range Ra where contact of the package W and the telescopic boom 8 with a ground-based structure S can be avoided is calculated using information relating to the operable range R, information relating to the shape of the package W, and the three-dimensional information and 3D data of the crane 1. Furthermore, a conveyance path Rt which satisfies conditions for optimizing optional parameters among the parameters relating to the conveyance path of the package W from the conveyance start position Pa to the target position Pb and the parameters of the crane 1 relating to conveyance operations is calculated from within the conveyable range Ra.

Description

crane

This invention relates to the crane which calculates the conveyance route of a load.

In general, it is desired to reduce the work period and cost for the work of transporting cargo with a crane. By reducing the change in crane operation and the change in the hanging posture of the load, the burden on the operator can be suppressed, which can contribute to time reduction and cost reduction, leading to reduction in construction period and cost. For this reason, a system that automatically calculates an efficient transport path that can suppress the burden on the operator using a computer has been conventionally provided (see Patent Document 1).

The transport route calculation system described in Patent Document 1 is intended to reduce the work period and cost, and the calculation device is capable of non-interfering and having a suitable hanging posture so as to avoid interference between the load and the surrounding building. A transport path including an arc trajectory is generated.

However, when using a crane at the work site, different priorities are required for each work situation, such as the skill of the operator and the environment of the work site. Therefore, it is desirable that individual priorities be taken into account even when the transport route is automatically calculated.

In the transport route calculation system described in Patent Document 1, individual priority items corresponding to the work situation are not applied to the calculation parameters, and the calculated transport route has an appropriate priority corresponding to the work situation. The matter was not taken into account. As described above, when the transport path is calculated without considering the priority corresponding to the work situation, the transport path does not correspond to the work situation and can be an appropriate transport path. There was no case.

Japanese Patent Laying-Open No. 2015-68019

An object of the present invention is to provide a crane that allows an operator to select an appropriate conveyance path corresponding to the work situation.

The problems to be solved by the present invention are as described above. Next, means for solving the problems will be described.

The crane of the present invention is a crane having a boom that can be raised and lowered, and includes three-dimensional information on a work site, position information of the crane on the work site, three-dimensional information on the crane, and weight of the load. And the information on the shape, the information on the conveyance start position and the target position of the load, the workable range of the crane determined from the weight of the load is calculated, and the crane arranged at the position indicated by the position information The position of the tip of the boom for lifting the load at the transfer start position and the position of the tip of the boom for hanging the load at the target position are within the workable range. To the structure using the information on the workable range, the information on the shape of the load, the three-dimensional information on the crane, and the three-dimensional information on the work site. A transportable range in which contact between the load and the boom can be avoided is calculated, and an arbitrary parameter is selected from the parameters related to the transfer route of the load from the transfer start position to the target position and the parameter of the crane related to transfer work. The transport path that satisfies the optimization condition is calculated from the transportable range.

The crane according to the present invention calculates a route candidate range that satisfies a condition for optimizing any one of the parameters related to the cargo transportation route and the crane parameters from the transportable range, and the route candidate. From the range, the transport route that satisfies the conditions for optimizing any other parameter among the parameters related to the transport route of the load and the parameters of the crane is calculated.

The crane of the present invention displays the image of the work site indicating the three-dimensional information of the work site, displays the transport route that is different for each of the selected conditions on the image, and displays the displayed transport route. The information regarding the operation of the crane that conveys the load along the selected conveyance route is displayed.

The crane of the present invention displays the operation of the crane that transports the load along the transport route selected from the displayed transport routes.

As the effects of the present invention, the following effects are obtained.

According to the present invention, it is possible to calculate a transport route that satisfies a condition for optimizing an arbitrary parameter among the parameters related to the transport route of the cargo and the parameters of the crane related to the transport work, that is, a transport route that differs for each parameter. As a result, the operator is presented with a plurality of transport routes with different conditions. Therefore, it is possible to provide a crane that allows the operator to select an appropriate conveyance path corresponding to the work situation.

According to the present invention, it is possible to calculate a transport route that takes into account one parameter and another parameter. Thereby, a conveyance route based on detailed conditions is presented to the operator. Therefore, it is possible to provide a crane that allows the operator to select an appropriate conveyance path corresponding to the work situation.

According to the present invention, information related to crane operation is displayed to the operator. Therefore, it is possible to provide a crane that allows the operator to select an appropriate conveyance path corresponding to the work situation.

According to the present invention, the operation of the crane that transports the cargo along the selected transport route is displayed to the operator. Therefore, it is possible to provide a crane that allows the operator to select an appropriate conveyance path corresponding to the work situation.

The figure which shows the crane at the time of lifting work. The figure which shows the control system of a crane. (A) is a top view which shows the workable range and conveyance possible range of the crane arrange | positioned at the work site, (B) is the side view. The figure which shows the control aspect regarding calculation of a conveyance path | route, and the display of a conveyance path | route. The figure which shows the control aspect regarding calculation of a conveyance path | route. The figure which shows the control aspect regarding calculation of a route candidate range and calculation of a conveyance route. (A) is a plan view of the work site showing the transport route of the luggage transported by the crane arranged at the work site and the trajectory of the tip of the boom, and (B) shows the transport route and the trajectory of the tip of the boom. The side view of the work site shown. The figure which shows the display of the image of a work site, and a conveyance path | route. The figure which shows the display of the information regarding the operation of the image of a work site, a conveyance path | route, and a crane.

Hereinafter, a crane 1 will be described as an embodiment of the present invention.

As shown in FIG. 1, the crane 1 is a mobile crane that can move to an unspecified location. The crane 1 has a vehicle 2 and a crane device 6.

The vehicle 2 conveys the crane device 6. The vehicle 2 has a plurality of wheels 3 and travels using the engine 4 as a power source. The vehicle 2 is provided with an outrigger 5. The outrigger 5 includes a projecting beam that can be extended by hydraulic pressure on both sides in the width direction of the vehicle 2 and a hydraulic jack cylinder that can extend in a direction perpendicular to the ground. The vehicle 2 can extend the workable range R (see FIG. 3) of the crane 1 by extending the outrigger 5 in the width direction of the vehicle 2 and grounding the jack cylinder.

The crane device 6 lifts the load W with a wire rope. The crane device 6 includes a swivel base 7, a telescopic boom 8, a jib 9, a main hook block 10, a sub hook block 11, a telescopic cylinder 12, a hoisting cylinder 13, a main winch 14, a main wire rope 15, a sub winch 16, and a sub wire rope. 17, a camera 18, a cabin 19, and the like.

The swivel base 7 is configured to allow the crane device 6 to turn. The swivel base 7 is provided on the frame of the vehicle 2 via an annular bearing. The annular bearing is arranged so that the center of rotation is perpendicular to the installation surface of the vehicle 2. The swivel base 7 is configured to be rotatable in one direction and the other direction with the center of the annular bearing as the center of rotation.

The telescopic boom 8 is configured to be horizontally rotatable and swingable on the frame of the vehicle 2. The telescopic boom 8 includes a base boom member 8a, a second boom member 8b, a third boom member 8c, a force boom member 8d, a fifth boom member 8e, and a top boom member 8f, which are a plurality of boom members. The telescopic boom 8 is configured to be telescopic in the axial direction by moving each boom member with the telescopic cylinder 12. A camera 18 is provided at the tip of the top boom member 8 f of the telescopic boom 8.

The jib 9 expands the lift and work radius of the crane device 6. The jib 9 is held in a posture along the base boom member 8a by a jib support 8g provided on the base boom member 8a of the telescopic boom 8. The base end of the jib 9 is configured to be connectable to the jib support portion 8g of the top boom member 8f. The jib 9 is configured to be connectable to the tip of the top boom member 8f by driving a pin (not shown) into the jib support portion 8g.

The main hook block 10 hangs the luggage W. The main hook block 10 is provided with a plurality of hook sheaves around which the main wire rope 15 is wound and a main hook 10a for hanging the luggage W. The sub-hook block 11 hangs the luggage W. The sub hook block 11 is provided with a sub hook 11a for hanging the luggage W.

The hoisting cylinder 13 stands up and down on the telescopic boom 8 and maintains the posture of the telescopic boom 8. The hoisting cylinder 13 is composed of a hydraulic cylinder composed of a cylinder part and a rod part.

The main winch 14 which is a hydraulic winch is for carrying in (winding up) and feeding out (winding down) the main wire rope 15. The sub-winch 16 that is a hydraulic winch is used for feeding and unloading the sub-wire rope 17.

The cabin 19 covers the cockpit. The cabin 19 is provided on the side of the telescopic boom 8 in the swivel base 7. A cockpit is provided inside the cabin 19. The cockpit is provided with a display unit 20 (see FIG. 2) that is a touch panel.

The crane 1 configured as described above can move the crane device 6 to an arbitrary position by running the vehicle 2. Moreover, the crane 1 raises the telescopic boom 8 to an arbitrary hoisting angle by the hoisting cylinder 13, extends the telescopic boom 8 to an arbitrary telescopic boom length, or connects the jib 9 to connect the crane device 6. The head and working radius can be expanded.

Next, the control system of the crane 1 will be described with reference to FIG.

The crane 1 includes a priority condition selection unit 21, a data storage unit 22, a route calculation unit 23, a 3D data generation unit 24, and a crane information calculation unit 25 in addition to the display unit 20.

The priority condition selection unit 21 selects, as each priority condition applied to the calculation of the transport route Rt, one of the conditions that minimizes a plurality of parameters described later according to the operation of the operator. The operator can select one or more arbitrary parameters among the parameters related to the transport route of the cargo W and the parameters of the crane 1 related to the transport work by operating the priority condition selection unit 21.

The priority condition selection unit 21 can select one of a plurality of parameters so that one transport route Rt is calculated. The priority condition selection unit 21 can also select a plurality of parameters so that each transport route Rt in which one parameter is applied to one transport route Rt is calculated simultaneously. The priority condition selection unit 21 can also select a plurality of parameters so that a plurality of transport routes Rt in which a plurality of parameters are applied to one transport route Rt are calculated simultaneously. When the operator touches an icon for each condition displayed on the display unit 20, the priority condition selection unit 21 can select each parameter.

The data storage unit 22 stores three-dimensional information of the crane 1, information on a plurality of parameters, 3D data, information on the posture of the crane 1, and information on the luggage W. The data storage unit 22 also includes information on the work range of the crane 1 determined by the maximum length, minimum length, maximum tilt angle, and minimum tilt angle of the telescopic boom 8, and the tilt angle and length of the telescopic boom 8 in the work range. Information on the rated total load set in each case is stored as information on the crane 1.

The route calculation unit 23 uses the information stored in the data storage unit 22 to calculate the transport route Rt.

The 3D data generation unit 24 creates 3D data (three-dimensional information on the work site) based on the image data on the work site obtained by photographing with the camera 18. Note that the 3D data generation unit 24 may create 3D data based on image data obtained by photographing with another camera brought into the work site. The 3D data may be created based on point cloud data obtained by measuring the ground surface and the ground structure S at the work site using a laser scanner.

The crane information calculation unit 25 calculates the attitude of the crane 1 and the information on the load W from the output values of various sensors attached to the crane 1. The crane 1 includes a sensor 31 that detects a turning angle of the swivel base 7 or a rotation angle of a turning motor (not shown), a sensor 32 that detects the extension length of the telescopic boom 8, and a sensor that detects the tilt angle of the telescopic boom 8. 33 and a sensor 34 for detecting the weight of the load W. Using the output values of these

sensors

31, 32, 33, and 34, the crane 1 calculates the posture of the crane device 6 and the weight and posture of the load W, and information on the posture of the crane device 6 and the weight and weight of the load W The posture information is stored in the data storage unit 22 and the posture information of the crane device 6 corresponding to the weight and posture of the load W is updated each time.

The crane information calculation unit 25 calculates the weight of the load W for each load W. Further, the crane information calculation unit 25 updates the information on the conveyance start position Pa and the target position Pb of the luggage W every time the conveyance start position Pa and the target position Pb of the luggage W are changed.

The display unit 20 displays an image of the work site showing the 3D data, and displays the transport route Rt on the image.

Further, the crane 1 has a position specifying unit 26. The position specifying unit 26 specifies the current position of the crane 1 based on the radio wave received by the GNSS antenna.

Furthermore, the crane 1 has an information receiving unit 27. The information receiving unit 27 can acquire various pieces of information when an antenna (not shown) receives radio waves. For example, the three-dimensional information of the crane 1 may be stored in the remote server as different information for each model of the crane 1 instead of being stored in the data storage unit 22. Further, the 3D data may be stored in the remote server as information different for each work site, and the information of the package W may be stored as information different for each package W. The information receiving unit 27 can acquire various information stored in the remote server via the communication network. The data storage unit 22 stores information acquired from the remote server.

Here, a plurality of parameters applied to the calculation of the transport route Rt will be described.

The crane 1 applies time, lift, fuel consumption, noise, contact pressure, and load factor as parameters to the calculation of the transport route Rt. The time and the lift correspond to parameters relating to the transport route of the luggage W. The fuel consumption, noise, contact pressure, and load factor correspond to the parameters of the crane 1 related to the conveyance work. The crane 1 calculates a transport route Rt that satisfies a condition that minimizes any of these parameters.

The transport route Rt to which time is applied as an arbitrary parameter is a route that minimizes the time taken to transport the package W from the transport start position Pa to the target position Pb. The transfer route Rt to which the lift is applied is a route that minimizes the maximum lift of the load W that is suspended while the load W is transferred from the transfer start position Pa to the target position Pb. The transport route Rt to which the fuel consumption is applied is a route that minimizes the energy consumed by the crane 1 while transporting the load W from the transport start position Pa to the target position Pb. The transfer route Rt to which noise is applied is a route that minimizes the maximum value of noise generated from the crane 1 while the load W is transferred from the transfer start position Pa to the target position Pb. The transfer route Rt to which the contact pressure is applied is a route that minimizes the maximum value of the contact surface pressure of the crane 1 when the load W is transferred from the transfer start position Pa to the target position Pb. Further, the transport route Rt to which the load factor is applied is a route that minimizes the maximum value of the stability of the crane 1 when transporting the load W from the transport start position Pa to the target position Pb.

Alternatively, the transport route Rt to which time is applied as an arbitrary parameter for the purpose of preventing the swing of the luggage W and performing the work safely in a situation where a disturbance such as wind appears greatly is the transport start position Pa. To the target position Pb is a route that maximizes the time taken to transport the package W. Thus, the crane 1 can calculate the transport route Rt that satisfies the condition for maximizing the arbitrary parameter in addition to the condition for minimizing the arbitrary parameter. That is, the crane 1 can calculate the transport route Rt that satisfies the condition for optimizing an arbitrary parameter.

The crane 1 can apply any selected parameter to the calculation of one or more transport routes Rt according to the operation of the operator. For example, the crane 1 can calculate one transport route Rt for each parameter. The crane 1 can also calculate one or more transport routes Rt in which a plurality of parameters are applied to one transport route Rt.

Next, the three-dimensional information of the crane 1 will be described.

The three-dimensional information of the crane 1 is information on each dimension of the crane 1 having a three-dimensional shape. In addition to information on the dimensions of the vehicle 2 and the crane device 6 such as the total height, total length, and full width, the information on the minimum length, maximum length, minimum tilt angle, and maximum tilt angle of the telescopic boom 8 is three-dimensional information of the crane 1. It corresponds to. Minimum length, maximum length, minimum tilt angle, and maximum tilt angle of the telescopic boom 8 set based on a height or the like that is limited in advance to avoid contact with the ground structure S (see FIG. 4). This information also corresponds to the three-dimensional information of the crane 1. Further, the information on the position of the tip of the telescopic boom 8 with respect to the vehicle 2 determined for each length and tilt angle of the telescopic boom 8 corresponds to the three-dimensional information of the crane 1. The distal end portion of the telescopic boom 8 is a portion immediately above the sub hook block 11 in the telescopic boom 8.

Next, with reference to FIGS. 3A and 3B, the three-dimensional information on the work site, the information on the luggage W, the workable range R, and the transportable range Ra will be described.

The three-dimensional information of the work site includes a 3D shape of the ground structure S such as a building at the work site, a 3D mesh representing a 3D shape of the equipment in the building, a digital ortho image, a numerical ground model (DSM), etc. And it is 3D data which represents the situation of a work site in three dimensions. The above-described ground structure S is an object having a convex shape at a work site, and may include a hill or the like (not shown). The crane 1 may acquire 3D data from a remote server by specifying a work site.

The information on the package W includes information such as the weight and shape of the package W, the conveyance start position Pa and the target position Pb of the package W, and the like. The conveyance start position Pa of the load W is a position of the load W that is a starting point of lifting and transfer at a preset work site. The target position Pb of the baggage W is a position of the baggage W that is the end point of lifting and transporting at a preset work site. Information on the conveyance start position Pa and the target position Pb of the package W is synchronized with the 3D data. Accordingly, the transport start position Pa and the target position Pb of the luggage W are set to predetermined positions on the work site. The information on the luggage W may include information on the center of gravity position as well as information on the weight and shape of the luggage W. The conveyance start position Pa and the target position Pb of the luggage W may be set so that the center of gravity position of the luggage W corresponds to the conveyance start position Pa and the target position Pb. In addition, the posture of the load W when it is lifted by the crane 1, each posture of the load W at the transfer start position Pa and the target position Pb may be included in the information of the load W.

The route calculation unit 23 calculates a workable range R determined from the weight of the luggage W within the work range. The workable range R is a work range in which the crane 1 does not fall. The workable range R shown in the figure is calculated for the weight of the luggage W used in the description of the present embodiment. In the present embodiment, the workable range R indicates the lifting ability in a state where the outrigger 5 is extended to the maximum extended position.

Further, the route calculation unit 23 uses the calculated workable range R information, the shape information of the load W, the three-dimensional information of the crane 1 and the 3D data, and the load W and the telescopic boom 8 to the ground structure S. The transportable range Ra that can avoid the contact is calculated from the workable range R. Then, the route calculation unit 23 transports the transport route Rt that satisfies the condition that minimizes any parameter among the parameters related to the transport route of the cargo W from the transport start position Pa to the target position Pb and the parameters of the crane 1 related to the transport work. Calculate from the possible range Ra.

Next, a control mode for calculating the transport route Rt will be described with reference to FIGS. 4, 5, and 6.

In step S11, the crane 1 recognizes information on parameters selected by the operator.

In step S12, the crane 1 acquires 3D data generated by the 3D data generation unit 24. Alternatively, the crane 1 acquires 3D data from a remote server. Thereafter, the process proceeds to step S13.

In step S13, the crane 1 acquires the position information of the crane 1 at the work site specified by the position specifying unit 26. The position information includes altitude in addition to longitude and latitude. Furthermore, the direction of the crane 1 is also included. The crane 1 can also acquire virtual position information input by an operator's operation. Thereafter, the process proceeds to step S14.

In step S14, the crane 1 acquires the information on the load W. The crane 1 recognizes by selecting and reading information on the weight and shape of the load W stored in the data storage unit 22 and information on the transport start position Pa and the target position Pb of the load W. Thereafter, the process proceeds to step S15.

In step S15, the crane 1 acquires the three-dimensional information of the crane 1. The crane 1 recognizes by selecting and reading out the three-dimensional information of the crane 1 stored in the data storage unit 22. Thereafter, the process proceeds to step S16.

In step S16, the crane 1 calculates the workable range R of the crane 1 using information on the weight of the load W. Thereafter, the process proceeds to step S17.

In step S <b> 17, the crane 1 uses the information on the workable range R, the information on the load W, the three-dimensional information, the position information, and the 3D data of the crane 1, with respect to the crane 1 arranged at the position indicated by the position information. Whether the position of the tip of the telescopic boom 8 for lifting the load W at the transfer start position Pa and the position of the tip of the telescopic boom 8 for hanging the load W at the target position Pb are within the workable range R. Determine whether.

As a result, as shown in FIG. 3 (A), the position of the tip of the telescopic boom 8 for lifting the load W at the transport start position Pa and the position of the telescopic boom 8 for hanging the load W at the target position Pb. When it is determined that the position of the tip is within the workable range R, the process proceeds to step S18. On the other hand, when it is determined that it is not within the workable range R, the process proceeds to step S1e.

In step S18, the crane 1 calculates the transportable range Ra. Thereafter, the process proceeds to step S19.

In step S19, the crane 1 starts control of the calculation A of the transport route Rt, and shifts the step to step S21 (see FIG. 5). Then, when the calculation A of the transport route Rt is completed, the step is shifted to step S1a.

As shown in FIG. 5, in step S21, the crane 1 determines whether there is one parameter selected by the operator (see step S11 in FIG. 4). As a result, when it is determined that the selected parameter is one, the process proceeds to step S22. On the other hand, when it is determined that the selected parameter is two or more, the process proceeds to step S23.

In step S22, the crane 1 calculates a transport route Rt that satisfies the condition that minimizes the selected one parameter from the transportable range Ra. Thereafter, the control of the calculation A of the transport route Rt is finished, and the process proceeds to step S1a (see FIG. 4).

In step S23, the crane 1 determines whether or not the operator has selected one parameter for each transport route Rt for two or more parameters. As a result, when it is determined that one parameter is selected for each transport route Rt, the process proceeds to step S24. On the other hand, when it is determined that one parameter is not selected for each transport route Rt, that is, two or more parameters are selected for each transport route Rt, the process proceeds to step S25.

In step S24, the crane 1 calculates the transport route Rt that satisfies the condition for minimizing each selected parameter from the transportable range Ra. Thereafter, the control of the calculation A of the transport route Rt is finished, and the process proceeds to step S1a (see FIG. 4).

In step S25, the crane 1 starts control of calculation B of the transport route Rt, and shifts the step to step S31 (see FIG. 6). Then, when the calculation B of the transport route Rt is completed, the step is shifted to step S1a (see FIG. 4).

Here, a case will be described in which two parameters are selected and applied to one transport path Rt as the control B for calculating the transport path Rt. The crane 1 may calculate two or more transport routes Rt in which one parameter and other parameters are considered.

As shown in FIG. 6, in step S <b> 31, the crane 1 calculates a route candidate range Rb that satisfies a condition that minimizes any one of the parameters of the crane 1 related to the transport operation from the transportable range Ra. . Thereafter, the process proceeds to step S32.

In step S32, the crane 1 calculates a transport route Rt that satisfies a condition that minimizes any other parameter among the parameters related to the transport route of the load W and the parameters of the crane 1 from the route candidate range Rb. Thereafter, the control of the calculation B of the transport route Rt is finished, and the process proceeds to step S1a (see FIGS. 4 and 5).

In addition, when acquiring the virtual position information input by the operation of the operator, the crane 1 determines the transportable range Ra, the route candidate range Rb, and the transport route Rt for the position of the crane 1 indicated by the virtual position information. Can be calculated.

As shown in FIG. 4, in step S <b> 1 a, the crane 1 displays an image of the work site indicating 3D data on the display unit 20, and displays one or more transport routes Rt that differ depending on the selected conditions described above. To display.

In step S1b, the crane 1 recognizes the transport route Rt selected by the operator from among the transport routes Rt displayed on the display unit 20. The operator can select one of the displayed one or more transport routes Rt by touching the display unit 20. Thereafter, the process proceeds to step S1c.

In step S1c, the crane 1 displays on the display unit 20 the operation of the crane 1 that transports the load W along the selected transport route Rt among the displayed transport routes Rt. Thereafter, the process proceeds to step S1d.

In step S1d, the crane 1 displays information on the operation of the crane 1 that transports the cargo W along the selected transport route Rt among the displayed transport routes Rt on the display unit 20.

In step S1e, the crane 1 hangs the load W at the target position Pb and the position of the tip of the telescopic boom 8 for lifting the load W at the transfer start position Pa with respect to the position of the crane 1 indicated by the position information. The display unit 20 displays that the position of the distal end of the telescopic boom 8 is not within the workable range R.

Next, the two transport paths Rt (Rt1 and Rt2) will be described with reference to FIGS. In the description of the present embodiment, it is assumed that the luggage W is hung on the sub hook 11a (see FIG. 1), but may be hung on the main hook 10a (see FIG. 1) instead.

The transport route Rt1 is a route that satisfies a condition that minimizes time among parameters related to the transport route of the package W from the transport start position Pa to the target position Pb.

As shown in FIG. 7A, the transport route Rt1 is a route that connects the transport start position Pa to the target position Pb with a straight line in a plan view of the work site. As shown in FIG. 7B, in the side view of the work site, the transport route Rt1 lifts the load W placed at the transport start position Pa and passes over the ground structure S on the right side in the drawing. To the target position Pb. While the load W is being transported from the transport start position Pa to the target position Pb, the locus L1 of the distal end portion of the telescopic boom 8 is drawn above the transport path Rt1. As described above, the transport route Rt1 that satisfies the condition that minimizes the time is a route that satisfies the condition that minimizes the transport distance among the parameters related to the transport of the luggage W from the transport start position Pa to the target position Pb.

The transport route Rt2 is a route calculated from the route candidate range Rb that satisfies the condition that minimizes the lift among the parameters related to the transport route of the package W from the transport start position Pa to the target position Pb. It is the path | route which satisfy | fills the conditions which minimize time among the parameter regarding and the parameter of the crane 1. FIG. That is, the transport route Rt2 is a route to which two parameters of the parameters related to the transport route of the cargo W and the parameters of the crane 1 related to the transport work are applied, one parameter being the lift and the other parameter being the time. It is.

The crane 1 calculates the route candidate range Rb that satisfies the condition that minimizes the lift from the transportable range Ra, and further calculates the transport route Rt that satisfies the condition that minimizes the transport distance from the route candidate range Rb. The transport route Rt2 lifts the cargo W placed at the transport start position Pa, passes the ground structure S on the left side in the figure from the side, and then transports the cargo W to the rear of the crane 1 in a straight line. Furthermore, it becomes a path | route conveyed linearly to the target position Pb. In the drawing, a locus L2 of the telescopic boom 8 is shown.

It is also possible to calculate a transport route that satisfies the condition that maximizes time as an arbitrary parameter. The route candidate range Rb that satisfies the condition for minimizing the head may be calculated from the transportable range Ra, and the transport route that satisfies the condition for maximizing the time may be calculated from the route candidate range Rb. In this case, even under a situation in which a disturbance such as wind appears greatly, it is possible to present to the operator that the load W can be safely transported over the longest possible time while minimizing the lift.

Thus, according to the crane 1, it is possible to calculate a plurality of transport routes Rt1 and Rt2 in which the state of the work site is reflected by the three-dimensional information for each parameter. In addition, the crane 1 has a transport route Rt1 and Rt2 that satisfy conditions for optimizing an arbitrary parameter among the parameters related to the transport route of the cargo W and the parameters of the crane 1 related to the transport operation, that is, the transport routes Rt1 and Rt2 that are different for each parameter. Can be calculated. Thereby, a plurality of transport routes Rt1 and Rt2 having different conditions are presented to the operator. Accordingly, it is possible to provide the crane 1 in which the operator can select an appropriate transport route Rt corresponding to the work situation.

According to the crane 1, it is possible to calculate the transport route Rt2 in which one parameter and another parameter are considered. As a result, the transport route Rt2 based on detailed conditions is presented to the operator. Accordingly, it is possible to provide the crane 1 in which the operator can select an appropriate transport route Rt corresponding to the work situation.

Among the parameters of the crane 1 related to the transfer work, the arbitrary parameters include the maximum value of the contact surface pressure of the crane 1 (in other words, the outrigger reaction force), the maximum value of the load factor (in other words, the stability of the crane 1), and the noise. The maximum value and fuel consumption are also included. In response to the selection by the operator, the crane 1 calculates each transport route Rt that satisfies the conditions that minimize these parameters.

The maximum value of the contact surface pressure of the crane 1 and the maximum value of the load factor can be replaced with the working radius of the crane device 6. That is, the crane 1 may apply a condition for minimizing the work radius as a parameter of the crane 1 related to the transport work to the calculation of the transport route Rt.

The data storage unit 22 (see FIG. 2) stores engine sound information quantified for each output of the engine 4 as information on the crane 1. In addition, the data storage unit 22 quantifies each rope speed, information on each operating sound when the main winch 14 is extended and when it is supplied, and when the sub winch 16 is extended and when it is supplied. Stores information on each operating sound. The data storage unit 22 includes information on the operation sound when the telescopic boom 8 is raised, the operation sound when the telescopic boom 8 is expanded, and the operation sound when the telescopic boom 8 is contracted. And store. The crane information calculation unit 25 uses these pieces of information to calculate the loudness of each operation sound from the respective operation speeds of the main winch 14, the sub winch 16, the telescopic boom 8, and the swivel base 7 with respect to a constant load due to the weight of the load W. And the loudness of the engine sound.

The data storage unit 22 stores information on the fuel consumption quantified for each output of the engine 4 as information on the crane 1. More specifically, the data storage unit 22 quantifies each rope speed, information on each engine output when the main winch 14 is extended and when it is supplied, and when the sub winch 16 is extended and when it is supplied. Stores information about each engine output. The data storage unit 22 has information on engine output when the telescopic boom 8 is raised, information on engine output when extended and contracted, and information on engine output when turning the swivel base 7 quantified for each turning speed. And store. The crane information calculation unit 25 uses these pieces of information to output engine outputs corresponding to the operating speeds of the main winch 14, the sub winch 16, the telescopic boom 8, and the swivel base 7 for a constant load due to the weight of the load W. calculate. Further, the fuel consumption is calculated based on the calculated engine output.

Next, the display of the work site image and the transport route Rt will be described.

As shown in FIG. 8, the display unit 20 displays an image of a work site showing 3D data on two screens, a plan view and a side view. In addition, one or more transport routes Rt calculated for each parameter are displayed on the image. In addition, the locus of the distal end portion of the telescopic boom 8 that differs depending on the above conditions is also displayed on the image. In addition to the plan view and the side view, the display form may be a mode in which the direction of the line of sight can be appropriately changed, such as another side view or a perspective view, according to the touch operation of the display unit 20 by the operator. The display size may be changeable according to a touch operation on the screen of the display unit 20.

On the screen, icons indicating each condition are displayed separately from the image of the work site. The operator, for example, by touching on the screen of the display unit 20, "minimum time", "minimum lift", "minimum fuel consumption", "minimum noise", "minimum ground pressure", "minimum load factor" and "minimum lift" Any one of the conditions of “+ shortest time”, that is, the transport route Rt that satisfies any of these conditions can be selected.

Here, the display unit 20 displays the transport routes Rt1 and Rt2 that satisfy the conditions of “the shortest time” and “the shortest lift + the shortest time” (see the alternate long and short dash line in the figure). The display unit 20 displays a locus L1 that satisfies the condition “shortest time” and a locus L2 that satisfies the condition “minimum lift + minimum distance” (see the broken line in the figure). Further, for each of the transport routes Rt1 and Rt2, as the route information, the time required for transporting the load W from the transport start position Pa to the target position Pb, the maximum lift, the maximum noise, the maximum ground pressure, and the maximum load factor are included. Is displayed.

When one of the transport routes Rt1 and Rt2 displayed by the operator through the screen of the display unit 20 is selected, the display unit 20 displays the baggage W along any of the displayed transport routes Rt1 and Rt2. The information regarding operation of the crane 1 which conveys is displayed. Although not shown, when the operator touches one of the transport routes Rt1 and Rt2 on the screen or an icon as a selection candidate, the candidate transport route Rt is displayed in reverse video, etc. The candidate transport route Rt may be displayed in a different form from the other transport routes Rt.

As shown in FIG. 9, the display unit 20 displays information related to the operation of the crane 1 that transports the load W along the selected transport route Rt1. The display unit 20 displays information related to the operation of the crane 1 by switching from the screen displaying the 3D data and the transport route Rt to another screen.

The crane 1 presets the sections P1, P2, P3, and P4 in which the operation of the crane 1 is divided in order to transport the cargo W along the transport path Rt1 when calculating the transport path Rt1. The crane 1 further sets necessary operations in each section P1, P2, P3, and P4 and calculates the operation amount.

On the screen, icons indicating the sections P1, P2, P3, and P4 are displayed separately from the image of the work site. Here, the icon of the section P2 is selected by the operation by the operator, and information regarding the operation of the crane 1 in the section P2 is displayed. The change amount of the turning angle (clockwise) of the crane device 6 in the section P2, the change amount of the length of the telescopic boom 8, and the change amount of the tilt angle (upward standing) are displayed.

When the operator actually steers the crane 1 and transports the load W, the display is switched from the point when the tip of the telescopic boom 8 passes through each of the sections P1, P2, and P3. For example, when the tip of the telescopic boom 8 passes through the section P3, the amount of change in the turning angle (clockwise) of the crane device 6 in the section P4, the telescopic boom 8 is the same as when the section P4 is selected on the screen. The amount of change in length and the amount of change in tilt angle (downward fall) are displayed.

Thus, according to the crane 1, information regarding the operation of the crane 1 is displayed to the operator. Accordingly, it is possible to provide the crane 1 in which the operator can select an appropriate transport route Rt corresponding to the work situation.

Note that the crane 1 may have an autopilot function. As described above, when any one of the transport routes Rt is selected, sections are set, necessary operations are set in each section, and the operation amount is calculated. The crane 1 can automatically transport the load W by automatically operating according to a necessary operation and an operation amount in each section.

The operation of the crane 1 that transports the cargo W along the selected transport route Rt out of the displayed transport routes Rt1 and Rt2 may be displayed on the display unit 20. When the selection of the icon, that is, the transport route Rt is switched, an animation shows that the crane device 6 turns and the telescopic boom 8 expands and contracts so that the tip of the telescopic boom 8 follows the trajectory corresponding to the selected transport route Rt. Is displayed on the display unit 20. In this case, the display unit 20 may display the operation of the crane 1 together with the image of the work site by changing the viewpoint, such as a perspective view, instead of the plan view and the side view shown in FIG.

Thus, according to the crane 1, the operation of the crane 1 that conveys the load W along the selected conveyance route Rt is displayed to the operator. Accordingly, it is possible to provide the crane 1 in which the operator can select an appropriate transport route Rt corresponding to the work situation.

The present invention can be used for a crane.

1 Crane 8 Telescopic boom (boom)
20 Display part Pa Transport start position Pb Target position R Workable range Ra Transportable range Rb Route candidate range Rt Transport route

Claims

A crane with a hoisting and telescopic boom,
Obtain 3D information of the work site, position information of the crane at the work site, 3D information of the crane, weight and shape information of the load, and information on the start position and target position of the load And
Calculate the workable range of the crane determined from the weight of the load,
For the crane arranged at the position indicated by the position information, the position of the tip of the boom for lifting the load at the transfer start position and the tip of the boom for hanging the load at the target position Determine whether the position of the part is within the workable range,
Using the information on the workable range, the information on the shape of the load, the three-dimensional information on the crane, and the three-dimensional information on the work site, it is possible to avoid the contact between the load and the boom on the structure. Is calculated, and
Calculating from the transportable range a transport path that satisfies a condition for optimizing an arbitrary parameter among the parameters regarding the transport path of the cargo from the transport start position to the target position and the parameters of the crane regarding the transport work; A crane characterized by that.
A route candidate range that satisfies a condition for optimizing any one of the parameters related to the cargo transport route and the crane parameters is calculated from the transportable range,
2. The crane according to claim 1, wherein the transport route satisfying a condition for optimizing any other parameter among the parameter related to the load transport route and the parameter of the crane is calculated from the route candidate range. .
While displaying the image of the work site showing the three-dimensional information of the work site, displaying the transport path that is different for each of the selected conditions on the image, the selected one of the displayed transport paths The crane according to claim 1 or 2, wherein information related to an operation of the crane that conveys the load along a conveyance path is displayed.
The crane according to claim 3, wherein an operation of the crane that transports the cargo along the selected transport path among the displayed transport paths is displayed.