WO2019092937A1

WO2019092937A1 - Crane system and crane control method

Info

Publication number: WO2019092937A1
Application number: PCT/JP2018/028575
Authority: WO
Inventors: 桃井　康行; 小田井　正樹; 家重　孝二; 裕吾及川; 正木　良三
Original assignee: 株式会社日立産機システム
Priority date: 2017-11-13
Filing date: 2018-07-31
Publication date: 2019-05-16
Also published as: JP7025896B2; JP2019089612A

Abstract

The present invention considers the shape of a suspended load, the shape of an obstacle, behaviors such as load swaying, and suspended load no-entry zones and limits on passing height to prevent reduction in work efficiency while ensuring greater safety. Provided is a crane control method for moving a load suspended from a rope that involves: detecting the shape of the suspended load; detecting the three-dimensional position of the suspended load; detecting information on the position and shape of an obstacle; recording, on a three-dimensional environmental map, the range in which the obstacle is present and the protected zone where the suspended load and rope cannot enter; creating, on the basis of the three-dimensional environmental map, a two-dimensional environmental map whereon is recorded a zone impassable to the suspended load and rope in terms of the height range associated with the passage of the suspended load and rope; predicting, on the basis of the shape of the suspended load, the three-dimensional position of the suspended load, and the two-dimensional environmental map, the occurrence possibility of an interference state where the suspended load or the rope collides with the obstacle or an interference state where the suspended load and rope enter the protected zone; and operating the crane so as to avoid the interference state if the interference state is predicted.

Description

Crane system and control method of crane

The present invention relates to a crane system that controls a crane on which a load is suspended.

In recent years, with the aging of crane skilled workers and a shortage of labor due to an increase in the number of cranes installed, inexperienced workers in the crane industry are increasing. The crane operation by a non-skilled worker is suspended compared to the crane operation of a skilled worker due to misinterpretation of the position or height of an obstacle or the immaturity of the behavior prediction of the crane such as a load runout. And the risk of collisions with obstacles tend to be high. Therefore, in order to avoid a collision or the like, an unskilled worker needs an avoidance operation that largely avoids an obstacle while moving a suspended load, and has had to lower the work efficiency as a price for securing safety.

On the other hand, the technique of patent document 1 is disclosed as a method of suppressing the fall of working efficiency, however, ensuring safety | security.

JP, 2016-193473, A

According to claim 1 of Patent Document 1, “safety operation control means for causing the danger source to perform a safety operation for avoiding danger when the distance between the danger source and the protection object becomes equal to or less than a threshold value; Space information output means for generating space information indicating the location of the protection target, and monitoring the distance between the danger source and the protection target based on the space information, the distance between the danger source and the protection target A safety control system comprising: a drive control device which causes the danger source to perform a danger avoidance operation in response to approach to a threshold. Further, paragraph 0015 of the same document describes “a human body to be protected”, and paragraph 0048 “This crane moves by suspending a heavy load for suspension. Therefore, in this embodiment, Crane body and suspended load become a source of danger. " That is, the same document discloses a technology for causing a crane or the like to perform a danger avoiding operation such as stopping or avoiding when the distance between a crane as a danger source and a suspended load and a human body to be protected becomes less than a threshold. There is.

However, in the technology of Patent Document 1, the execution of the danger avoidance operation is determined based only on the distance between the danger source and the protection target, and consideration is given to the hanging load shape, the obstacle shape, and the behavior such as load fluctuation. It was necessary to carry out a large evasive action taking into account the margin for that. In addition, it does not consider setting restrictions such as prohibiting a load from passing through a space where there is no protection target or limiting the height to which passing is permitted, and the freedom of crane operation There was not enough consideration for raising the degree.

The present invention has been made in view of such problems, and in view of work load shape, obstacle shape, behavior such as load deflection, and constraints of the entry prohibited area and passing height of the load, the work efficiency can be improved. An object of the present invention is to provide a crane system capable of securing higher safety while suppressing deterioration.

In order to achieve the above object, a crane system according to the present invention is for moving a suspended load suspended on a rope in a horizontal direction and a vertical direction, and a suspended load shape detecting means for detecting the shape of the suspended load Suspension position detection means for detecting the three-dimensional position of the suspension load, obstacle information detection means for detecting the position and shape of the obstacle, the existence range of the obstacle, the suspension load and the rope can not enter A three-dimensional environmental map updating means for updating the three-dimensional environmental map based on the three-dimensional environmental map recording the protected area, and the obstacle information outputted by the obstacle information detecting means, based on the three-dimensional environmental map Two-dimensional environmental map generation means for generating a two-dimensional environmental map in which the suspended load and the area through which the rope can not pass are recorded in a height range through which the suspended load and the rope pass; The suspended load or the rope is the obstacle according to the shape of the suspended load output by the means, the three-dimensional position of the suspended load output by the suspended load position detection means, and the two-dimensional environmental map Interference prediction means for predicting whether a collision interference state or an interference state in which the load and the rope enter the protection area may occur, and when the interference prediction means predicts an interference state And evasion operation execution means for causing the crane to perform an operation to avoid the interference state.

According to the present invention, higher safety can be achieved while suppressing a decrease in work efficiency in consideration of the shape of the suspended load, the shape of the obstacle, the behavior such as load deflection, and the restricted area of the suspended load and the passing height. Can provide a crane system that can secure

BRIEF DESCRIPTION OF THE DRAWINGS The schematic of the crane which the crane system of Example 1 controls. The perspective view which illustrates the obstacle avoidance method of the suspended load suspended to the crane. The top view which illustrates the other obstacle avoidance method of the suspended load suspended to the crane. 1 is a system configuration diagram of a crane system according to a first embodiment. A figure explaining processing of a two-dimensional environment map generation part and a prediction part. FIG. 6 is a system configuration diagram of a crane system of a second embodiment.

Hereinafter, an embodiment of a crane system of the present invention will be described using the drawings.

The crane system of the first embodiment will be described with reference to FIGS. 1 to 5. Note that this crane system predicts in real time the possibility of the occurrence of interference when the suspended load 8 moves regardless of whether the crane is operated by the operator or automatically operated by the system.

FIG. 1 is a view for explaining a configuration example of a crane controlled by the crane system of the present embodiment. Although an overhead crane is illustrated as an example of a crane here, as long as the load 8 can be moved in three dimensions, you may combine the crane system of another kind of crane, and a present Example.

As shown here, the crane 1 moves along a runway 2 provided along walls on both sides of a building (not shown), a girder 3 moving the upper surface of the runway 2 and a lower surface of the girder 3 It consists of a trolley 4 to do. A hoist (not shown) is provided at the lower part of the trolley 4, and the hook 6 at the tip of the rope 5 is moved up and down by winding or lowering the rope 5 using this. The hanging load 8 is suspended from the hook 6 directly or through a wire 7, and the lifting load 8 moves up and down as the hook 6 moves up and down. That is, the crane 1 moves the suspended load 8 in the horizontal direction by the movement of the girder 3 (hereinafter referred to simply as “travel”) and the movement of the trolley 4 (hereinafter referred to simply as “transverse”), and the hoisting machine The load 8 can be vertically moved up and down.

FIG. 2 is a perspective view illustrating an obstacle avoidance method of the load 8 suspended on the crane 1. Various obstacles 9 exist in the use environment of the crane 1. The obstacle 9 is, for example, a device or a load placed on the floor, or a forklift for transporting the load. FIG. 2 schematically shows the crane operation for moving the load 8 to the target position by passing above the obstacle 9 and is performed in the following steps (A) to (E). In addition, in FIG. 2, the dotted line arrow corresponds to the crane operation before suspending the load 8, and the solid line arrow and the broken arrow correspond to the crane operation after the load 8 is suspended.
(A) The trolley 4 is moved immediately above the load 8 by traveling and traversing.
(B) After lowering the rope 5, the operator suspends the hanging load 8 directly to the hook 6 or through the wire 7.
(C) Wind the rope 5 and raise the load 8 to a height at which the load 8 does not collide with the obstacle 9.
(D) Traveling and traversing, the load 8 is passed above the obstacle 9 and moved to the target position above.
(E) The rope 5 is lowered, the load 8 is lowered to the target position, and the load 8 is removed from the hook 6.

At this time, as shown by the broken arrows, the winding of (C) and the traveling and traversing of (D) can be simultaneously performed in a range that does not collide with the obstacle 9. The same applies to traveling / crossing of (D) and lowering of (E).

FIG. 3 is a top view illustrating another obstacle avoidance method for the load 8 suspended on the crane 1. In FIG. 2, the obstacle 9 is low, and the load 8 can pass above the obstacle 9. However, in FIG. 3, the load 8 can not pass above the obstacle 9 because the obstacle 9 is high. It shows. In such a case, traveling and crossing are combined as shown in (D1) to (D3) of FIG. 3, and the suspended load 8 is moved to the target position while avoiding the obstacle 9.

In addition, when there is a protection area 10 where you want to prohibit the entry of the hanging load 8 or the rope 5 such as when a worker is resident or a device that is highly damaged when the hanging load 8 falls is installed, The load 8 is moved so as to avoid the protected area 10.

FIG. 4 is a diagram for explaining the system configuration of the crane system of the present embodiment. As shown here, the present crane system includes a suspended load shape detection unit 100, a suspended load position detection unit 101, an obstacle information detection unit 102, a three-dimensional environment map 103, and a three-dimensional environment map update unit 104. And a two-dimensional environment map generation unit 106, an interference prediction unit 107, and an avoidance operation execution unit 108. The crane system includes an arithmetic unit such as a CPU, a main storage unit such as a semiconductor memory, an auxiliary storage unit such as a hard disk, and hardware such as a communication unit, and is recorded in the auxiliary storage unit. Suspended load shape detection unit 100, suspended load position detection unit 101, and the like by the program executing the program stored in the main storage while referring to the database such as three-dimensional environment map 103 and two-dimensional environment map 105 However, such a known operation is omitted as appropriate, and the description will be made. The details of each of FIG. 4 will be specifically described below.

The suspended load shape detection unit 100 detects the shape of the suspended load 8 and can be realized by, for example, a three-dimensional laser distance sensor attached downward from the trolley 4. The hanging load shape detection unit 100 can detect the shape of the hanging load 8 by moving the trolley 4 back and forth and right and left while the hanging load 8 is placed on the ground and measuring the surface shape of the hanging load 8. In addition, when an encoder is attached to the hoisting machine, the height of the lifting load 8 can also be detected from encoder information when the lifting load 8 is lifted and ground cut away from the ground. The shape of the hanging load 8 may be obtained by numerical input by a worker or may be obtained by a link with a production management system or the like, in addition to detection by the hanging load shape detection unit 100.

The suspended load position detection unit 101 detects the three-dimensional position of the suspended load 8 in real time, and the distance from the end of the runway 2 to the girder 3 and the distance from the end of the girder 3 to the trolley 4 are laser distance sensors Measure the horizontal position of the representative position of the hanging load 8 directly below the trolley 4 in real time by measuring with, and measure the height of the representative position of the hanging load 8 from the ground from the encoder information of the hoist in real time . Further, the distance from the trolley 4 to the representative position of the hanging load 8 is directly measured in real time by a three-dimensional laser distance sensor attached to the trolley 4. In this way, the hanging load position detection unit 101 detects in real time the representative position of the hanging load 8 whose one end is the runway 2, one end of the girder 3, and the height of the hoisting machine is the origin. Based on the shape of the hanging load 8 obtained by the load shape detection unit 100, the hanging position of the hanging load 8 is detected in real time. In addition, the three-dimensional position of the hanging load 8 may be acquired by numerical input by an operator, or may be acquired by a link with a production management system or the like.

The obstacle information detection unit 102 detects in real time the position and shape of the obstacle 9 such as a device around the suspended load 8 or a load, and can be realized by a three-dimensional laser distance sensor attached downward to the trolley 4.

The three-dimensional environment map 103 is a database in which the existing range of the obstacle 9 present in the movable range of the crane 1 and the protected area 10 are recorded. The three-dimensional environment map 103 is, for example, a height range in which the obstacle 9 is present at the XY coordinates and a height range in which the hanging load 8 and the rope 5 can not enter are stored as numerical data. It takes an editable form, etc. It is desirable that the three-dimensional environmental map 103 be prepared in advance from obstacle information obtained by moving the trolley 4 over the entire range of movement of the crane 1. Furthermore, if there is a protected area 10 or an area where it is desired to specify the height to be passed, it can be set, for example, by editing the three-dimensional environment map 103 by a suspended load passing condition setting unit realized by software on a computer. It is good. Also, by using a facility information database that records the position and shape of the devices installed in the factory and a production management system that records the position and shape of the packages placed in the factory and using that information It is also possible to create a three-dimensional environmental map 103.

The three-dimensional environment map updating unit 104 updates the three-dimensional environment map 103 in real time based on the obstacle information output from the obstacle information detecting unit 102. Thereby, even when the obstacle 9 moves like a forklift, even when the device placed on the floor which is the obstacle 9 is added, removed, moved and the installation position is changed, Obstacle information on the three-dimensional environmental map 103 in real time.

The two-dimensional environment map generation unit 106 generates, from the three-dimensional environment map 103, a two-dimensional environment map 105 indicating an area through which the hanging load 8 and the rope 5 can pass in a height range where the hanging load 8 and the rope 5 pass. It is. The details of the method of generating the two-dimensional environment map 105 will be described later.

The interference prediction unit 107 detects the hanging load shape detected by the hanging load shape detection unit 100, the hanging load position detected by the hanging load position detection unit 101, and the two-dimensional environment map 105 generated by the two-dimensional environment map generation unit 106. Based on this, it is predicted whether an interference state in which the hanging load 8 or the rope 5 collides with the obstacle 9 or an interference state in which the hanging load 8 or the rope 5 enters the protection area 10 occurs.

The avoidance operation execution unit 108 causes the crane to perform the avoidance operation of the interference state with the obstacle 9 or the protection area 10, if necessary, based on the prediction result of the interference prediction unit 107.

When operating the crane, it is necessary to avoid an interference state such as the load 8 or the rope 5 colliding with the obstacle 9 or entering the protection area 10. Therefore, it is necessary to predict in real time whether or not an interference state may occur, and when an occurrence of the interference state is predicted, it is necessary to perform an operation to avoid it. The determination of the occurrence of the interference state is based on the shape and three-dimensional position of the hanging load 8 and the rope 5 and the information of the obstacle 9 and the protection area 10 recorded in the three-dimensional environment map 103. It can be determined by predicting whether it interferes with 9 or the protected area 10. However, since a large amount of calculation is required to perform this determination using a three-dimensional model, real-time determination can not be performed with a crane system using a general processing capacity computing device. Therefore, in the present embodiment, the two-dimensional environment map generation unit 106 generates a two-dimensional environment map 105 based on the three-dimensional environment map 103, and the interference prediction unit 107 using the two-dimensional environment map 105. By performing the determination in the above, it is possible to determine the occurrence of an interference state in real time even when a general arithmetic device is used.

Next, a method of generating the two-dimensional environment map 105 in the two-dimensional environment map generation unit 106 and a method of predicting a failure in the interference prediction unit 107 using the same will be described with reference to FIG. 5A shows a three-dimensional environment map 103, and FIG. 5B shows a two-dimensional environment map 105.

In the three-dimensional environment map 103 shown in FIG. 5A, information regarding the position and shape of the obstacle 9 (9a, 9b, 9c) and the protected area 10 (10a, 10b) is recorded as numerical data. For example, information about the installation position and height of the

obstacles

9a and 9b installed on the floor is recorded, and the installation position and information about the obstacle 9c such as a cantilever beam protruding from the wall of the building are recorded. Information such as length and thickness is recorded. When there is an obstacle 9 moving like a forklift, the position information etc. is reflected on the three-dimensional environment map 103 in real time, but in the following, the situation where there is no moving obstacle 9 is taken as an example Advance the explanation.

The two-dimensional environment map generation unit 106 generates a two-dimensional environment map 105 around the suspended load 8 shown in FIG. 5B based on the information of the three-dimensional environment map 103. Here, the periphery of the suspended load 8 is a predetermined range limited to the height at which the suspended load 8 and the rope 5 pass, and specifically, as in the region 110 in FIG. 5A, the rope It is a range that fits in a parallelepiped having a height from the upper end of 5 to the lowermost portion of the hanging load 8. The reason why the two-dimensional environmental map 105 does not include the information below the suspended load 8 is that it does not hinder the movement of the suspended load 8 and the rope 5 even if the obstacle 9 exists at a lower position than the suspended load 8. This is because it is unnecessary to take into account when predicting interference.

Then, for each point of the XY coordinates of this area 110, after confirming the presence or absence of the obstacle 9 and whether it falls under the protection area 10, the result of the confirmation and the presence or absence of the restriction of the passing height are taken. , The area where the hanging load 8 and the rope 5 can not pass is extracted. Then, this is recorded as the impassable area 112, and a two-dimensional environment map 105 is generated in which other areas are recorded as the impassable area. As a result, for example, in the two-dimensional environment map 105 corresponding to the three-dimensional environment map 103 in FIG. 5A, the

impassable areas

112a and 112b where ropes 8 and

obstacles

9a and 9b are expected to collide are roped An impassable area 112 c where collision between the obstacle 5 and the obstacle 9 c is predicted, and

impassable areas

112 d and 112 e corresponding to the protected

areas

10 a and 10 b are recorded as the impassable area 112.

The interference prediction unit 107 sequentially determines the possibility of the interference between the horizontal projection range 111 of the suspended load 8 and the impassable area 112 using the generated two-dimensional environment map 105. By performing this interference calculation based on the two-dimensional environment map 105, it is possible to greatly reduce the amount of calculation in the interference prediction unit 107 as compared to the case where the three-dimensional environment map 103 is used. Further, since the two-dimensional environment map 105 may be generated only in the vicinity of the suspended load 8, the amount of calculation can be reduced also by this.

In the interference prediction method of the present embodiment described above, since the possibility of the occurrence of interference is calculated in consideration of the shapes of the suspended load 8 and the obstacle 9, the shape is not as in Patent Document 1 in which the shapes are not considered. There is no need to take a margin to That is, it is not necessary to largely avoid the obstacle 9 at the time of movement of the hanging load 8, and the deterioration of the working efficiency is suppressed. Furthermore, since the restrictions of the protected area 10 and the passing height are taken into consideration, it is possible to perform the interference determination in the more efficient route.

When the possibility of the occurrence of the interference state is predicted by the interference prediction unit 107, the avoidance operation execution unit 108 causes the crane 1 to perform an operation for avoiding the interference.

As an example of the interference avoidance operation, there is a method of notifying the operator operating the crane of the possibility of interference by an alert or the like to urge the stop operation of the crane. As another example, there is also a method of automatically stopping the crane by the crane system after notifying the operator of the possibility of interference. Furthermore, after informing the worker, there is also a method in which the system generates the avoidance path 120 of the obstacle 9 by using the two-dimensional environment map 105 and causes the crane to operate automatically. At this time, since the system acquires the shapes of the hanging load 8 and the obstacle 9, there is no need to generate an avoidance route larger than necessary, and the increase in moving time is minimized and the decrease in work efficiency is suppressed. can do. As the avoidance path generation in the two-dimensional environment, the technique of JP 2009-223634 is known, and this may be applied to the avoidance path generation of the present embodiment.

In addition, the impassable area 112 and the bypass route 120 recorded in the two-dimensional environment map 105 are displayed as shown in FIG. 5B on a display unit such as the screen of the operation terminal connected to the present crane system. May be

In the above example, a three-dimensional laser distance sensor attached downward to the trolley 4 was used as the suspended load shape detection unit 100 or the obstacle information detection unit 102, but instead, it was attached downward to the trolley 4 Similar operations can be realized using image information of a stereo camera or the like. Furthermore, even when using a camera in which the entire movable range of the crane 1 can be observed at a plurality of locations such as a ceiling of a building, it is possible to obtain information on the shape and three-dimensional position of the suspended load 8 and the obstacle 9 is there. In this case, it is possible to observe a blind spot area which can not be observed by the sensor attached to the trolley 4, and it is possible to further enhance the safety.

In addition, the information of the obstacle 9 around the suspended load 8 obtained from the three-dimensional laser distance sensor or stereo camera attached to the trolley 4 as the suspended load position detection unit 101 is estimated by matching with the three-dimensional environmental map. It is also good. Alternatively, it may be estimated by matching with obstacle information acquired using a two-dimensional laser distance sensor attached so as to scan horizontally at a horizontal horizontal height of the trolley and a two-dimensional environmental map at that height. .

As described above, with the crane system of the present invention, in view of the shape of the suspended load, the shape of the obstacle, the restricted area of the suspended load and the restriction of the passing height, the work efficiency can be improved while securing higher safety. It is possible to suppress the decrease.

Next, a crane system according to a second embodiment of the present invention will be described with reference to FIG. The same points as in the first embodiment will not be repeatedly described.

FIG. 6 is a system configuration diagram of the crane system of the second embodiment, and a load fluctuation behavior detection unit 109 for measuring or estimating the load fluctuation behavior of the suspended load 8 is added to the crane system of the first embodiment shown in FIG. ing.

The run-out behavior of the hanging load 8 is measured by a three-dimensional laser distance sensor attached to the trolley 4, a stereo camera, a camera attached to a building ceiling or the like, which is also used as the hanging load shape detection unit 100 or the obstacle information detection unit 102. can do. Alternatively, it is also possible to construct a dynamic model of the crane and use it to estimate the behavior.

The interference prediction unit 107 of this embodiment performs interference prediction in consideration of the load fluctuation behavior. This can be taken into consideration by adding a load fluctuation amount to the position information of the hanging load 8 when obtaining the horizontal projection range 111 of the hanging load 8 when performing the interference determination using the two-dimensional environment map 105.

Further, the avoidance operation execution unit 108 of the present embodiment also causes the crane to perform the interference avoidance operation in consideration of the load fluctuation behavior.

As described above, in the crane system of the present embodiment, the interference prediction and the avoidance operation are executed in consideration of the load runout behavior, and therefore, the operation is performed while securing higher safety than the configuration of the first embodiment. It is possible to suppress the decrease in efficiency.

Next, a crane system according to a third embodiment of the present invention will be described. The same points as those of the above-described embodiment will not be repeatedly described.

In the present embodiment, the minimum height at which the load can pass is recorded in the three-dimensional environment map 103. As a result, the interference prediction unit 107 of the present embodiment is the lowest at which the suspension load can be passed from the shape and position of the suspension 8 and the height of the bottom surface of the suspension 8 on the predicted traveling path of the suspension 8 It is judged whether there is a place where the height is high, and it is predicted that an interference state may occur if such a place exists.

Then, when the hoisting of the load 8 is possible, the avoidance operation execution unit 108 of the present embodiment is based on the lowest possible load passing height on the predicted travel path of the load 8 recorded in the three-dimensional environment map 103. The hoisting machine is wound up so that the height of the bottom surface of the load 8 becomes high, and after shortening the length of the rope 5, it moves past the obstacle 9.

As described above, according to the crane system of the present embodiment, the avoidance in the height direction can be easily realized, so that it is possible to suppress the decrease in work efficiency while securing higher safety.

Next, a crane system according to a fourth embodiment of the present invention will be described. The same points as those of the above-described embodiment will not be repeatedly described.

In the present embodiment, a target route in which the hanging load 8 moves is generated from the target position input unit for inputting the target position of the hanging load 8 and the current position of the three-dimensional environment map 103 and the hanging load 8 and the input target position. Target route generation unit is added.

The target position input unit displays, for example, a map as shown in FIG. 5 (b) showing the arrangement of the hanging load 8, the obstacle 9, the protection area 10, etc. on the screen of the separately provided operation terminal. Let's specify the position. Alternatively, the target position may be designated by coordinates. Alternatively, the information may be used by linking to a production management system in which the target position information of the hanging load 8 is recorded. Alternatively, a function of recording the position of the hanging load 8 may be added, and the position information recorded by the function may be set as the call target position.

The target route generation after setting the target position is, for example, using the three-dimensional environment map 103 to acquire the lifting loadable minimum height on the straight route connecting from the current position to the target position, A path that moves linearly from the current position to the target position is generated by raising the height above the height. If a region that can not pass through is set, a route is created to avoid it. Note that the traveling and traversing operation and the lifting and lowering operation may be simultaneously performed in a range that does not interfere with the height range in which the vehicle can not pass.

As described above, with the crane system of this embodiment, it is also possible to generate a target route with a short travel time and distance, and work efficiency can be improved.

Next, a crane system according to a fifth embodiment of the present invention will be described. The same points as those of the above-described embodiment will not be repeatedly described.

In the present embodiment, a worker detection unit for detecting a worker is further added, and an interference state is also predicted when there is a possibility of passing above the worker detected by the worker detection unit in the interference prediction unit 107. Then, in the avoidance operation execution unit 108, the area above the worker is avoided and a path approaching to the worker by decelerating is generated to operate the crane.

The worker detection unit can be realized, for example, using a three-dimensional laser distance sensor attached downward to the trolley 4 used in the suspended load shape detection unit 100 and the obstacle information detection unit 102. Alternatively, it can be realized by using image information of a stereo camera attached to the trolley 4 or a camera installed on a building ceiling or the like. In the case of using image information, a helmet worn by a worker may be extracted as a feature point.

With the crane system of this embodiment, the safety of the operator can be taken into consideration, and the safety can be further improved.

The crane system of the present invention described using the above embodiments provides higher safety in consideration of the shape of the suspended load, the shape of the obstacle, the behavior such as load deflection, and the restricted area and passing height of the suspended load. It is possible to suppress the decrease in work efficiency while securing the flexibility.

The present invention is not limited to the embodiments described above, but includes various modifications. The examples are described in detail to explain the present invention in an easy-to-understand manner, and are not necessarily limited to those having all the described configurations. Further, part of the configuration of one embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of one embodiment. Other configurations can be added to, deleted from, and replaced with the configuration of each embodiment.

Reference Signs List 1 crane, 2 runways, 3 gards, 4 trolleys, 5 ropes, 6 hooks, 7 wires, 8 hanging loads, 9, 9a, 9b, 9c obstacles, 10, 10a, 10b protection areas, 100 hanging load shape detection units, 101 Hanging load position detection unit, 102 Obstacle information detection unit, 103 3D environment map, 104 3D environment map update unit, 105 2D environment map, 106 2D environment map generation unit, 107 interference prediction unit, 108 avoidance operation Execution part, 109 Load deflection behavior detection part, 110 Height range area where hanging load and rope pass, 111 Horizontal projection area of hanging load and rope, 112, 112a to 112d Non passing area, 120 Avoidance route

Claims

A crane system for moving a load suspended on a rope horizontally and vertically, comprising:
Obstacle information detection means for detecting the position and shape of the obstacle;
A three-dimensional environmental map recording the range of presence of the obstacle and the protected area to which the load and the rope can not enter;
3D environment map updating means for updating the 3D environment map based on obstacle information output by the obstacle information detecting means;
A two-dimensional environmental map that generates, based on the three-dimensional environmental map, a two-dimensional environmental map in which the suspended load and the rope can not pass through the suspended area in the height range through which the suspended load and the rope pass Generation means,
An interference state in which the load or the rope collides with the obstacle, or the load and the rope, based on the shape of the load, the three-dimensional position of the load, and the two-dimensional environment map A crane system characterized by comprising: interference prediction means for predicting whether an interference state may occur that enters the protected area.
In the crane system according to claim 1,
An avoidance operation execution means for causing the crane to perform an operation to avoid the interference state when the interference state is predicted by the interference prediction means;
The crane system characterized by having.
In the crane system according to claim 1,
A load shape detection means for detecting the shape of the load;
And a load position detection means for detecting a three-dimensional position of the load.
In the crane system according to claim 1,
A crane system characterized by further comprising a load passing condition setting means for setting an area where the load can not enter the three-dimensional environmental map and a minimum height through which the load can pass.
In the crane system according to claim 1,
In the three-dimensional environmental map, the minimum height at which the load can pass is recorded,
The said interference prediction means is based on the shape of the said suspended load, the three-dimensional position of the said suspended load, and the said three-dimensional environmental map.
A crane characterized in that it is predicted that an interference state may occur when there is a location on the predicted traveling route of the load which has the lowest loadable minimum height higher than the bottom height of the load. system.
In the crane system according to claim 2,
The apparatus further comprises load fluctuation behavior detection means for measuring or estimating the load fluctuation behavior of the suspended load,
The interference prediction means predicts whether or not an interference state may occur, taking into consideration the load swing behavior outputted by the load swing behavior detection means,
The crane system according to claim 1, wherein the avoidance operation execution means causes the lane to perform an operation to avoid an interference state in consideration of the load fluctuation behavior outputted by the load fluctuation behavior detection means.
In the crane system according to claim 2,
If the interference prediction means predicts the occurrence of interference:
The crane system according to claim 1, wherein the avoidance operation execution means notifies an operator of the possibility of interference.
In the crane system according to claim 7,
The crane system according to claim 1, wherein the avoidance operation execution means stops the crane after the notification.
In the crane system according to claim 7,
The crane system according to claim 1, wherein the avoidance operation execution means generates a route avoiding the impassable area by using the two-dimensional environment map after the notification and operates the crane according to the route.
In the crane system according to claim 7,
The avoidance operation execution means is configured to make the bottom surface height of the suspended load higher than the suspended loadable minimum height on the predicted traveling path of the suspended load recorded in the three-dimensional environment map after the notification. The crane system characterized by changing the said rope.
In the crane system according to claim 1,
Target position input means for inputting a target position of the load;
Target route generation means for generating a target route along which the suspended load moves, based on the three-dimensional environmental map, the target position inputted by the target position input device, and the current position of the suspended load;
The crane system characterized by having.
In the crane system according to claim 2,
A crane system comprising display means for displaying information recorded in the two-dimensional environmental map and traveling route information of the load.
In the crane system according to claim 2,
It further comprises a worker detection means for detecting a worker,
The interference prediction unit predicts an interference state also when there is a possibility of passing above the worker detected by the worker detection unit,
The crane system according to claim 1, wherein the avoidance operation execution means generates a path approaching and decelerating by avoiding and decelerating an area above the worker to operate the crane.
A control method of a crane for moving a load suspended on a rope horizontally and vertically, comprising:
Detect the shape of the load;
Detect the three-dimensional position of the load;
Detects obstacle position and shape information,
The existence range of the obstacle and the protected area where the load and the rope can not enter are recorded in a three-dimensional environmental map,
Based on the three-dimensional environmental map, a two-dimensional environmental map is generated in which the suspended load and the area through which the rope can not pass are recorded in the height range through which the suspended load and the rope pass.
An interference state in which the load or the rope collides with the obstacle, or the load and the rope, based on the shape of the load, the three-dimensional position of the load, and the two-dimensional environment map The control method of the crane characterized by predicting whether the interference state which 3 enters into the said protection area may arise.