WO2019092937A1 - Système de grue et procédé de commande de grue - Google Patents

Système de grue et procédé de commande de grue Download PDF

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Publication number
WO2019092937A1
WO2019092937A1 PCT/JP2018/028575 JP2018028575W WO2019092937A1 WO 2019092937 A1 WO2019092937 A1 WO 2019092937A1 JP 2018028575 W JP2018028575 W JP 2018028575W WO 2019092937 A1 WO2019092937 A1 WO 2019092937A1
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WIPO (PCT)
Prior art keywords
load
crane
rope
dimensional
crane system
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PCT/JP2018/028575
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English (en)
Japanese (ja)
Inventor
桃井　康行
小田井　正樹
家重　孝二
裕吾 及川
正木　良三
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株式会社日立産機システム
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Publication of WO2019092937A1 publication Critical patent/WO2019092937A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/22—Control systems or devices for electric drives
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
    • 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

Definitions

  • the present invention relates to a crane system that controls a crane on which a load is suspended.
  • patent document 1 is disclosed as a method of suppressing the fall of working efficiency, however, ensuring safety
  • 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.
  • 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.
  • a crane system 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-
  • FIG. 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.
  • 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.
  • 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.
  • 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.
  • 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).
  • the dotted line arrow corresponds to the crane operation before suspending the load 8
  • the solid line arrow and the broken arrow correspond to the crane operation after the load 8 is suspended.
  • the trolley 4 is moved immediately above the load 8 by traveling and traversing.
  • FIG. 3 is a top view illustrating another obstacle avoidance method for the load 8 suspended on the crane 1.
  • the obstacle 9 is low, and the load 8 can pass above the obstacle 9.
  • the load 8 can not pass above the obstacle 9 because the obstacle 9 is high. It shows.
  • 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.
  • FIG. 4 is a diagram for explaining the system configuration of the crane system of the present embodiment.
  • 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
  • the database such as three-dimensional environment map 103 and two-dimensional environment map 105
  • FIG. 4 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.
  • 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.
  • 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.
  • 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.
  • 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. Therefore, 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.
  • 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.
  • 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.
  • FIG. 5A shows a three-dimensional environment map 103
  • FIG. 5B shows a two-dimensional environment map 105.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the avoidance operation execution unit 108 causes the crane 1 to perform an operation for avoiding the interference.
  • 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.
  • the system 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.
  • 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.
  • 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
  • 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.
  • 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. .
  • the work efficiency can be improved while securing higher safety. It is possible to suppress the decrease.
  • 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.
  • 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.
  • 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.
  • the minimum height at which the load can pass is recorded in the three-dimensional environment map 103.
  • 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.
  • 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.
  • 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.
  • 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.
  • the target position may be designated by coordinates.
  • 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.
  • 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.
  • 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.
  • 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

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  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

La présente invention considère la forme d'une charge suspendue, la forme d'un obstacle, des comportements tels qu'un balancement de charge, et des zones de non-entrée de charge suspendue, et limite la hauteur de passage pour empêcher une réduction de l'efficacité de travail tout en assurant une meilleure sécurité. L'invention concerne un procédé de commande de grue pour déplacer une charge suspendue à un câble, qui consiste à : détecter la forme de la charge suspendue; détecter la position tridimensionnelle de la charge suspendue; détecter des informations sur la position et la forme d'un obstacle; enregistrer, sur une carte environnementale tridimensionnelle, la plage dans laquelle l'obstacle est présent et la zone protégée dans laquelle la charge suspendue et le câble ne peuvent pas entrer; créer, sur la base de la carte environnementale tridimensionnelle, une carte environnementale bidimensionnelle sur laquelle est enregistrée une zone infranchissable par la charge suspendue et le câble en termes de plage de hauteurs associée au passage de la charge suspendue et du câble; prédire, sur la base de la forme de la charge suspendue, la position tridimensionnelle de la charge suspendue, et la carte environnementale bidimensionnelle, la possibilité d'apparition d'un état d'interférence dans lequel la charge suspendue ou le câble entre en collision avec l'obstacle ou d'un état d'interférence dans lequel la charge suspendue et le câble entrent dans la zone protégée; et faire fonctionner la grue de façon à éviter l'état d'interférence si l'état d'interférence est prédit.
PCT/JP2018/028575 2017-11-13 2018-07-31 Système de grue et procédé de commande de grue WO2019092937A1 (fr)

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LU501953B1 (en) * 2021-09-18 2023-03-24 Eurocrane China Co Ltd High-accuracy method for controlling grabbing position of grab with radar feedback
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CN110989603B (zh) * 2019-12-13 2022-08-16 苏州大学应用技术学院 一种起重机搬运作业路径规划方法
JP7264839B2 (ja) * 2020-02-03 2023-04-25 株式会社日立製作所 据付制御装置、及び据付制御方法
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