WO2020067201A1 - Machine de travail et système de surveillance de contact pour machines de travail - Google Patents

Machine de travail et système de surveillance de contact pour machines de travail Download PDF

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Publication number
WO2020067201A1
WO2020067201A1 PCT/JP2019/037678 JP2019037678W WO2020067201A1 WO 2020067201 A1 WO2020067201 A1 WO 2020067201A1 JP 2019037678 W JP2019037678 W JP 2019037678W WO 2020067201 A1 WO2020067201 A1 WO 2020067201A1
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WO
WIPO (PCT)
Prior art keywords
information
work
machine
crane
work machine
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Application number
PCT/JP2019/037678
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English (en)
Japanese (ja)
Inventor
巖 石川
Original Assignee
株式会社タダノ
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 株式会社タダノ filed Critical 株式会社タダノ
Priority to JP2020549309A priority Critical patent/JP7255601B2/ja
Publication of WO2020067201A1 publication Critical patent/WO2020067201A1/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
    • B66C15/00—Safety gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/88—Safety gear

Definitions

  • the present invention relates to a working machine and a contact monitoring system for the working machine.
  • a plurality of work machines for example, cranes
  • the cranes arranged in the building site may be arranged so that their workable ranges overlap each other. That is, there is a possibility that cranes having overlapping workable ranges will come into contact with each other depending on the transfer timing and the working posture.
  • the operator of each crane performs a transport operation while avoiding contact between the cranes while keeping close contact with other operators by radio or the like.
  • a control device of its own machine (crane) and control devices of a plurality of other machines (for example, cranes) are connected by wireless communication or the like.
  • each control device mutually acquires various information such as control information and transmits a control signal.
  • the crane proximity alarm device creates a simulation model of each crane based on the acquired information of each crane and simulates a collision.
  • the crane proximity alarm device notifies the operator and stops the crane when the proximity is continued.
  • Such a crane proximity warning device can avoid contact between cranes.
  • the crane is forcibly stopped, there is a possibility that the working efficiency is greatly reduced.
  • An object of the present invention is to provide a work machine and a work machine contact monitoring system that can avoid contact between work machines without reducing work efficiency.
  • One aspect of the working machine according to the present invention is a working machine having a swivelable and undulating boom.
  • An acquisition unit that acquires information about a second work machine having a partially operable range, and calculates a first passage area through which the first work machine passes during a transfer operation, and based on the information about the second work machine. Calculating a second pass area through which the second work machine passes during the transfer operation, and determines contact between the first work machine and the second work machine based on the first pass area and the second pass area
  • a control unit that, when the determination unit determines that the first work machine and the second work machine are in contact with each other, informs an operator of the first work machine of information on control for avoiding the contact. , Is provided.
  • a monitoring system which is one of a plurality of working machines, a first working machine having a first workable range, and one of the plurality of working machines, A second work machine having two workable ranges, and an external terminal communicatively connected to the first work machine and the second work machine, the external terminal acquires information about the first work machine from the first work machine A first acquisition unit, and a second acquisition unit that acquires information about the second work machine from the second work machine, and a first pass through which the first work machine passes during the transfer operation based on the information about the first work machine.
  • Calculate the area and based on the information about the second work machine A calculation unit that calculates a second passage area through which the second work machine passes during the transfer operation, and a determination that determines contact between the first work machine and the second work machine based on the first passage area and the second passage area Part, when the determination unit determines that the first working machine and the second working machine are in contact, information on control for avoiding contact, at least one of the first working machine and the second working machine A control unit for notifying the operator of the work machine.
  • FIG. 1 is a side view showing the entire configuration of the crane according to the present invention.
  • FIG. 2 is a block diagram showing a control configuration of the crane.
  • FIG. 3 is a schematic diagram showing a mode of contact determination based on the shortest distance between the passage area of the own machine and the passage area of another machine.
  • FIG. 4 is a graph showing the relationship between the position of the own device during the transfer operation and the position of the other device during the transfer operation.
  • FIG. 5 is a flowchart showing a control mode of the contact monitoring control.
  • FIG. 6 is a block diagram showing a control configuration of the contact monitoring system according to the present invention.
  • the working machine is not limited to the rough terrain crane.
  • the work implement may be an all terrain crane, a truck crane, a loading truck crane, or a high work vehicle.
  • the crane 1 is a mobile crane that can move to an unspecified place.
  • the crane 1 has a vehicle 3 and a crane device 6 as a working device.
  • the crane is not limited to a mobile crane.
  • the crane may be, for example, a tower crane.
  • the vehicle 3 is a traveling body that transports the crane device 6.
  • the vehicle 3 has a plurality of wheels 3a and runs using the engine 4 as a power source.
  • the vehicle 3 is provided with an outrigger 5.
  • the outrigger 5 has a projecting beam that can be extended by hydraulic pressure on both sides in the width direction of the vehicle 3 and a hydraulic jack cylinder that can be extended in a direction perpendicular to the ground.
  • the vehicle 3 can extend the workable range Wr1 of the crane 1 (see FIG. 3) by extending the outrigger 5 in the width direction of the vehicle 3 and grounding the jack cylinder.
  • the crane device 6 is a device that lifts the load W with a wire rope.
  • the crane device 6 includes a swivel 7, a boom 9, a jib 9a, a main hook block 10, a sub hook block 11, a hydraulic cylinder 12 for raising and lowering, a main winch 13, a main wire rope 14, a sub winch 15, a sub wire rope 16, and a cabin. 17 and a control device 32 (see FIG. 2).
  • the swivel 7 is a structure that makes the crane device 6 swivel.
  • the swivel 7 is provided on the frame of the vehicle 3 via an annular bearing.
  • the swivel 7 is rotatable around the center of the annular bearing.
  • the turning table 7 is provided with a hydraulic turning hydraulic motor 8 as an actuator.
  • the swivel 7 is configured to be able to swing in one direction and the other direction by a hydraulic motor 8 for swing.
  • the turning hydraulic motor 8 as an actuator is rotated by a turning valve 22 (see FIG. 2) which is an electromagnetic proportional switching valve.
  • the turning valve 22 can control the flow rate of the working oil supplied to the turning hydraulic motor 8 to an arbitrary flow rate.
  • the swivel 7 is configured to be controllable to an arbitrary swivel speed via the swivel hydraulic motor 8 that is rotated by the swivel valve 22.
  • the turning table 7 is provided with a turning sensor 27 (see FIG. 2) for detecting a turning position (angle) and a turning speed of the turning table 7.
  • the boom 9 is a structure that supports the wire rope so that the load W can be lifted.
  • the boom 9 includes a plurality of boom members.
  • the boom 9 is provided such that the base end of the base boom member can swing at substantially the center of the swivel 7.
  • the boom 9 is configured to be able to expand and contract in the axial direction by moving each boom member by a hydraulic cylinder (not shown) as an actuator.
  • the boom 9 is provided with a jib 9a.
  • the jib 9a is held in a posture along the base boom member by a jib support provided on the base boom member of the boom 9.
  • the base end of the jib 9a is configured to be connectable to the jib support of the top boom member.
  • the hydraulic cylinder (not shown), which is an actuator, is operated by a telescopic valve 23 (see FIG. 2), which is an electromagnetic proportional switching valve.
  • the expansion / contraction valve 23 can control the flow rate of the hydraulic oil supplied to the expansion / contraction hydraulic cylinder to an arbitrary flow rate.
  • the boom 9 is provided with a telescopic sensor 28 (see FIG. 2) for detecting the length of the boom 9.
  • the camera 9b which is an image acquisition unit, acquires an image of the luggage W and a feature around the luggage W.
  • the camera 9b is provided at the tip of the boom 9.
  • the camera 9b is configured to be able to photograph the luggage W and features and terrain around the crane 1 from vertically above the luggage W. Further, the camera 9b is configured to be rotatable by 360 °, and can capture images in all directions around the tip of the boom 9.
  • the main hook block 10 and the sub hook block 11 are members for suspending the load W.
  • the main hook block 10 is provided with a plurality of hook sheaves around which the main wire rope 14 is wound, and the main hooks 10 for hanging the load W.
  • the sub-hook block 11 is provided with a sub-hook 11 for hanging the load W.
  • the lifting hydraulic cylinder 12 is an actuator that raises and lowers the boom 9 and maintains the posture of the boom 9.
  • the undulating hydraulic cylinder 12 has an end portion of the cylinder portion swingably connected to the swivel 7 and an end portion of the rod portion swingably connected to the base boom member of the boom 9.
  • the undulating hydraulic cylinder 12 is operated to expand and contract by an undulating valve 24 (see FIG. 2) which is an electromagnetic proportional switching valve.
  • the up / down valve 24 can control the flow rate of the hydraulic oil supplied to the up / down hydraulic cylinder 12 to an arbitrary flow rate.
  • the boom 9 is provided with an up-and-down sensor 29 (see FIG. 2) for detecting the up-and-down angle of the boom 9, a weight sensor for detecting the weight of the load W, and the like.
  • the main winch 13 and the sub winch 15 carry out (roll up) and pay out (roll down) the main wire rope 14 and the sub wire rope 16.
  • the main winch 13 has a main drum around which a main wire rope 14 is wound.
  • the main drum is rotated by a main hydraulic motor (not shown) which is an actuator.
  • the sub winch 15 has a sub drum around which a sub wire rope 16 is wound.
  • the sub drum is rotated by a sub hydraulic motor (not shown) which is an actuator.
  • the main drum and the sub-drum are provided with a winding sensor 26 (see FIG. 2) for detecting the respective rotation amounts.
  • the main hydraulic motor is rotated by a main valve 25m (see FIG. 2), which is an electromagnetic proportional switching valve.
  • the main winch 13 is configured to control the main hydraulic motor by the main valve 25m and to be operable at an arbitrary rewinding and rewinding speed.
  • the sub winch 15 is configured such that the sub hydraulic motor is controlled by a sub valve 25 s (see FIG. 2) which is an electromagnetic proportional switching valve, and can be operated at an arbitrary rewinding and rewinding speed.
  • a sub valve 25 s see FIG. 2 which is an electromagnetic proportional switching valve, and can be operated at an arbitrary rewinding and rewinding speed.
  • the cabin 17 is a structure that covers the cockpit, and is mounted on the swivel 7.
  • the cabin 17 is provided with a cockpit (not shown) and a display device (not shown).
  • the display device may be, for example, a monitor provided in a cockpit.
  • the display device may be a portable terminal (for example, a smartphone or a tablet terminal) which is carried by the pilot to the cockpit and is portable.
  • an operating tool for running the vehicle 3 and a turning operating tool 18 for operating the crane device 6, an undulating operating tool 19, a telescopic operating tool 20, a main drum operating tool 21m, and a sub-drum operating tool 21s. are provided (see FIG. 2).
  • the turning operation tool 18 is an operation tool for the driver to operate the turning hydraulic motor 8. Such a turning operation tool 18 outputs an operation signal for operating the turning hydraulic motor 8 based on the operation of the operator.
  • the hoisting operation tool 19 is an operating tool for the operator to operate the hoisting hydraulic cylinder 12.
  • the up / down operation tool 19 outputs an operation signal for operating the up / down hydraulic cylinder 12 based on the operation of the operator.
  • the telescopic operating tool 20 is an operating tool for the operator to operate a telescopic hydraulic cylinder (not shown).
  • the telescopic operation device 20 outputs an operation bedding for operating the telescopic hydraulic cylinder based on the operation of the pilot.
  • the main drum operating tool 21m is an operating tool for the driver to operate the main hydraulic motor (not shown).
  • the main drum operating tool 21m outputs an operation signal for operating the main hydraulic motor based on the operation of the operator.
  • the sub-drum operating tool 21s is an operating tool for operating a sub hydraulic motor (not shown).
  • the sub-drum operation tool 21s outputs an operation signal for operating the sub-hydraulic motor based on the operation of the operator.
  • the GNSS receiver 30 is a receiver constituting a global positioning satellite system (Global Navigation Satellite System), receives a ranging radio wave from a satellite, and calculates a latitude, a longitude, and an altitude as position coordinates of the receiver. Things.
  • Global Navigation Satellite System Global Navigation Satellite System
  • GNSS receiver 30 is provided at the tip of boom 9 and cabin 17. That is, the crane 1 can acquire the position coordinates of the tip of the telescopic boom 9, the position coordinates of the cabin 17, and the bearing based on the vehicle 3 by the GNSS receiver 30.
  • the communication device 31 corresponds to an example of a communication unit, and is a device for communicating with another mobile crane (other device) disposed in a work area Wa such as a construction site, an external server, or the like. .
  • the communication device 31 is provided in the cabin 17.
  • the communication device 31 transmits information on the crane 1 (own device) to another device or the system control device 34.
  • the own device is communicatively connected to another device and / or an external server (for example, a system control device 34 described later) via the communication device 31.
  • the information related to the own machine corresponds to the information related to the first work machine, the information related to the position of the machine, the information related to the machine of the machine, the information related to the control of the machine, the information related to the work performed by the machine, and the transfer of the machine. Includes information about routes.
  • the own machine corresponds to an example of a first working machine.
  • the other machine corresponds to an example of the second working machine.
  • the own device acquires information on the other device from the other device via the communication device 31.
  • the information on the other machine corresponds to the information on the second work machine, and includes information on the position of the other machine, information on the body of the other machine, information on the control of the other machine, information on the work content of the other machine, and the transfer route of the other machine.
  • the communication device 31 acquires information about the space of the work area Wa (see FIG. 3) from an external server or the like (for example, a system control device 34 described later).
  • the information on the position is position coordinate data of the GNSS receiver 30 of the own device and the other device.
  • the information on the aircraft is information on performance specification data of the own aircraft and other aircraft.
  • the information related to the control includes information related to the operating states of the cranes of the own machine and other machines, information related to control signals, information related to detection values of the winding sensor 26, the turning sensor 27, the telescopic sensor 28, and the undulating sensor 29. And so on.
  • the information on the control may be considered to include information on the posture of the work implement.
  • the information about the posture of the work equipment includes the information about the boom length, the information about the boom hoisting angle, the information about the boom turning angle, the information about the jib length, the information about the jib hoisting angle, and the length of the wire rope extension. May be considered to include information about
  • the information on the work may be, for example, information predetermined as a work daily report.
  • the information on the work includes the information on the lifting position (first position) of the load W and the load when transporting the load W from the lifting position (also referred to as the first position) to the suspension position (also referred to as the second position).
  • the information about the hanging position of W (second position) is included.
  • the information on the work is information on the work W, information on the number of transfers, and / or information on a work daily report in which a transfer schedule or the like is described or information on a transfer plan diagram.
  • the information on the package W includes information on the type of the package W, information on the dimensions of the package W, and / or information on the weight of the package W.
  • the information regarding the work may be stored in a storage unit (not shown) of the crane.
  • the information on the transport route includes information on the transport route of the load W and / or the transport speed.
  • Information on the transport route may be stored in a storage unit (not shown) of the crane.
  • the information on the work may be regarded as information on the transport work performed by the work machine in the work area.
  • the information regarding the work may be regarded as information that has been determined before the carrying work is performed.
  • the control device 32 is a computer that controls the actuator of the crane device 6 via each valve (not shown).
  • the control device 32 is provided in the cabin 17.
  • the control device 32 may have a configuration in which a CPU, a ROM, a RAM, an HDD, and the like are connected by a bus, or a configuration including a one-chip LSI or the like.
  • the control device 32 includes an acquisition unit 32a, a calculation unit 32b, a determination unit 32c, and a control unit 32d.
  • the acquisition unit 32a acquires information on another machine (second work machine) having a workable range overlapping with the workable range of the own machine while being arranged in the work area.
  • the workable range of the own machine corresponds to an example of the first workable range.
  • the workable range of the other machine corresponds to an example of the second workable range.
  • the calculation unit 32b is configured to determine whether the other machine (second work machine) is based on information about a first passage area A1 (described later) through which the own machine (first work machine) passes during the transfer work, and information about another machine (second work machine). ) Is calculated during the transfer operation.
  • the determination unit 32c determines contact between the own machine (first working machine) and another machine (second working machine) based on the first passing area A1 and the second passing area A2.
  • the control unit 32d When the determining unit 32c determines that the first working machine and the second working machine are in contact with each other, the control unit 32d notifies the operator of the own machine (the first working machine) with the own machine (the first working machine). Information about control for avoiding contact with the machine (second working machine) is notified.
  • the functions of the acquisition unit 32a, the calculation unit 32b, the determination unit 32c, and the control unit 32d are some functions of the control device 32. Therefore, the functions of the acquisition unit 32a, the calculation unit 32b, the determination unit 32c, and the control unit 32d are also described below as the functions of the control device 32.
  • the control device 32 stores various programs and data for controlling the operation of each actuator, switching valve, sensor, and the like.
  • the control device 32 is connected to the camera 9b, the turning operation tool 18, the up-and-down operation tool 19, the telescopic operation tool 20, the main drum operation tool 21m, and the sub-drum operation tool 21s.
  • the control device 32 acquires the image of the camera 9b, and can acquire information on the operation amounts of the turning operation tool 18, the undulating operation tool 19, the main drum operation tool 21m, and the sub-drum operation tool 21s.
  • the information regarding the operation amount may be considered to be included in the operation signal output from each of the operation tools 18, 19, 21m, and 21s.
  • the control device 32 (specifically, the acquisition unit 32a) is connected to the communication device 31.
  • the control device 32 acquires information about the other device from the other device and / or an external server (for example, a system control device 34 described later) via the communication device 31.
  • the information on the other device includes information on the position of the other device, information on information on the device of the other device, information on information on control of the other device, information on work contents of the other device, and information on a transport route of the other device.
  • the control device 32 acquires information on the space of the work area Wa from an external server or the like via the communication device 31.
  • control device 32 transmits, via the communication device 31, information on the position of the own device, information on the device, information on control, information on work contents, information on the transport route, and the like to other devices and / or an external server. (For example, a system control device 34 described later).
  • the control device 32 (specifically, the calculation unit 32b) includes information on the space of the work area Wa (see FIG. 3), information on the position of the own device, information on the own device, information on the control of the own device, A first passage area A1 (see FIG. 3), which is an area through which the body of the own machine passes during the work of transporting the load W, is calculated based on the information on the work content of the machine and the information on the transport route of the own machine.
  • control device 32 (specifically, the calculation unit 32b) includes information on the space of the work area Wa (see FIG. 3), information on the position of the other device, information on the device of the other device, information on control of the other device. Based on the information on the work content of the other machine and the information on the transfer route of the other machine, a second passage area A2 (see FIG. 3), which is an area through which the body of the other machine passes during the work of transporting the package W, is calculated. I do.
  • the control device 32 calculates the shortest distance Lm between the calculated first passing area A1 and the calculated second passing area A2 (see FIG. 3).
  • the shortest distance Lm may be regarded as the shortest distance between the crane 1 (first working machine) and the crane 2 (second working machine).
  • the shortest distance between the crane 1 (the first work machine) and the crane 2 (the second work machine) is The distance may be considered as a distance in consideration of the width and the width of the load W suspended by the crane 2.
  • the control device 32 calculates the work start timing at which the transfer work can be performed without contacting the other machine from the operation status of the own machine and the other machine, as the control information regarding the timing for avoiding contact with the other machine, It is displayed on a display device (not shown) or the like.
  • control device 32 generates a control signal for stopping the turning of the swivel 7, the extension and retraction of the boom 9, and / or the up and down movement of the boom 9 as a predetermined control, and transmits the control signal to each corresponding valve. .
  • the control device 32 is connected to the turning valve 22, the expansion / contraction valve 23, the undulation valve 24, the main valve 25m, and the sub valve 25s.
  • the control device 32 transmits a control signal to the turning valve 22, the undulating valve 24, the main valve 25m, and the sub valve 25s.
  • the control device 32 is connected to the winding sensor 26, the turning sensor 27, the telescopic sensor 28, and the undulating sensor 29.
  • the control device 32 includes information on the extension amount of the main wire rope 14, information on the extension amount of the sub-wire rope 16, information on the turning position of the swivel 7, information on the boom length, information on the boom and / or jib up / down angle. , And at least one type of information about the weight of the package W.
  • the control device 32 generates a control signal corresponding to each operation tool based on the information regarding the operation amounts of the turning operation tool 18, the up / down operation tool 19, the telescopic operation tool 20, the main drum operation tool 21m, and the sub-drum operation tool 21s. .
  • the crane 1 configured as described above can move the crane device 6 to an arbitrary position by running the vehicle 3.
  • the crane 1 is configured to raise the boom 9 to an arbitrary angle by using the hydraulic cylinder 12 for raising and lowering by operating the raising and lowering operation tool 19 and extend the boom 9 to an arbitrary length of the boom 9 by operating the telescopic operation tool 20.
  • the head and working radius of the crane device 6 can be increased.
  • the crane 1 combines the operation of lifting the load W with the main drum operating tool 21m and / or the sub-drum operating tool 21s and the operation of turning the swivel 7 by operating the turning operation tool 18 to load the load W. Can be transported.
  • the workable range of the crane means the maximum workable range that the crane can take.
  • the working range of the crane may be regarded as a range uniquely determined for each type of crane.
  • the workable range of the crane may be a work range in consideration of the installation state of the crane.
  • the installation state of the crane is, for example, information about the outrigger (for example, information about the state of extension of the outrigger), information about the counterweight (for example, information about the weight of the counterweight), and / or information about the jib (for example, Information about the use status of the jib).
  • the crane 1 and the crane 2 are arranged in the work area Wa.
  • the crane 1 plans to transport the load W on the first transport route R1 from the lifting position P1a to the hanging position P1b.
  • the crane 2 plans to transport the load W on the second transport route R2 from the lifting position P2a to the hanging position P2b.
  • the control device 32 of the crane 1 acquires information (three-dimensional information) on the space of the work area Wa from an external server or the like via the communication device 31.
  • the control device 32 of the crane 1 includes information on the space of the work area Wa, information on the position of the own device, information on the body of the own device, information on control of the own device, information on work contents of the own device, and information on the own device.
  • the first passage area A1 dark light black portion
  • the first passage area A1 through which the body of the crane 1 passes when the load W is conveyed through the first conveyance path R1 is calculated based on the information on the conveyance path and the like.
  • control device 32 of the crane 1 obtains information about the position, information about the machine body, information about the control, information about the work content, information about the transport route, and the like from the crane 2 at predetermined time intervals via the communication device 31. .
  • the control device 32 of the crane 1 provides spatial information of the work area Wa, information on the position of the crane 2, information on the body of the crane 2, information on the control of the crane 2, information on the work content of the crane 2, and information on the crane 2. From the information on the transport route and the like, the crane 2 calculates a second passage area A2 (light thin black portion) through which the body of the crane 2 passes when transporting the load W through the second transport route R2.
  • a second passage area A2 light thin black portion
  • the control device 32 of the crane 2 calculates the first passage area A1 and the second passage area A2.
  • the first passage area A1 and the second passage area A2 are described as areas on the XY plane (horizontal plane), but may be three-dimensional areas in consideration of the Z direction (height). .
  • the control device 32 of the crane 1 calculates the shortest distance Lm from the calculated first passing area A1 to the second passing area A2. When the shortest distance Lm is smaller than the contact reference value Ls, which is a threshold value for contact determination, the control device 32 of the crane 1 determines that the body of the crane 1 may contact the body of the crane 2.
  • the contact reference value Ls in the situation where the crane 1 and / or the crane 2 transports the load W may be a value in consideration of the size of the load W transported by the crane 1 and the crane 2.
  • the contact reference value Ls is determined by the load W from the tip end of the boom 9 of the crane 1 to the outside in the working radius of the crane 1. And the amount of protrusion of the load W outward from the tip position of the boom 9 of the crane 2 in the working radius of the crane 2 may be considered.
  • the contact reference value Ls may be a value in consideration of the swing width of the load W during transportation. Alternatively, the contact reference value Ls may be a value in consideration of a margin regarding the swing width of the load W during transport.
  • the contact reference value Ls may be a value (fixed value) set for each posture of the crane, or a value set in real time based on the swing width (shake angle) of the load W being conveyed. Is also good.
  • the contact reference value Ls may be a value that does not consider the size of the load W.
  • the control device 32 of the crane 1 determines the positions P2c and P2d that are both ends of the contact section in which the shortest distance Lm (n) at each position on the route is less than the contact reference value Ls. calculate.
  • the control device 32 of the crane 2 determines the positions P1c and P1d of the first transport route R1 where the shortest distance Lm (n) at each position on the route is both ends of the contact section that is smaller than the contact reference value Ls. Is calculated.
  • the crane 2 is operated so as to convey the load W along the second conveyance path R2 toward the suspension position P2b while accelerating at a constant acceleration from the lifting position P2a to a predetermined speed. Is set based on the user's operation.
  • the control device 32 of the crane 1 calculates the time t1 from the time t0 at which the crane 2 starts the transfer operation on the outward path to the position P2d, which is the end position of the contact section, from various information acquired from the crane 2.
  • the crane 1 may calculate the time t1 based on various information acquired from the crane 2, for example, in a situation where the crane 2 has started transporting the load W.
  • the control device 32 of the crane 1 reports the time t1 as the information on the control as the timing at which the crane 1 can carry out the forward transfer operation while avoiding the contact.
  • the control device 32 of the crane 1 may display information related to control on, for example, a display device provided in the cabin 17 of the crane 1. Alternatively, the control device 32 may notify information on control by voice.
  • the control device 32 notifies the operator of the crane 1 of information on control for avoiding contact between the crane 1 and the crane 2 (information on work start timing).
  • the operator of the crane 1 operates the crane 1 in accordance with the notified information on the control, so that the operator can carry the cargo W without contacting the crane 2.
  • the crane 1 starts transporting the load W at time t1 (time t1).
  • the crane 1 is set so as to convey the load W along the first conveyance path R1 toward the suspension position P1b while accelerating at a constant acceleration from the lifting position P1a to a predetermined speed.
  • the control device 32 of the crane 2 calculates a time t2 (time t2) from the time t1 at which the crane 1 starts the transport operation on the outward path to the position P1d, which is the end position of the contact section, from various information acquired from the crane 1. I do.
  • the control device 32 of the crane 2 reports the time t2 as information relating to the control as a timing at which the crane 2 can carry out the return work while avoiding contact.
  • the control device 32 of the crane 2 may display information related to control on, for example, a display device provided in the cabin 17 of the crane 2. Alternatively, the control device 32 may notify information on control by voice.
  • the control device 32 of the crane 1 calculates a time t3 (time t3) from the time t2 at which the crane 2 starts the transfer operation on the return path to the position P2c which is the end position of the contact section, from various information acquired from the crane 2. I do.
  • the control device 32 of the crane 1 notifies the time t3 as information relating to the control as a timing at which the crane 1 can perform the return work while avoiding the contact.
  • the crane 1 starts transporting the load W at time t3.
  • the control device 32 of the crane 2 determines a time t4 (time t4) from the time t3 at which the crane 1 starts the transfer operation on the double road to the position P1c which is the end position of the contact section. calculate.
  • the control device 32 of the crane 2 reports the time t4 as information relating to control as a timing at which the crane 2 performs the next forward transfer operation while avoiding contact.
  • the notified start timing of the transfer operation is updated as needed (every predetermined time during which various types of information are acquired) in accordance with information related to the control of the other device.
  • control device 32 of the crane 1 notifies the pilot of information related to control for maintaining the body of the crane 1 and the body of the crane 2 at the minimum distance Lm or more based on the information related to the control of the crane 2. I do.
  • the control device 32 of the crane 1 operates the crane 1 in a direction in which the control signal for operating the crane 1 is input based on the transfer start timing notified as the information regarding the control, or in a direction where the contact with the crane 2 does not occur.
  • each valve is controlled according to the control signal.
  • the contact monitoring control of the crane 1 by the control device 32 will be described with reference to FIG. 5 until the crane 1 notifies the time t1, which is the timing at which the crane 1 can perform the forward transfer operation while avoiding the contact. .
  • control device 32 automatically starts the contact monitoring control when the crane 2 as another machine is present in the work area Wa.
  • the contact monitoring control in the present embodiment is the contact monitoring control of the crane 1 with the crane 2 as the monitoring target, but the crane 2 also implements the contact monitoring control with the crane 1 as the monitoring target.
  • step S110 of the contact monitoring control the control device 32 acquires the space information of the work area Wa and various information of the crane 2 existing in the work area Wa. Then, control device 32 causes the control process to proceed to step S120.
  • step S120 the control device 32 calculates the first passage area A1 from various information of the crane 1, and calculates the second passage area A2 from various information of the crane 2. Then, control device 32 shifts the control processing to step S130.
  • step S130 the control device 32 calculates the shortest distance Lm from the first passing area A1 to the second passing area A2. Then, control device 32 shifts the control processing to step S140.
  • step S140 the control device 32 determines whether or not the shortest distance Lm is less than a contact reference value Ls, which is a contact determination threshold.
  • step S140 if the shortest distance Lm is less than the contact reference value Ls (“YES” in step S140), that is, if it is determined that there is a possibility that the crane 1 and the crane 2 will come into contact, the control device 32 performs control. The process shifts to S150.
  • step S140 if the shortest distance Lm is not less than the contact reference value Ls (“NO” in step S140), that is, if it is determined that the crane 1 and the crane 2 do not contact, the control device 32 shifts the control processing to step S110. Let it.
  • step S150 the control device 32 calculates a position P2c and a position P2d, which are both end positions of the contact section on the transport route R2 of the crane 2. Then, control device 32 shifts the control processing to step S160.
  • step S160 the control device 32 calculates a time t1 at which the crane 2 reaches the position P2d from the time t0 when the crane 2 starts the transfer operation on the outward path.
  • control device 32 notifies the time t1 as information relating to control as a timing at which the crane 1 can carry out the forward transfer operation while avoiding contact. Thereafter, the control device 32 causes the control process to proceed to step S170.
  • step S170 the control device 32 determines whether or not a control signal corresponding to the informed control-related information has been input from the operator, or a control signal for operating the crane 1 in a direction in which contact with the crane 2 does not occur. It is determined whether or not an input has been made by the pilot. That is, the control device 32 determines whether or not a control signal that may cause contact with the crane 2 is input from the operator.
  • step S170 when a control signal is input from the operator based on the notified information on the control ("YES" in step S170), or the control signal for operating the crane 1 in a direction in which contact with the crane 2 does not occur is performed. If an input is made by the user, the control device 32 shifts the control processing to S180.
  • control device 32 causes the control process to proceed to S190.
  • step S180 the control device 32 transmits the input control signal to each valve. Then, control device 32 shifts the control processing to step S110.
  • step S190 the control device 32 cancels the input control signal and transmits a control signal for stopping the crane 1 to each valve. Then, the control device 32 ends the contact monitoring control.
  • the crane 1 determines the possibility that the cranes will come into contact with each other based on the shortest distance Lm between the first passage area A1 through which the fuselage passes and the area through which the fuselage of the crane 2 passes.
  • the operation timing of the crane is configured to be notified to the operator of the crane 1 as information relating to control.
  • the crane 1 is controlled based on the control-related information even when the crane 2 is arranged in the workable range Wr1 in which the fuselage may come into contact with each other. 2, while maintaining the work efficiency of the transport operation.
  • the crane 1 regulates the control of the transfer operation when a situation that may come into contact with the crane 2 occurs. Further, when the crane 2 is operating in a control mode different from the information on the acquired control, a control for canceling the control signal and stopping the boom or the like may be performed.
  • the crane 1 can avoid contact with the crane 2 even if the crane 2 is arranged in the workable range Wr1.
  • the crane 1 performs the contact monitoring control with the crane 2, but may be configured to perform the contact monitoring control with a plurality of mobile cranes.
  • the method for setting the shortest distance Lm for determining contact is not limited to the present embodiment.
  • the contact monitoring system 33 of the mobile crane according to the present invention will be described with reference to FIGS.
  • the following mobile crane contact monitoring system 33 refers to the same crane 1 shown in FIGS. 1 to 5 by using the same name, figure number, and reference numeral used in the description.
  • a detailed description of the same points as those in the embodiments described above will be omitted, and different points will be mainly described.
  • the mobile crane contact monitoring system 33 is a system that monitors the contact of a plurality of mobile cranes arranged in the work area Wa (see FIG. 3).
  • the plurality of mobile cranes are the crane 1 and the crane 2.
  • the crane 1 and the crane 2 are arranged in a work area Wa such as a construction site in a state where the crane 1 and the crane 2 may come into contact with each other.
  • the state where there is a possibility of contact means a state where the workable range of the crane 1 and the workable range of the crane 2 overlap.
  • the mobile crane contact monitoring system 33 (hereinafter, simply referred to as “contact monitoring system 33”) includes a crane 1, a crane 2, which is one of a plurality of mobile cranes, and a system controller 34. .
  • the system controller 34 is a computer that transmits control-related information to the crane 1 and the crane 2 based on the respective control-related information, and transmits a control signal.
  • the system control device 34 is provided at an arbitrary place in the work area Wa.
  • the system control device 34 may have a configuration in which a CPU, a ROM, a RAM, an HDD, and the like are connected by a bus, or a configuration including a one-chip LSI or the like.
  • the system control device 34 stores programs for controlling the communication device 31 for acquiring various information, and various programs and data for controlling operations of each actuator, switching valve, sensor, and the like.
  • the system control device 34 corresponds to an example of an external terminal, and includes an acquisition unit 34a, a calculation unit 34b, a determination unit 34c, and a control unit 34d.
  • the acquisition unit 34a corresponds to an example of a first acquisition unit and a second acquisition unit, and acquires information on the crane 1 (first working machine) from the crane 1. In addition, the acquisition unit 34a acquires information on the crane 2 (second work machine) from the crane 2.
  • the calculation unit 34b calculates the first passage area A1 through which the crane 1 (first working machine) passes during the transfer operation based on the information about the crane 1 (first working machine). In addition, the calculation unit 34b calculates a second passage area A2 through which the crane 2 (second working machine) passes during the transfer operation based on the information regarding the crane 2 (second working machine).
  • the determination unit 34c determines contact between the crane 1 (first working machine) and the crane 2 (second working machine) based on the first passage area A1 and the second passage area A2.
  • the control unit 34d transmits information on control for avoiding contact with the crane 1 (the first working machine) to the crane 1 (the first working machine). The operator of at least one of the first working machine and the crane 2 (second working machine) is notified.
  • the functions of the acquisition unit 34a, the calculation unit 34b, the determination unit 34c, and the control unit 34d are some of the functions of the system control device 34. Therefore, hereinafter, the functions of the acquisition unit 34a, the calculation unit 34b, the determination unit 34c, and the control unit 34d are also described as the functions of the system control device 34.
  • the system control device 34 is connected to the system-side communication device 35, acquires information about the position, information about the aircraft, information about the control, information about the work content, information about the transport route, and the like from the crane 1 and the crane 2, Information about the space of the work area Wa from the server or the like. Further, the system control device 34 can transmit information related to control and control signals to the crane 1 and the crane 2.
  • the system control device 34 determines whether the crane 1 has a load W based on information on the space of the work area Wa, information on the positions of the cranes 1 and 2, information on the body, information on control, information on work contents, information on the transport route, and the like.
  • the control device 32 calculates the shortest distance Lm between the calculated first passing area A1 and the calculated second passing area A2 (see FIG. 3).
  • the system control device 34 performs the work capable of performing the transfer work without contacting the crane 1 and the crane 2 based on the operation status of the crane 1 as information on control relating to timing for avoiding contact between the crane 1 and the crane 2.
  • the start timing can be calculated and displayed on a display device (not shown) or the like.
  • system control device 34 generates a control signal for stopping the turning of the swivel 7, the extension and retraction of the boom 9, and the up and down movement of the boom 9 as a predetermined control, and the correspondence between the crane 1 and the crane 2 is controlled. To send to each valve.
  • the control device 32 of the crane 1 and the control device 32 of the crane 2 are each connected to the communication device 31 and acquire information and control signals relating to control from the system control device 34.
  • the control device 32 of the crane 1 and the control device 32 of the crane 2 provide the system control device 34 with information on its own position, information on the body, information on control, information on work contents, information on the transport route, and the like. Send.
  • the crane 1 plans to transport the load W on the first transport route R1 from the lifting position P1a to the hanging position P1b.
  • the crane 2 plans to transport the load W on the second transport route R2 from the lifting position P2a to the hanging position P2b.
  • the system control device 34 determines that the shortest distance Lm (n) at each position on the route on the first transport route R1 is a position P1c that is both ends of a contact section that is less than the contact reference value Ls.
  • the positions P2c and P2d which are both end positions of the contact section in which the shortest distance Lm (n) at each position on the route is less than the contact reference value Ls, are calculated.
  • the system controller 34 calculates a time t1 from the time t0 at which the crane 2 starts the transfer operation on the outward path to the position P2d, which is the end position of the contact section, from various types of information acquired from the crane 2.
  • the system controller 34 calculates a time t2 from the time t1 at which the crane 1 starts the transfer operation on the outward path to the position P1d which is the end position of the contact section.
  • the system control device 34 transmits the time t1 to the control device 32 of the crane 1 as information relating to the control, as a timing at which the crane 1 can perform a forward transfer operation while avoiding contact. Further, the system control device 34 transmits the time t2 to the control device 32 of the crane 2 as a timing at which the crane 2 can carry out the return work while avoiding contact.
  • the system control device 34 transmits the time t3 to the control device 32 of the crane 1 as control-related information at a timing at which the crane 1 can perform the return work while avoiding contact. Further, the system control device 34 transmits the time t4 to the control device 32 of the crane 2 as timing at which the crane 2 can carry out the next forward transfer operation while avoiding contact.
  • the system control device 34 is a control signal that is not based on the information about the notified control and is a control signal for operating the crane 1 in a direction approaching the second passage area A2 or a crane signal in a direction approaching the first passage area A1.
  • a control signal for activating the second control is input from the operator, a predetermined control is performed.
  • the system control device 34 cancels the input control signal and sends a control signal for stopping the crane 1 and the crane 2 to the control device 32 of the crane 1 and the control device 32 of the crane 2 as predetermined control. Send to That is, the system control device 34 regulates the control of the crane 1 and the crane 2 when a situation occurs in which the crane 1 and the crane 2 may come into contact with each other.
  • the contact monitoring system 33 sends the information on the control for keeping the body of the crane 1 and the body of the crane 2 at the minimum distance Lm or more to the control device 32 of the crane 1 and the control device 32 of the crane 2.
  • the data is transmitted via the system-side communication device 35.
  • the contact monitoring system 33 is in a state where the workable range Wr1 of the crane 1 and the workable range Wr2 of the crane 2 overlap, and the crane 1 and the crane 2 may be in contact with each other.
  • the system control device 34 collectively manages various types of information of the cranes, and simultaneously determines the contact between the cranes, thereby avoiding contact between the cranes 1 and the cranes 2 and performing the transfer operation. Work efficiency can be maintained.
  • the contact monitoring system 33 may be configured to monitor contact with not only a plurality of mobile cranes arranged in the work area but also other work vehicles such as an aerial work vehicle and a bulldozer. Further, the contact monitoring system 33 may be configured to record the work content of the transport work.
  • the mobile crane according to Reference Example 1 is a mobile crane in which a swivel base is provided with an up-and-down boom.
  • the mobile crane acquires spatial information of a work area, and obtains information on the position of the mobile crane, information on an airframe, and control. Based on the information about the work content, the information about the work content, and the information about the transfer route, the passage area through which the body of the mobile crane passes during the transfer work is calculated, and the information about the position of the other mobile crane in the work area is calculated.
  • the information of the transport route and the information of the other mobile crane Calculate the passing area, if the shortest distance between the passing area where the body of the mobile crane passes during the transfer operation and the passing area where the body of the other mobile crane passes during the transfer operation is less than the threshold, Judge that there is a possibility of contact with the other mobile crane, and avoid contact with the other mobile crane based on the information on the control of the mobile crane and the information on the control of the other mobile crane. Information about the control to be performed.
  • the mobile crane according to Reference Example 2 is the mobile crane according to Reference Example 1, and the information on the control of the mobile crane to be notified is such that the shortest distance from the other mobile crane is equal to or more than a predetermined value. This is information about when a transfer operation can be performed in a certain state.
  • the mobile crane according to Reference Example 3 is the mobile crane according to Reference Example 1 or Reference Example 2, and when a control signal different from the notified information on the control of the mobile crane is input, the mobile crane is determined in advance. The specified control is performed.
  • the contact monitoring system for a mobile crane according to Reference Example 4 is a movement that monitors the possibility of contact of the mobile crane in a work area where a plurality of mobile cranes provided with a swivelable boom are provided on a swivel.
  • a contact crane contact monitoring system comprising: a plurality of mobile cranes in the work area to be monitored for contact; and a control device capable of communicating with the plurality of mobile cranes in the work area.
  • the apparatus acquires spatial information of the work area, and acquires information on the positions of a plurality of mobile cranes in the work area, information on the body, information on control, information on work contents, and information on the transport route, respectively.
  • the contact monitoring system for a mobile crane according to Reference Example 5 is the contact monitoring system for a mobile crane according to Reference Example 4, wherein the information regarding the control that notifies each of the mobile cranes that may possibly contact, This is information on a time when a transfer operation can be performed in a state where the shortest distance between the mobile cranes that may come into contact with each other is equal to or more than a predetermined value.
  • the contact monitoring system for a mobile crane according to Reference Example 6 is the contact monitoring system for a mobile crane according to Reference Example 4 or 5 above, and the control device is configured to control each of the movements that may cause the contact.
  • the control device is configured to control each of the movements that may cause the contact.
  • the working machine and the contact monitoring system for the working machine according to the present invention can be applied to various working machines.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)
  • Jib Cranes (AREA)

Abstract

L'invention concerne une machine de travail qui a une flèche qui peut tourner et se soulever, la machine de travail, qui est définie comme une première machine de travail, comprenant : une unité d'acquisition qui acquiert des informations relatives à une seconde machine de travail disposée dans une zone de travail et ayant une plage exploitable chevauchant au moins une partie de la plage exploitable de la première machine de travail ; une unité de calcul qui calcule une première zone de passage à travers laquelle passe la première machine de travail pendant le travail de transport et qui calcule, sur la base des informations relatives à la seconde machine de travail, une seconde zone de passage à travers laquelle passe la seconde machine de travail pendant le travail de transport ; une unité de détermination qui détermine un contact entre la première machine de travail et la seconde machine de travail sur la base de la première zone de passage et de la seconde zone de passage ; et une unité de commande qui notifie à l'opérateur de la première machine de travail des informations relatives à la commande pour éviter un contact lorsque l'unité de détermination détermine que la première machine de travail et la seconde machine de travail vont entrer en contact.
PCT/JP2019/037678 2018-09-25 2019-09-25 Machine de travail et système de surveillance de contact pour machines de travail WO2020067201A1 (fr)

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CN116495646A (zh) * 2023-06-28 2023-07-28 河北建工集团有限责任公司 一种建筑施工现场安全监测管理系统
JP7443947B2 (ja) 2020-06-10 2024-03-06 株式会社タダノ 作業車両の接触抑制装置および作業車両の接触抑制装置を有するブームを備えた作業車両

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JPS62180895A (ja) * 1986-02-04 1987-08-08 石川島播磨重工業株式会社 ジブクレ−ン衝突防止装置
JP2000313588A (ja) * 1999-04-28 2000-11-14 Kyoritsu Denshi Kogyo Kk クレーン制御装置
JP2003118981A (ja) * 2001-10-18 2003-04-23 Hitachi Ltd クレーン接近警報装置
JP2007276996A (ja) * 2006-04-12 2007-10-25 Ohbayashi Corp 建設機械のジブ動作監視装置、建設機械のジブ動作監視方法、建設機械の動作監視システム
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JP7443947B2 (ja) 2020-06-10 2024-03-06 株式会社タダノ 作業車両の接触抑制装置および作業車両の接触抑制装置を有するブームを備えた作業車両
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CN116495646B (zh) * 2023-06-28 2023-08-22 河北建工集团有限责任公司 一种建筑施工现场安全监测管理系统

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