JPH08143273A - Crane deflection angle detection method and crane deflection angle sensor - Google Patents

Abstract

(57) [Abstract] [Purpose] The present invention relates to a method for detecting a deflection angle of a crane and a deflection angle sensor for a crane, and particularly detects a deflection angle using an angular velocity signal from a rate gyro. A hook gyro 10 is provided with at least a biaxial rate gyro 10, and coordinate conversion is performed using an angular velocity signal 10a obtained from the rate gyro 10 to detect a swing angle θ of the hook 5.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for detecting a deflection angle of a crane and a deflection angle sensor for a crane, and more particularly to a deflection angle using an angular velocity signal from a rate gyro (optical fiber gyro etc.) and an acceleration signal from an accelerometer. The present invention relates to a new improvement for detecting a.

[0002]

2. Description of the Related Art As a method of detecting the deflection angle of a crane of this type that has been conventionally used, generally, as a first method, a biaxial inclinometer is attached to the hook portion to detect the deflection of the hook portion. . In addition, as another second method, the steadying is performed by controlling the moving speed and acceleration of traverse and running. As another third method, the shake of the load of the hook portion is detected by a mechanical vertical gyro, and the shake is stopped by the acceleration / deceleration control of the motor for driving the traverse and the traveling.

[0003]

Since the conventional detection method is constructed as described above, there are the following problems. That is, in the case of the first method, during acceleration / deceleration of the crane, not only the swing angle of the hook portion but also the crane acceleration / deceleration is detected, and it is difficult to accurately measure the swing angle of the hook portion. If the wire that suspends the hook part is twisted, the inclinometer is attached to the hook part, so it is necessary to detect how much the hook part is swinging based on the running direction or the transverse direction. Was difficult.

Further, in the case of the second method, the disturbance moment (wind or the like) which varies depending on the size of the load and the length of the arm system causes an error only by the acceleration / deceleration control of the traverse and the traveling. .

Further, in the case of the third method, since the deflection angle of the load can be detected, an improvement has been made. However, when the load rotates, the coordinate reference is lost and an error occurs in the motor control of traverse and travel. .

The present invention has been made to solve the above problems, and in particular, it detects a deflection angle by using an angular velocity signal from a rate gyro and an acceleration signal from an accelerometer, and also has a coordinate reference. It is an object of the present invention to provide a method for detecting a deflection angle of a crane and a deflection angle sensor for a crane, which prevent the loss of power.

[0007]

According to a method of detecting a deflection angle of a crane of the present invention as defined in claim 1, at least a biaxial rate gyro (10) is attached to a hook portion (5) suspended from the crane (1). By providing the angular velocity signal (10a) obtained from the rate gyro (10) and performing coordinate conversion, and comparing with the coordinate system of the building of the crane (1), the deflection angle of the hook portion (5) It is characterized by detecting (θ).

According to a second aspect of the present invention, in the deflection angle detection method for a crane according to the first aspect, the rate gyro (10) has three axes and has an accelerometer (11) provided on the three axes. It is characterized in that the offset amount of each rate gyro (10) is removed based on the acceleration signal (11a) from each accelerometer (11).

According to another aspect of the present invention, there is provided a deflection angle sensor for a crane, wherein at least a biaxial sensor provided on a hook portion (5) suspended from a crane (1) is used.
The crane deflection angle sensor configured to detect the deflection angle (θ) of the hook portion (5) is characterized by using a rate gyro (10) as the sensor.

According to a fourth aspect of the present invention, in the deflection angle sensor for a crane according to the third aspect, the rate gyro (10) has a triaxial structure, and the acceleration of the triaxial structure provided in the hook portion (5). It is characterized by having a total (11).

[0011]

In the crane deflection angle detecting method and the crane deflection angle sensor according to the present invention, at least a biaxial rate gyro is provided in the hook portion suspended from the crane, and each speed signal obtained from each rate gyro. The coordinate of the hook can be detected by comparing the coordinate system of the crane with the coordinate system of the crane building. Further, when the two axes are configured as three axes and a three-axis acceleration sensor is used, the accuracy of detecting the shake angle can be improved.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A preferred embodiment of a crane deflection angle detection method and a crane deflection angle sensor according to the present invention will be described in detail below with reference to the drawings.

In FIG. 1, reference numeral 1 is a crane housed in a building (not shown), having a traveling axis X and a traverse axis Y, and having a traveling motor 2 and a traverse motor 3. A crane swing angle sensor 6 is provided on a hook portion 5 suspended from the traverse motor 3 via a wire 4. A load 7 is suspended and suspended from the hook piece 5a of the hook portion 5.

As shown in FIG. 2, the deflection angle sensor 6 for a crane includes a biaxial or triaxial rate gyro (optical fiber gyro, gas rate sensor, etc.) 10 and a biaxial or triaxial accelerometer 11 (however, , This accelerometer 1
1 may not be used), and the angular velocity signal 10a from the rate gyro 10 described above is converted into a quaternion up date 12 to obtain a direction cosine matrix 13
And the direction cosine matrix 13 is input to the acceleration coordinate converter 14 and the calculator 15.

The calculation unit 15 mainly has three functions of a coordinate conversion 15a, a torqueing calculation 15b, and an earth morale calculation 15c. Based on the direction cosine matrix 13, the calculation unit 15 performs the coordinate conversion 15a. The deflection angle θ and the angular velocity ω are output.

Next, the operation will be described. First, the traveling axis X, the transverse axis Y, and the vertical axis Z in FIG. 1 are set as reference coordinates (X, Y, Z), and the reference coordinates (X, Y, Z) are
It is the same as the coordinates of the building of the crane 1. Here, the triaxial coordinates (x) are orthogonal to the hook portion 5 suspended from the transverse axis Y.
_b , y _b , z _b ) are set. The rate gyro 10 and the accelerometer 11 are attached so as to match the coordinate axes.

When the crane 1 starts traversing and traveling, the hook portion 5 shakes due to acceleration or the like as shown in FIG. 3, and this value is defined as a swing angle θ. In the present invention,
This deflection angle θ is divided into X-axis and Y-axis components θ _X and θ _Y ,
Moreover, the angular velocities θ _X dot and θ _Y dot can be detected. In addition, the above-mentioned θ _X , θ _Y , θ _X dot, θ
_{The Y} dots are arithmetically processed by the arithmetic unit 15 so as not to be affected even if the hook portion 5 rotates about the _zb axis shown in FIG.

Next, the calculation procedure of the calculation unit 15 described above will be described with reference to FIG.
Will be explained together. First, the integrated values (ΔV _x , ΔV _y , ΔV _z ) of the accelerometer 11 for each unit time and the integrated values (Δθ _xb , Δθ _yb , Δθ _zb ) of the rate gyro 10 for each unit time.
By using the direction cosine matrix 13 between the coordinates (x _b , y _b , z _b ) of the hook portion 5 and the reference coordinates (X, Y, Z).
Ask for. Using the direction cosine matrix 13, the deflection angle components θ _x and θ _Y of the deflection angle θ are obtained by the following mathematical formula [Equation 1].

[0019]

[Equation 1]

The above equation (5) is the quaternion up date in FIG. The torque 15a from the calculator 15 is determined by the B matrix of the direction cosine matrix 13. Further, as the accelerometer 11 described above, a force balance type, a semiconductor type, and an inclinometer can be used.

[0021]

Since the crane deflection angle detection method and the crane deflection angle sensor according to the present invention are configured as described above, the following effects can be obtained. As the deflection angle sensor, a rate gyro is used and coordinate conversion is performed using the angular velocity signal, so it is possible to detect the deflection angle with high accuracy without being affected by acceleration / deceleration, and to perform stable hook position control. It can be carried out. Further, the sensor section can freely select the detection range, resolution, etc. according to the application. In addition, since it is arithmetic control, it is possible to perform flexible control. Further, when a gas rate or an optical fiber gyro is used, it is possible to easily detect an abnormality and to obtain a characteristic excellent in environment resistance.

[Brief description of drawings]

FIG. 1 is a perspective view showing a configuration of a crane according to an embodiment of the present invention.

FIG. 2 is a block diagram according to an embodiment of the present invention.

FIG. 3 is a perspective view showing coordinates according to the embodiment of the present invention.

[Explanation of symbols]

 1: Crane 2: Travel motor 3: Traverse motor 4: Wire 5: Hook part 5a: Hook piece 6: Crane deflection angle sensor 7: Load 10: Rate gyro 10a: Angular velocity signal 11: Accelerometer 12: Quaternion up date 13: Direction cosine matrix 14: Acceleration coordinate conversion unit 15: Calculation unit 15a: Coordinate conversion and torqueing 15b: Torquering calculation 15c: Earth morale calculation θ: Deflection angle

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Osamu Yamaguchi 1-2-1, Marunouchi, Chiyoda-ku, Tokyo Nihon Steel Pipe Co., Ltd. (72) Inventor Koichi Abe 1 Ono-cho, Tsurumi-ku, Yokohama-shi Kanagawa Industrial Co., Ltd. (72) Inventor Hiromi Makita 1 Ono-cho, Tsurumi-ku, Yokohama-shi, Kanagawa Steel tube electrical equipment Industrial Co., Ltd. (72) Inventor Kimio Shiozawa 1879 Okyu Iida, Nagano Prefecture Tamagawa Seiki Co.

Claims (4)

[Claims] 1. A hook (5) suspended from a crane (1) is provided with at least a biaxial rate gyro (10), and an angular velocity signal (10a) obtained from the rate gyro (10) is used. A deflection angle detection method for a crane, characterized in that the deflection angle (θ) of the hook portion (5) is detected by performing coordinate conversion and comparing with the coordinate system of the building of the crane (1). 2. The rate gyro (10) has three axes, and has an accelerometer (11) provided on the three axes, and an offset amount of each rate gyro (10) is included in each of the accelerometers (11). The method for detecting a deflection angle of a crane according to claim 1, wherein the method is performed based on the acceleration signal (11a) from the vehicle. 3. By using at least a biaxial sensor provided on a hook part (5) suspended from a crane (1),
A swing angle sensor for a crane configured to detect a swing angle (θ) of the hook portion (5), wherein a rate gyro (10) is used as the sensor. 4. The crane according to claim 3, wherein the rate gyro (10) has a triaxial structure, and the accelerometer (11) having a triaxial structure is provided on the hook portion (5). Deflection angle sensor.