JPH10258989A - Automatic crane driving equipment - Google Patents

Abstract

(57) [Summary] [PROBLEMS] To be able to cope with external factors such as wind in automatic operation of a crane, and to be able to control the moving speed of a suspended load without prior patterning. SOLUTION: In a tower crane, a jib tip position measuring device 11 can measure a jib tip position which does not include an error due to a jib bending or the like in real time. Further, the swing of the suspended load can be measured in real time by the suspended load swing width measuring device 12. The automatic operation control device 14 performs the feedback control and the fuzzy control based on the jib tip position and the swing of the suspended load measured in real time as to the movement of the suspended load. Therefore, it is possible to cope with external factors such as wind. Further, the vibration control of the suspended load can be performed without completely patterning the moving speed of the suspended load in advance.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic driving apparatus for a crane having a jib, and more particularly to an automatic driving apparatus for a crane suitably used for a tower crane.

[0002]

2. Description of the Related Art In general, a tower crane is a type of jib crane in which a swivel section of a crane is mounted on a tower (mast). The tower crane is widely used for high-rise building work, and is also used for plant construction, dam construction, and steel tower construction. It is also used for port cargo handling. The models include a mobile type mounted on a crawler crane and a fixed type in which a crane body is mounted on a mast on a specific fixed foundation.

Conventionally, a tower crane is operated by an operator using a control lever to generate an operation signal, and the crane is turned (rotation of a jib in a horizontal direction), raised and lowered (rotation of a jib in a vertical direction), and wound up and down (hook). The vertical movement of the wire hanging the block by the winch) is operated. Further, for example, when operating a tower crane in construction work, since the moving distance (turning distance, hoisting distance) of the suspended load in the tower crane is large, and there are obstacles or the like that obstruct the view, the operator needs to lift the crane. When it is difficult to visually grasp the entire movement of the load and the signal person is placed at the loading / unloading place and the suspended load is located near the loading / unloading place, the operator is signaled. The crane is operated based on the radio signal of the person.

[0004] In such operations, however, the operator must deal with the constantly changing loading and unloading site conditions and locations at the building site. In addition, there are operations such as transferring a load between steel frames, and the operator is burdened by mental tension and continuous use of the operation lever, and requires a skillful operation technique.

When a tower crane is operated in dam construction, there is no work in a narrow place as in the case of using a tower crane at a construction site, and the operator does not feel mental tension. It is necessary to perform a continuous and long-time simple operation of moving a suspended load between the same unloading place (Banka line) and the same unloading place (placement block), which also burdens the operator. I was On the other hand, a signer placed at a construction site or the like has to constantly monitor the upper part and give an instruction on the movement of the load, which places a burden on the neck and eyes. Therefore, it is desired that the tower crane can be automatically operated so as to convey the suspended load along a predetermined route, thereby reducing the burden on an operator or a signal person. Is being developed.

[0006]

By the way, when a tower crane is automatically operated, basically, a route of a suspended load from a loading place to an unloading place is determined in advance, and the suspended load is along the route. The above-described turning, undulating, winding up and down operations are operated by the control device so as to move. At this time, the position and movement amount of the suspended load can be grasped from the rotation angle of the jib pivoting device of the tower crane, the rotation speed of the jib hoisting winch, the rotation speed of the lifting load winch, and the like. By controlling the turning angle of the turning device, the number of rotations of the winch for raising and lowering the jib, and the number of rotations of the winch for hoisting the suspended load, the suspended load can be transported along a predetermined route.

However, in practice, the tower, jib, and wire of the tower crane are displaced such as bent or elongated due to their own weight or the load of the suspended load, and the amount of this displacement depends on the weight of the suspended load, temperature, and the like. If the current position is determined from the jib rotation angle, the jib up / down angle, the number of rotations of the hoisting winch, or the suspended load is moved, the predetermined route and the actual suspended load route will change. And an error will occur.

In a crane, a suspended load is conveyed in a state of being suspended by a wire, so that the suspended load swings. For example, if the suspended load is moved by turning or raising and lowering the jib, the suspended load suspended at the jib distal end will stay in place at the jib tip when the jib tip starts moving. Since it is about to be rolled, it starts to move behind the tip of the jib, and the suspended load is in a state of being lifted inclining, and thereafter, a force that reciprocates and swings is applied to the suspended load. Also, when the jib tip stops moving, the suspended load suspended at the jib tip tries to move as it is according to the law of inertia, so it stops after the jib tip and the suspended load The suspended load is inclined, and the suspended load is applied to the suspended load thereafter. That is, when the suspended load is moved with acceleration, the suspended load swings.

If an error occurs in the route of the suspended load as described above, the suspended load approaches an obstacle or the unloading position shifts, so that the automatic operation must be stopped. When the suspended load swings as described above,
At the time of unloading, there is a problem that work cannot be performed until the swing stops. Therefore, in consideration of the error of the position of the suspended load as described above, a route is determined by increasing the distance from the obstacle, or the error is obtained in advance from a test or other data, and the error is determined based on the error. It was necessary to set a route pattern. In addition, with respect to the swing of the suspended load, a change pattern (acceleration / deceleration) of the moving speed of the suspended load that suppresses the swing of the suspended load is determined in advance, and the vibration control of the suspended load is performed. Needed.

[0010] However, even when the above-described control is performed, the position of the suspended load may deviate from the route or the suspended load may swing when the suspended load is automatically operated. Sex could not be completely eliminated. That is, when the crane is automatically operated in a predetermined pattern, if the above pattern is not optimal, there is a possibility that the position of the suspended load shifts and the suspended load swings, and However, it is impossible to cope with a case where a change factor such as a wind or a temperature change is added from the outside. Therefore, the suspended load is controlled so as to move along a predetermined route in advance, and the suspended load is controlled so as to move in a predetermined moving speed change pattern so that the suspended load does not swing. In such a case, when the position of the suspended load greatly deviates from the route or the suspended load largely swings, the only option is to stop the automatic operation and manually respond.

The present invention has been made in view of the above circumstances, and measures the position of a moving jib tip and the swing of a suspended load to determine a predetermined route and the measured position of the jib tip. Compare, control in real time so that the suspended load moves along a predetermined route, and measure the vibration of the suspended load while moving, and cancel the vibration when the suspended load is deflected. It is an object of the present invention to provide a crane automatic driving device capable of controlling the moving speed of a suspended load in real time.

[0012]

According to the first aspect of the present invention, there is provided an automatic crane driving apparatus for a crane having a jib capable of raising and lowering and turning, the jib tip of the crane being operated. Jib tip position measuring means for detecting and outputting the actual position of the jib almost at all times, undulating drive means for undulating movement of the jib, slewing drive means for slewing movement of the jib, and hanging from the jib tip by a wire. Automatic driving control means for controlling the lifting and lowering drive means for lifting and lowering the suspended load supporting means to control the movement of the suspended load supporting means from any position to any position. The automatic operation control means outputs the movement path of the jib tip based on the predetermined movement start position and movement stop position of the hanging load support means, and the jib tip position measurement means. Comparing the current position of the jib tip,
When the current position of the jib tip deviates from the movement path of the jib tip, controlling the up / down moving means and the turning drive means so that the position of the jib tip returns on the movement path. This is means for solving the above problems.

According to the above construction, when the crane is automatically operated, when the position of the jib tip deviates from the movement path of the jib tip based on the predetermined movement start position and movement stop position of the hanging load support means. The automatic operation control means compares the moving path of the jib tip with the current position of the jib tip output from the jib tip position measuring means, and the actual position of the jib tip and the moving path of the jib tip are determined. While being able to grasp that it has shifted, the automatic operation control means,
Since the up-and-down moving means and the turning drive means are controlled so as to return the position of the jib tip to the moving path, even if the automatic operation of the crane is continued, the suspended load approaches the obstacle or the unloading position. There is no need to stop automatic operation and switch to manual operation.

That is, the automatic operation of the crane can be made more reliable, the labor can be further reduced, and the burden on the operator and the signal person of the crane can be greatly reduced. In addition, since the burden on the crane operator and the signer is reduced, the operator and the signer have more time to grasp the surrounding situation more precisely when the suspended load is moved, so that the operator and the signer can respond more quickly to changes in the surrounding situation. be able to.

The jib tip position measuring means needs to be able to measure a relatively accurate jib tip position with a small error. That is, it is necessary that the jib tip position measuring means does not include errors such as bending of the jib, bending of a support base such as a tower for supporting the jib, and elongation of a wire used for raising and lowering the jib. It is preferable not to calculate the position of the jib tip from the data of the measuring means such as the encoder provided in the turning drive means or the up / down drive means, but to directly measure the actual position of the jib tip.

Also, the jib tip position measuring means almost always detects the actual position of the jib tip.
It is not always necessary to measure the jib tip position continuously, but it is sufficient if the actual position of the jib tip can be measured with a cycle time that can capture the movement of the jib tip, that is, an accurate position with few errors. . In addition, the position of the jib tip portion may be a three-dimensional coordinate system that can specify the position of the unloading position, the unloading position, and the obstacle around the crane installation position. A relative coordinate position around the crane may be used. Further, the coordinate system is not limited to the XY coordinate system, but may be a coordinate system represented by a turning angle and a radial distance.

As specific jib tip position measuring means, for example, those using a well-known GPS (global positioning system) and those using a well-known automatic tracking type surveying device (angle measuring device, A device using an angle measuring device) can be used. Since these can directly measure the position of the jib tip, the position of the jib tip can be measured without being affected by bending of the jib, bending of the jib support such as a tower, or elongation of the wire. can do.

As the jib tip position measuring means, it is not preferable to calculate the position of the jib tip from data of measuring means such as an encoder provided in the jib turning drive means and the up / down drive means. If the error due to the bending of the jib, the bending of the tower, the elongation of the wire, or the like can be corrected, the tip position of the jib may be calculated from the data of the measuring means as described above.

The automatic operation control means can output operation signals for operating the crane's turning drive means, up-and-down drive means and winding up / down drive means, and can also output position data output from the jib tip position measurement means. It is an arithmetic processing device capable of inputting, and its hardware configuration is composed of a computer system for automatic control having a well-known input / output interface. The automatic operation control means is characterized by a method of controlling the operation of the crane. It has.

The automatic operation control means controls the jib tip position measured by the jib tip position measuring means, not the position of the suspended load or the suspended load supporting means. And XY corresponding to the ground plane
This is because the coordinate position coincides with the XY coordinate position of the suspended load if the suspended load does not swing, and the XY coordinate position of the suspended load can be controlled by controlling the jib tip position. Further, when trying to control the position of the suspended load or the suspended load supporting means, when the jib tip is accelerated as described above, the suspended load swings, and the swing driving means and the undulation driving means directly move the suspended load. This is because it cannot be controlled.

The crane may be any crane having a jib capable of turning and raising and lowering, and is, for example, a tower crane. The turning drive means of the crane is, for example, a turning device that turns a turning body provided with a jib on a support base such as a tower to the left or right by a driving force such as an engine, an electric motor, or a hydraulic pressure. The hoist driving means of the crane is, for example, a winch for winding a wire attached to the jib, and for raising and lowering the jib by winding up and down the wire. In addition, the winding vertical driving means of the crane is, for example, a winch for winding a wire for hanging the suspended load supporting means (hook block).

According to a second aspect of the present invention, in the automatic crane driving apparatus according to the second aspect of the present invention, the automatic operation control means stops the turning movement of the jib tip based on the movement path of the jib tip and raises and lowers the jib tip. The stop position of the jib tip is compared with the current position of the jib tip output from the jib tip position measuring means, and the jib tip is turned by the turning movement means based on the distance between the current position and the stop position. Controlling the speed of the turning movement and the speed of the up / down movement of the jib tip by the up / down moving means is a means for solving the above problem.

According to the above configuration, the automatic operation control means includes:
Since the speed of the turning movement of the jib tip by the turning moving means and the speed of the undulating movement of the jib tip by the undulating moving means are controlled based on the distance between the stop position and the current position, the jib tip is controlled. The control that accelerates when the part is far from the stop position and decelerates when the jib tip approaches the stop position can be performed based on the actual jib tip position. Therefore, the suspended load can be stopped at the exact stop position of the XY coordinates corresponding to the ground surface without completely patterning the relationship between the position and the speed on the moving route in advance, so that the suspended load can be stopped before the movement of the suspended load. Can reduce the labor required for the calculation process, and can perform control corresponding to the actual position of the jib tip, causing a shift in the movement distance corresponding to the scheduled time along the movement path of the jib tip. Can also respond.

The movement by the turning drive means is a circumferential movement of the jib tip in a horizontal plane centered on the jib turning center. Further, the movement by the up / down driving means is a circumferential movement in a vertical plane centered on the up / down center of the jib, and the horizontal movement component of the movement is orthogonal to the circumferential movement by the swivel driving means. In the radial direction. Therefore, the speed of the movement of the jib tip by the turning drive means can be regarded as the angular speed of the turning,
The travel distance of the jib tip by the swing drive means can be taken as the changed swing angle of the jib, but the actual travel speed of the jib tip is the horizontal distance from the jib tip to the center of the jib swing, that is, , Since it depends on the elevation angle of the jib, the control of the traveling speed of the turning movement by the turning drive means of the jib may be performed by controlling the angular speed or by controlling the actual traveling speed determined by the elevation angle of the jib. It is good.

Further, the movement by the up / down driving means can be regarded as the angular velocity of the jib which moves up and down, and the distance of the movement of the jib tip by the up / down driving means can be regarded as the angle of the up / down movement of the jib. The control of the moving speed of the up / down movement by the up / down driving means of the jib may be a method of controlling the angular velocity. However, in consideration of the control of the actual movement of the suspended load, the horizontal direction orthogonal to the turning movement described above is considered. The speed of the moving component may be controlled.

According to a third aspect of the present invention, there is provided an automatic operating apparatus for a crane, which constantly detects an index indicating a swing direction and a swing width of a suspended load supporting means suspended from a jib tip of an operating crane. It is provided with a suspended load swing width measuring means for outputting, and the automatic operation control means is configured to determine whether the suspended load is swinging based on the index indicating the swing direction and the swing width of the suspended load output from the swing width measuring means. In addition to determining whether or not the suspended load is swinging, the acceleration or deceleration of the speed of the swing movement of the suspended load by the swing driving means so as to cancel the current swing of the suspended load, and Controlling acceleration or deceleration of the speed of the undulating movement of the suspended load is a means for solving the above problem.

According to the above configuration, the automatic operation control means to which the index indicating the swing direction and the swing width of the suspended load supporting means output from the suspended load swing width measuring means is input is used as the suspended load (suspended load supporting means). Judge whether or not the swing load has swung, and when it is determined that the suspended load has swung, the swing driving means turns the suspended load to cancel the current swing of the suspended load based on the swing direction and the swing width indicated by the index. By controlling acceleration or deceleration of the speed of movement and acceleration or deceleration of the speed of undulating movement of the suspended load by the undulation drive means, it is possible to suppress the swing of the suspended load.

Further, since the actual swing of the suspended load is measured by the suspended load swing width measuring means, and the acceleration / deceleration of the turning drive means and the undulation drive means is controlled, the suspended load caused by the acceleration / deceleration of the movement of the suspended load is measured. Not only the swing of the suspended load but also the swing of the suspended load due to external factors such as wind. In addition, when the acceleration / deceleration of the suspended load is patterned in advance to control the swing of the suspended load, if the acceleration / deceleration pattern of the suspended load is not completely optimized, the swing of the suspended load may be changed. However, according to the present invention, the acceleration and deceleration of the movement of the suspended load can be easily patterned, and By controlling the swing drive means and the undulation drive means so as to cancel the run-out of the load when the load has run out, the run-out of the suspended load can be eliminated. Can be

As the suspended load swing width measuring means, for example, a GPS or an automatic tracking type surveying device capable of detecting the current position of the suspended load supporting means can be used. If the current position of the suspended load is known from these, the position of the suspended load with respect to the jib distal end is compared by comparing the position of the suspended load with the position of the jib distal end measured by the above-described jib distal position measuring means. Thus, the swing width and swing direction of the suspended load can be calculated.

Further, the swing angle of the wire hanging the suspended load (hanging load supporting means) from the jib tip can be measured, and the swing width can be calculated from the wire length and the wire swing angle. Note that the length of the wire can be determined by an encoder or the like attached to a winch serving as a winding up / down means. Also,
When measuring the deflection angle of the wire, the deflection angle should be
By measuring separately for each direction component with respect to the axial direction, the shake direction can be detected. Also, the deflection direction can be detected by measuring the position of the wire using a laser type XY displacement meter.

A polygon type laser diffusion position recognition method may be used. A monitoring CCD (charge coupled device) camera provided at the end of the jib may be used to detect the swing of the suspended load from the position of the suspended load on the screen captured by the camera. Further, an accelerometer may be provided in the suspended load support means, and the acceleration measured by the accelerometer may be used as an index of the swing of the suspended load.

According to a fourth aspect of the present invention, there is provided an automatic operating device for a crane, comprising a wireless operating means for remotely controlling the hoisting drive means, the turning drive means, and the winding up and down drive means of the crane. In the state where automatic operation is stopped, the crane hoisting drive means by wireless operation means,
It is an object of the present invention to enable remote control of the turning drive means and the winding up / down drive means.

According to the above construction, the loading site at the construction site,
In a part where the situation is constantly changed by an operator or a vehicle, such as a loading / unloading place, the operator at the loading / unloading place can operate by the wireless operation means without performing the automatic driving. In other words, when performing automatic operation of the crane at the loading and unloading place where the situation constantly changes,
During automatic operation, it is necessary to completely remove the workers and vehicles from the vicinity of the suspended load or to completely grasp the movements of the workers and vehicles by various monitoring devices, making it virtually impossible to perform automatic driving Therefore, when lifting the suspended load to a predetermined height at the loading site and when unloading the suspended load from the predetermined height at the unloading site, the manual operation using the wireless operation means can be performed, and the crane Can be remotely controlled by the wireless operation means, so that there is no need to arrange an operator on the crane side, and labor can be saved even if a part of the automatic operation of the crane is a manual operation.

[0034] The wireless operating means is provided on the crane side, for example, which is capable of outputting an operation signal for operating each driving means of the crane and a portable transmitter, and receives the operation signal from the transmitter. And a receiver capable of outputting the received operation signal to each driving means of the crane.

[0035]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. Note that a tower crane that is automatically operated by the crane automatic operation device of this example is basically known, and as shown in FIGS. 1 and 2, a mast (tower, tower,
1, a revolving unit 2 provided on the mast 1 so as to be able to turn left and right, a jib 3 provided on the revolving unit 2 so as to be able to undulate up and down, and being suspended from a jib tip 4. Hook block that can be rolled up and down (suspended load support means, FIG. 1
5).

In FIG. 1, the hook block 5
Although the hooks 5a are attached to the hooks, a bucket or the like may be attached. Also, tower cranes
A swing device (swing drive means, shown in FIG. 2) 6 for swinging the swing body 2, and a hoisting winch for raising and lowering a jib 3 supported by the swing body 2 so as to be able to turn up and down by wires (shown in FIG. 1) 7. The device includes a device (up / down driving device) 8 and a winding up / down winch device (winding up / down driving device) 10 for winding up and down a wire (shown in FIG. 1) 9 for suspending the hook block 5.

As shown in FIG. 3, the crane automatic operation device of this example includes a jib tip position measuring device 11 that can accurately measure the position of the jib tip portion 4 of the jib 3 of the tower crane almost in real time. A hanging load swing width measuring device 12 capable of measuring in almost real time an index indicating the swing width and swing direction of the hook block (hanging load) 5, and position data of a loading place and a unloading place, that is, start of automatic operation. An operation schedule input device 13 for inputting a position (start point) and an end position (end point); a start and end position of the automatic operation input from the operation schedule input device 13;
An automatic operation control device 14 that automatically operates the tower crane based on measurement data input from the jib tip position measurement device 11 and the swing width measurement device 12, and a wireless device that enables remote operation when the tower crane is manually operated. Operation device 1
5 and a hook block alarm device 16 for issuing an alarm while the hook block 5 is moving.

The jib tip position measuring device 11 basically has a substantially accurate position (actual position) of the jib tip portion 4 which does not include an error due to deflection of the mast 1 or the jib 3 or displacement such as extension of the wire 7. ) Can be measured almost in real time and almost always. Examples of the jib tip position measuring device 11 include the following.
Any of the jib tip position measuring devices 11 described below can be used.

The first jib tip position measuring device 11 has a GP
As shown in FIG. 4, a mobile station 21 provided on the revolving unit 2 of the tower crane and a ground fixed station 22 provided on the ground in the vicinity of the tower crane, as shown in FIG.
Consists of The mobile station 21 has a mobile station GPS receiver 21 connected by a wire via a booster 24 to a mobile station automatic leveling GPS antenna 23 provided at the jib tip 4.
a, a radio receiver 21b for receiving position data transmitted from the ground fixed station 22, and a position of the jib tip 4 based on position data input from the mobile station GPS receiver 21a and the radio receiver 21b. A position measurement calculation processing unit (personal computer) 21c for calculation is provided.

The ground fixed station 22 includes a fixed station GPS receiver 22a connected to a fixed station GPS antenna 25 provided at a position where a three-dimensional coordinate position has been determined in advance, and a fixed station GPS receiver 22a. And a data transmission radio 22b for wirelessly transmitting the received position data. The installation position of the fixed station GPS antenna 25 is set to a fixed point in the local coordinate system of the site.

The three-dimensional position data received by the mobile station GPS receiver 21 a is
1c. Further, the fixed station GPS receiver 22
The three-dimensional position data received at a is transmitted from the data transmission radio 22b of the fixed station 22 to the radio receiver 21b of the mobile station 21.
Is transmitted from the wireless receiver 21b to the position measurement calculation processing section 21c. Then, the position measurement calculation processing unit 21
In step c, the relative position of the position data received by the mobile station GPS receiver 21a with respect to the position data received by the fixed station GPS receiver 22a is calculated, whereby the installation position of the fixed station GPS receiver 22a is obtained. And the coordinate value of the mobile station GPS receiver 21a with respect to a fixed point in the local coordinate system at the site. That is, the three-dimensional coordinate position of the jib tip 4 in the local coordinate system is calculated, and the calculated position data is output to the automatic operation control device 14.

The second jib tip position measuring device 11 is shown in FIG.
As shown in the figure, the automatic tracking angle measuring devices 31 and 31 are used, and an all-around corner cube prism 32 disposed at the jib tip 4 and an automatic tracking measurement device disposed at two points outside the tower crane. Angle measuring devices 31 and 31, and are connected to these automatic tracking angle measuring devices 31 and 31,
A ground position measurement arithmetic processing unit (personal computer) 33 for calculating the position of the jib tip 4 by inputting the altitude angle and the horizontal angle output from the two automatic tracking angle measuring devices 31 and 31; Ground position measurement arithmetic processing unit 3
And a transmitter 34 for transmitting the position of the jib tip 4 calculated in 3 to the automatic operation control device 14.

A receiver 35 for receiving the position data of the jib tip 4 transmitted from the transmitter 34 is connected to the automatic operation control device 14, and the position data is transmitted from the receiver 35 to the automatic operation control device 14. Is to be entered.
The automatic tracking angle measuring devices 31 and 31 track the reflecting mirror (prism 32) that moves as is well known, and, for example, determine the horizontal angle of the position of the reflecting mirror based on a reference point whose three-dimensional position is determined in advance. And an altitude angle.

The two automatic tracking angle measuring devices 31, 31 installed at different points, respectively, install the prism 32 at the jib tip 4 at a position where the prism 32 can be visually recognized over the entire moving range. In addition, this installation position is set to a fixed point at which the three-dimensional position in the local coordinate system of the site is obtained. As described above, the automatic tracking and angle measuring devices 31 and 31 are installed at the positions where the three-dimensional coordinates have been determined in advance, so that the installation position coordinates of the automatic tracking and angle measuring devices 31 and 31 in the local coordinate system of the site are Can be given as a constant.

If the automatic tracking angle measuring device is set to 0 at a fixed point in the local coordinate system of the site, the tracking direction of the automatic tracking angle measuring devices 31 is given in a straight line. That is, from the horizontal angle and the altitude angle with respect to the prism input from the two automatic tracking angle measuring devices 31, 31, the ground position measurement calculation processing device 33 performs two automatic tracking angle measuring devices 31 arranged at different positions, In addition to obtaining two linear equations from the fixed point where the 31 is installed to the prism 32 at the jib tip 4, the coordinates of the intersection of these linear equations, that is, the position of the prism 32 at the jib tip 4, can be obtained. It has become.

If an automatic tracking total station having both an angle measuring function and a distance measuring function is used in place of the automatic tracking angle measuring devices 31, 31, a single automatic tracking total station can be used. Although the position of the prism 32 at the jib tip 4 can be measured from the angle and the distance, an automatic tracking total station currently generally used, for example, performs measurement twice per second when performing distance measurement. It is like
The number of measurements per time for the movement of the suspended load by the tower crane is small, and the jib tip is measured after the position of the jib tip 4 is measured before the position of the jib tip is measured next time. There is a possibility that the unit 4 may move significantly, and there may be a problem in controlling the tower crane in real time from the position data measured in real time.

On the other hand, the automatic tracking angle measuring devices 31, 3
In 1, the current measurement is 10 times per second,
Finer control is possible than when the automatic tracking total station is used. If the automatic tracking total station can measure the position in a short cycle time,
There is no problem even if the automatic tracking total station is used.

The third jib tip position measuring device 11 is shown in FIG.
As shown in the figure, an automatic tracking angle measuring and ranging device (total station) 41 is used. The inclinometer 42 is provided on the revolving superstructure 2 and measures the inclination of the revolving superstructure 2, and is attached to the jib tip 4. Corner cube prism 43
An automatic tracking angle measuring device 41 provided at a predetermined position on the revolving unit 2, a turning detection encoder 44 for measuring a turning angle of the revolving unit 2 by the revolving device (shown in FIG. 2) 6, and an automatic tracking Position measurement for calculating the position of the jib tip 4 in the local coordinate system from data input from the angle measuring device 41 and the turning detection encoder 44 and outputting the position data of the jib tip 4 to the automatic operation control device 14. Arithmetic processing unit 45
It is provided with. The automatic tracking angle measuring device 41
Indicates the relative position (altitude angle, horizontal angle, oblique distance) of the jib tip 4 where the prism 43 is installed with respect to the installation position of the automatic tracking angle measuring and ranging device 41 of the revolving unit 2 described above. Can be detected. In addition,
At this time, since the automatic tracking and angle measuring device 41 rotates together with the revolving superstructure 2, the horizontal angle of the jib tip 4 with respect to the automatic tracking and angle measuring device 41 is basically constant.

The turning detection encoder 44 is a known encoder for detecting the turning angle of the revolving unit 2, and can detect the turning angle of the revolving unit 2, that is, the turning angle of the jib 3. Therefore, if the turning center position is a fixed point in the local coordinate system, the position measurement arithmetic processing device 45 determines the positional relationship between the turning center position, the installation position of the automatic tracking angle measuring and ranging device 41, and the turning detection encoder 44. Calculating the position of the jib tip 4 in the local coordinate system from the turning angle detected by the above and the altitude angle and the oblique distance of the prism 43 of the jib tip 4 measured by the automatic tracking angle measuring and ranging device 41. Can be. In the case described above,
Although the deflection of the jib 3 is not included as a measurement error,
Since the position of the center of rotation is displaced by the bending of the tower (mast 1) due to the load or the like, an error due to the bending of the mast 1 is included. In addition, since the revolving superstructure 2 is tilted due to the bending of the mast 1, a deviation occurs in the altitude angle measured by the automatic tracking angle measuring device 41.

Therefore, the inclination of the revolving unit 1 is measured by the inclinometer 42 to correct the deviation of the altitude angle of the automatic tracking and angle measuring device 41 and to estimate the deviation of the turning center position due to the bending of the mast 1. Then, it is necessary to correct the position of the jib tip 4 obtained as described above. The deviation of the turning center position can be obtained as shown in a fourth jib tip position measuring device 11 described later. When the automatic tracking angle measuring device 41 is used, the measurement cycle may be long as described above. However, the measurement by the automatic tracking angle measuring device 41 This is a change in the position of the jib tip 4 due to the ups and downs, and the change in the position of the jib tip 4 due to the turning can be measured by the turning detection encoder 44 in a short measurement cycle. it can.

The fourth jib tip position measuring device 11 removes errors due to jib bending and mast bending from the measured value of the jib tip position by a general crane hanging load position detecting means. As shown in FIG. 7, a first strain gauge (not shown) provided at a plurality of upper and lower locations on the mast 1 and a second strain gauge (not shown) provided at a plurality of locations before and after the jib 3.
An inclinometer 51 provided on the revolving unit 2, a turning detection encoder 52 for measuring a turning angle of the revolving unit 2 by a revolving device (shown in FIG. 2) 6, and an up / down winch device (see FIGS. 1 and 2). (Shown) 8 attached to the undulating winch device 8
An elevation winch encoder 53 for measuring the elevation angle of the jib from the rotation speed of the jib, a position measurement arithmetic processing unit 54 for calculating the position of the jib tip 4 from data input from each of the above-described devices, and a position measurement arithmetic processing And a database (not shown) pre-stored in a storage device of the device 54.

The first and second strain gauges measure the strain of the mast 1 and the jib 3 caused by the weight of the mast 1 and the jib 3 and the moment due to the load of the suspended load. The bending of the mast 1 and the jib 3 is determined by the above moment, and the mast 1 and the jib 3
Is correlated with the distortion measured by the first and second strain gauges. Therefore, in the jib tip position measuring device 11, the measured values of the first and second strain gauges and the actual bending amounts of the mast 1 and the jib 3 are changed in advance while changing the load of the suspended load and the undulation angle of the jib 3. By creating the above-mentioned database in which the relationship between the measured values of these strain gauges and the measured values of the amount of bending is compiled as a data table, the position measurement arithmetic processing device 54 allows the first and second measurement values to be obtained. The bending amount of the mast 1 and the jib 3 can be obtained from the measured value of the strain gauge with reference to the database.

The position measurement arithmetic processing unit 54 obtains the turning angle of the jib 3 from the data output from the turning detection encoder 52 and obtains the turning angle of the jib 3 from the data output from the hoisting winch encoder 53. it can.
Here, assuming that there is no bending such as bending of the mast 1 and the jib 3, the rotation center position of the revolving unit 2 can be obtained as a fixed point of the local coordinate meter from the installation position of the mast 1, and the rotation center of the revolving unit 2 can be obtained. Position, the turning angle of the jib 3 and the undulation angle of the jib 3, the mounting position of the jib 3 of the revolving unit 2,
From the length of the jib 3, the position of the jib tip 4 in the local coordinate system can be obtained.

Here, actually, since the above-described bending occurs in the mast 1 and the jib 3, the rotation center position of the revolving unit 2 cannot be a fixed point of the local coordinate system. Based on the bending amounts of the mast 1 and the jib 3 determined as described above, the position of the jib tip 4 in the local coordinate system determined as described above is corrected. Further, the measured values of the inclinometer 51 provided on the revolving superstructure 2 and the actual measured values of the amount of bending of the mast 1 are stored in a database in the same manner as the measured values of the strain meter, and the measured values of both the inclinometer 51 and the strain meter are used. Accuracy can be improved by calculating the amount of bending of the mast 1.

Further, the undulation angle of the jib 3 obtained from the output value of the up / down winch encoder 53 can be corrected by the measured value of the inclinometer 51. In this method, even if the position of the jib tip 4 is obtained by the undulating winch encoder 53 or the like as described above, it is possible to cope with a change in the load of the suspended load, and the distortion of the mast 1 and the jib 3 is constantly reduced. By measuring, it is possible to improve the maintenance and management of the tower crane and the safety of use.

The hanging load swing width measuring device 12 is necessary for controlling the vibration of the suspended load based on the actual swing of the suspended load so as to suppress the swing of the current suspended load. Basically, it is necessary to measure the swing direction and swing width of the suspended load. The swing of the suspended load is obtained from the difference between the position of the suspended load (hook block 5) and the position of the distal end of the jib, and the position of the distal end of the jib is determined by the jib distal position measuring device 11 as described above. Since it is measured, the position of the suspended load can also be determined by, for example, the method using the GPS described above,
The position of the suspended load may be measured by a method using an automatic tracking angle measuring device or an automatic tracking angle measuring device.

The swing width of the suspended load can be measured by knowing the swing width and the direction of the suspended load with respect to the jib tip 4 as described above. It is not necessary to determine the position of the position 4 as the position of the determined local coordinate system. For example, the relative position of the suspended load with respect to the jib tip 4 is determined, or a numerical value serving as an index indicating the amount and direction of the swing width is determined. It is good. For example, the following can be used as the swing width measuring device 12.

As the first suspended load swing width measuring device 21, the angle of the wire 9 for suspending the suspended load from the jib tip 4 is
The measurement is performed by a copying apparatus (not shown) that moves along the wire 9. The above-described copying apparatus is, for example, a device that swings according to the swing of the wire 9 to each of the wires 9 that suspends the suspended load (the hook block 5) from the jib tip 4 of the tower crane. A member having an upper end swingably connected to the lower surface of the portion 4 and a lower end fixed to the wire 9 such that the wire 9 can move up and down. The deflection angle of this copying apparatus is measured by an angle measuring device such as an encoder, and the distance from the jib tip 4 to the hook block 5 or the suspended load is measured by a hoisting winch encoder (not shown) provided in the hoisting vertical winch device 10. By calculating the output value indicating the length of the wire 9 and the output value indicating the undulation angle of the jib 3 of the undulating winch encoder (not shown) provided in the undulating winch device 8, the swing angle of the suspended load is calculated from the swing angle of the suspended load. Can be obtained.
Note that the undulation angle of the jib 3 may be obtained by an inclinometer.

The swing direction of the suspended load can be measured by the above-described encoder of the copying apparatus using two axes, ie, the direction in which the jib 3 circulates and the direction in which the jib 3 moves up and down perpendicular to the direction in which the jib 3 moves. The shake direction can be obtained from the shake angle of each direction component. In addition, the vibration control of the suspended load is performed by swinging in the circling direction by accelerating or decelerating the turning movement of the jib 4 as described later. Since the deceleration is performed, the deflection angle of each direction component can be used as it is as an index of the deflection width and the deflection direction as the data for vibration suppression control of the suspended load, so the length and the deflection direction of the actual deflection width are not necessarily determined from the above data. There is no need to calculate. As a method of determining the swing direction of the suspended load, the swing angle and the swing direction of the wire may be determined by using a laser type XY displacement meter in addition to using the biaxial encoder as described above.

The second suspended load swing width measuring device 12 uses a polygon type laser diffusion position recognition method. The hanging load swing width measuring device 12 has a polygon type laser device (not shown) for diffusing a laser in a wide range at the jib tip 4, and the above-described prism (not shown) is disposed on the hook block 5. Then, the position of the prism provided on the hook block within its diffusion range is detected from the direction of the reflected light reflected from the prism of the hook block 5, and the direction of the prism is measured.

The laser of the laser device installed at the jib tip 4 is made to be able to move in two axes.
If the displacement of the shaft is detected by an encoder or an inclinometer, the direction of the hook block 5 with respect to the jib 3 can be obtained more accurately, and the swing angle of the suspended load can be obtained from this direction and the undulation angle of the jib 3. Then, the shake direction can be obtained. Further, the distance between the jib 3 and the hook block 5 can be calculated from the output value of the hoisting winch encoder and the undulation angle of the jib as described above.

The third suspended load swing width measuring device 12 is an image processing system, and uses image data of a monitoring CCD camera (not shown) generally attached to the jib tip 4 of a tower crane. The motion of the hook block 5 in the image data is recognized. That is, in the surveillance CCD camera, the hook block 5 always fits within the photographing range, so that the hook block 5 is determined from the image of the CCD camera by a known image processing method, and the jib tip 4 CC fixed to
By determining the position of the determined hook block 5 within the photographing range of the D camera, the swing width and swing direction of the hook block 5 with respect to the jib tip 4 can be determined. As a method of determining the hook block 5 from the image, for example, the color of the hook block 5 or a part of the hook block 5 may be determined as a color that does not exist in the surrounding environment by color identification for identifying the color of the hook block 5 from image data. Can be.

The fourth suspended load swing width measuring device 12 uses an accelerometer (not shown).
For example, a two-axis accelerometer having a turning direction of the jib 3 and an undulating direction orthogonal to the turning direction is installed. Then, the direction of the shake and the magnitude of the shake are detected from the magnitude of the acceleration in each axial direction. When actually performing the vibration suppression control, by controlling the acceleration to approach zero, Since the swing of the suspended load can be converged, it is not necessary to change the value of the acceleration to the unit of length as the swing width. When the hook block 5 rotates left and right, the accelerometer is configured not to rotate together with the hook block.
It is necessary to detect and correct the rotation of the accelerometer.

Next, the operation schedule input device 13 will be described. The operation schedule input device 13 includes:
A computer system (personal computer) including an arithmetic processing unit (not shown), an input device including a keyboard and a pointing device such as a mouse, and an output device such as a display and a printer. Data can be output to the operation control device 14. In the operation schedule input device 13, for example, in the case of a tower crane installed at a construction site, the start point and the end point of the suspended load, that is, the loading area, on a plan view (XY local coordinate system) around the tower crane. And the position of the unloading place are input by, for example, a mouse.

Next, for example, since a side view of the start point and the end point where the positions on the plane are input is obtained, the height at which the automatic operation is started at the start point and the height at which the automatic operation is stopped at the end point are indicated by, for example, a mouse. Specify by. At this time, workers and vehicles are moving at the loading / unloading site at the construction site, so if the suspended load approaches the loading / unloading site, these workers or vehicles The operation of the tower crane cannot be operated unless the movement of the tower crane is grasped.Therefore, at present, the operation can be switched to manual operation near the loading and unloading site rather than operating the tower crane by automatic operation. Preferred, and
It is difficult to secure a view from the revolving unit 2 of the tower crane near the loading / unloading place. For example, it is preferable to operate the tower crane wirelessly from the loading / unloading place.

Therefore, in this example, when the tower crane is operated at the construction site, the above-mentioned wireless operation device 15 is used, so that the range automatically operated by the tower crane is:
The operation at a position below and up to the height of the input start point and end point is performed by the wireless operation device 15. The operation schedule input device 1
Numeral 3 allows the user to input a plurality of transport routes of suspended loads and a transport route of the hook block 5 in an empty state where the suspended loads are lowered, and is within the turning range of the jib 3 of the tower crane. The position (range) of the obstacle can be input.

When the tower crane is used in dam construction, when the size of each casting block serving as an unloading place is input on the display device of the operation schedule input device 13, a plan view of the entire unloading place is automatically displayed. The screen is cut into meshes for each of the placement blocks, and the input of the end point is completed by putting a number indicating the placement order in each mesh. For the loading area, for example, it is the position of the bucket receiving truck or transferer running on the bunker line, and basically, the position where the track of the suspended load of the tower crane and the bunker line intersect is the position of the loading area. For example, the shortest moving route from the bunker line of the tower crane to the placing block is determined corresponding to the position of the end point, and at this time, at the position where the bunker line and the moving route of the suspended load intersect,
The bucket carrier or the transferer may be moved.

The automatic operation control device 14 basically includes:
It has an arithmetic processing unit (not shown), an input device such as a keyboard and a pointing device such as a mouse, and an output device such as a display and a printer, and has a jib tip position measuring device 11, a suspended load swing measuring device 12, and an operation schedule input. An interface is provided for inputting data from the device 13 and outputting operation data to a tower crane operating device that operates the turning device 6, the hoisting winch device 8, and the winding up / down winch device 10.

The automatic operation control device 14 has a function of determining the moving route of the suspended load (the hook block 5) based on the start point, the end point, and the range of the obstacle input from the operation schedule input device 13. Have. Further, the automatic operation control device 14 determines the position of the jib tip 4 sequentially input from the jib tip position measuring device 11 in a short cycle time and the jib tip 4 determined based on the movement path determined as described above. The movement path of the suspended load in the XY local coordinate system corresponding to the ground surface (in the XY local coordinate system, the coordinates of the suspended load and the jib tip 4 coincide with each other unless the suspended load swings). And judge whether or not the current position of the jib tip 4 deviates from the movement path by more than an allowable range.

When the moving path and the current position of the jib tip 4 are shifted from each other, the automatic operation control device 14 controls the turning device 6 and the hoisting winch device 8 via the tower crane operating device. It has a feedback control function that operates to return the position of the jib tip 4 to the above movement path. In addition, the automatic operation control device 14 determines the distance between the current position of the jib tip 4 and the stop position in the turning direction of the jib 3 or the turning angle of the jib 3 between the current position and the stop position. Has the function of controlling the turning speed of the jib 3 by the turning device 6 in substantially real time based on the

The automatic operation control device 14 determines the distance between the current position of the jib tip 4 and the stop position of the jib 3 in the up-and-down direction, or the distance between the current position and the stop position. Has the function of controlling the hoisting speed of the jib 3 by the hoisting winch device 8 in substantially real time based on the hoisting angle of the hoist. Further, the automatic operation control device 14 accelerates and decelerates the turning speed of the jib 3 by the turning device 6 based on the index indicating the swing width and swing direction of the suspended load input from the suspended load swing width measuring device 12. In addition, the acceleration / deceleration of the hoisting speed of the jib 3 by the hoisting winch device 8 has a function of controlling the vibration of the suspended load. Further, the automatic operation control device 14 has a function of performing fuzzy control of acceleration / deceleration of the lifting / lowering speed of the jib 3 and acceleration / deceleration of the turning speed of the jib 3 at the time of vibration suppression control of the suspended load.

The wireless operating device 15 is carried by an operator at a loading / unloading place and a transmitter (not shown) capable of transmitting operation data to the tower crane operating device. A receiver (not shown) capable of outputting the transmitted operation data to the tower crane operation device via the automatic operation control device 14. Then, the wireless operation device 15 is used to unload the suspended load from the predetermined height at the unloading site until the suspended load is lifted from the predetermined height at the unloading site. Or, it is for performing remote control manually from the unloading place.

The hook block alarm device 16 informs a worker near or below the moving suspended load of the fact that the suspended load is moving, and alerts the worker. The hook block alarm device 16 includes a movement detection device (not shown) attached to the hook block 5, an audio output device, a lighting device, and a power supply device. The above-mentioned movement detecting device is formed of, for example, an accelerometer, and detects that acceleration has occurred due to swing or swing movement of the suspended load or increase / decrease of the traveling speed, and detects that the suspended load is moving by the acceleration. In addition, a signal indicating detection of the movement of the suspended load is output to the audio output device and the lighting device.

Further, the movement detecting device includes a hook block 5
The vertical movement of the suspended load may be detected by the rotation of the sheave. The sound output device outputs, for example, a sound signal stored in a sound ROM in advance as sound through a loudspeaker to the outside when the movement detection device detects the movement of the suspended load. The lighting device turns on the warning light when the movement detection device detects the movement of the suspended load.

The power supply device is, for example, a battery. If the power supply device is a combination of a solar cell or a generator that generates power by rotation of a sheave of the hook block 5 or a wind power generator, the battery can be replaced. Maintenance such as charging and charging can be eliminated. Further, the hook block alarm device 16 may be connected to and controlled by the automatic driving control device 14 as shown in FIG. 3, but if the hook block alarm device 16 is configured as described above,
The hook block alarm device 16 can be operated independently, and the hook block alarm device 16 can be operated regardless of the configuration of the tower crane.

The tower crane apparatus of this example basically has the above-described configuration. FIG. 8 shows a tower crane for dam construction, and a strain gauge as the jib tip position measuring device 11. The above-described fourth jib tip position measuring device 11 having a
As an example, a schematic configuration of an automatic crane operating device using a second suspended load swing width measuring device 12 by a polygon type laser diffusion position recognition method is illustrated. The crane automatic operation device shown in FIG. 8 has the strain gauges (not shown) attached to the strain gauge attachment portions a and b shown by broken lines on the mast 1 and the jib 3, and is attached to the jib tip 4. A polygon type laser device (not shown), a revolving unit sensor A provided on the revolving unit 2, and an operation room control unit B provided in an operation room on the revolving unit 2
And a hook block system section C provided in the hook block 5.

In this tower crane, a bucket for placing concrete is attached to the hook block 5. As the above-mentioned revolving body sensors A, as each of the above-described devices, a hoisting winch encoder that detects a hoisting amount and a lowering amount of a suspended load, an hoisting winch encoder 53 that detects an hoisting angle of the jib 3, and a turning of the jib 3 A turning detection encoder 52 for detecting an angle;
And a wireless transmission / reception device. The wireless transmission / reception device communicates with a construction support computer located in an office, and communicates with a bunker line-side bucket receiving truck and a transferer which serve as a loading site at a dam construction site.

The operation room control section B includes an automatic control personal computer serving as the automatic operation control device 14, an operator display personal computer connected to the automatic control personal computer and displaying an operation state or the like to an operator of the operation room, A wireless communication control personal computer that controls wireless communication in the transmission / reception device, and an interface device between a winch control panel for the undulating winch device 8 and the winding vertical winch device 10 and an automatic control personal computer are arranged. In addition, the automatic control personal computer consists of vibration control for suspended loads by the fuzzy inference unit, automatic operation basic control, which is control of automatic operation other than vibration control by the fuzzy inference unit, comprehensive management of safety measures, and The control of communication with the bunker line is performed in order to make the movement of the vehicle on the bunker line correspond to the movement of the hook block 5 to which the bucket is attached.

In the hook block system section C,
A reflection prism that reflects the laser of the polygon type laser device, an accelerometer that serves as a movement detection device of the hook block alarm device 16, and an alarm device that includes an audio output device and a lighting device of the hook block alarm device 16. ,
A wind power generator or a solar panel (solar cell) serving as a power supply of the above-described hook block alarm device 16 and a placement-side remote control repeater for operating concrete placement by a bucket attached to the hook block 5 are provided. Is provided.

Next, a description will be given of a method of automatically operating a crane by the automatic crane operating device having the above-described configuration. First, the operator operates the operation schedule input device 13.
As described above, the start point and the end point of the movement of the suspended load (hook block 5) are input, and if there is an obstacle, the arrangement of the obstacle is input. Next, the start point, the end point, and the arrangement of obstacles are input from the operation schedule input device 13 to the automatic operation control device 14.

Then, the automatic operation control device 14 calculates the movement route from the start point to the end point of the suspended load from the start point, the end point, and the arrangement of the obstacles. Basically, the movement of the suspended load suspended on the jib tip 4 on the XY coordinates with respect to the ground surface is a circular movement around the center of rotation of the jib 3 and the circular movement based on the up-and-down movement of the jib 3. When there are no obstacles, it is a circling movement from the horizontal angle of the starting point to the horizontal angle of the ending point, and along the radial direction from the starting point to the ending point. The movement path is determined by combining the linear movement (for example, in a three-dimensional manner, a circular movement on a vertical plane) at the same time.

When there is an obstacle on the moving path determined as described above, basically, when the suspended load passes through the position of the obstacle due to the turning movement of the jib 3, the elevation angle of the jib 3 Can be determined so as to avoid obstacles. In other words, the movement path of the jib tip 4 can be expressed as the value of the undulation angle of the jib 3 with respect to the value of the sequentially changing turning angle of the jib 3, and within the range of the turning angle of the jib 3 where the obstacle exists. The moving route is determined by increasing the undulation angle of the moving object.

Next, the actual movement of the suspended load is performed. When the suspended load is moved, it is necessary to move the hook block 5 to the above-mentioned starting point, a loading place. Similar to the movement of the suspended load described above, the crane is automatically operated so as to move the hook block 5 from the current position to the loading place. Then, at the stage where the hook block 5 is arranged in the loading area, a suspended load is attached to the hook block 5. Then, for example, in the construction work, the operator of the unloading place operates the tower crane by the above-mentioned wireless operation device 15, performs the operation of lifting the suspended load to almost the predetermined height by the winding vertical winch device 10, and suspends the load. At the stage when the load is lifted, the wireless operation device 15 transmits an automatic operation start signal to start automatic operation.

The lifting of the suspended load by the winding up / down winch device 10 is performed by the hook block 5 and the jib tip 4 based on the output values of a winding winch encoder (not shown) and an up / down winch encoder (shown in FIG. 7). The distance is set so as to be a predetermined distance, which is performed by a known method. Next, at the stage where the suspended load is lifted, the movement of the jib 3 by turning and undulating is started. At this time, the position of the jib tip 4 is input from the jib tip position measuring device 11 to the automatic operation control device 14 at a predetermined cycle time.

Then, the automatic operation control device 14 starts and stops the turning movement of the jib 3 by the turning device 6,
Control the turning speed (acceleration / deceleration) of the jib 3 and start and stop the up / down movement of the jib 3 by the up / down winch device 8;
This controls the hoist speed (acceleration / deceleration) of the jib 3.
In order to prevent the swing of the suspended load, the speed of the turning movement of the jib 3 by the turning device 6 and the speed of the hoisting movement of the jib 3 by the hoisting winch device 8 are controlled by a stepless speed change or a multi-stage speed change having an extremely large number of steps. Preferably, it is possible to do so.

The speed of the turning movement of the jib 3 is controlled by the turning angle between the current position of the jib tip 4 output from the jib tip position measuring device 11 and the stop position of the jib 3 turning. You can decide. That is, when the turning angle between the current position and the stop position is large, the turning speed is set to be faster, and as the turning angle between the current position and the stop position becomes smaller, the turning speed is set to be lower. . That is, when the suspended load approaches the stop position, the turning speed is sequentially reduced, and when the turning movement is stopped, the suspended load is prevented from largely swinging.

When the turning movement is started, the turning movement is accelerated slowly at a predetermined acceleration, and is accelerated until the actual turning speed reaches the turning speed corresponding to the turning angle between the current position and the stop position. Will be. In addition, since the speed of the turning movement of the jib tip 4 changes depending on the up-and-down angle of the jib 3, when controlling the speed of the turning movement of the jib 3 by the angular speed, the angular speed of the turning movement is set to the current position and the stop position. It is necessary to control based on the turning angle of the jib 3 and the undulation angle of the jib 3.

The control of the speed of the jib 3 up-and-down movement is performed by controlling the up-down angle or the up-down angle between the current position of the jib tip 4 output from the jib tip position measuring device 11 and the stop position of the jib 3 up-down movement. It is determined by the difference between the horizontal distance from the current position to the turning center and the horizontal distance from the stop position to the turning center. That is, the distance (undulation angle) between the current position and the stop position is far (large).
In this case, the undulating speed is set to be faster, and the undulating speed is set to be lower as the distance between the current position and the stop position is shorter. That is, as the suspended load approaches the stop position, the undulating speed is sequentially reduced, and when the undulating movement is stopped, the suspended load is prevented from largely swinging.

When the undulating movement is started, the undulating movement is slowly accelerated at a predetermined acceleration, and the actual undulating speed is adjusted to the undulating speed corresponding to the distance (the undulating angle) between the current position and the stop position. It will be accelerated. In addition,
The stop position does not always coincide with the position of the end point. In particular, when the moving route is determined so as to avoid an obstacle, there is a high possibility that the position of the stop position does not coincide with the position of the end point. May be more than one.

Further, the automatic operation control device 14 determines whether the current position of the jib tip 4 input from the jib tip position measuring device 11 is displaced from the moving path, and
When the jib tip 4 is displaced, the turning device 6 and the up-and-down winch device 8 are controlled so that the position of the jib tip portion 4 is arranged on the movement path. At this time, the moving path can be regarded as the undulation angle of the jib 3 at each turning angle of the moving jib 3 as described above. 4 can be controlled so as to be arranged on the movement path.

Next, the vibration control of the suspended load by the automatic operation control device 14 will be described. The suspended load vibration control is basically performed based on an output value from the suspended load fluctuation width measuring device 12, that is, an index indicating the fluctuation width and the fluctuation direction. The indicator indicating the swing width and the swing direction is an indicator of the swing component of the directional component along the turning direction of the jib 3 and the indicator of the directional component along the radial direction (undulating direction) orthogonal to the turning direction of the jib 3. It is divided into the index of the swing width.

The swing of the suspended load in the turning direction can be dealt with by accelerating or decelerating the turning speed of the jib 3. For example, if the suspended load is inclined to the rear side of the jib tip 3 along the turning direction by accelerating the turning speed of the jib tip 3, the acceleration can be reduced to reduce the suspended load. When the suspended load is inclined forward along the turning direction by reducing the swing speed of the jib tip portion 3 by reducing the swing speed of the jib tip portion 3, the speed is reduced, that is, In addition, the swing of the suspended load is converged by reducing the acceleration in the reverse direction.

The swing load swings in the radial direction of the turn is dealt with by accelerating and decelerating the undulating speed of the jib 3. For example, jib tip 3
By accelerating the undulating speed of the jib 3
When the suspended load is inclined to the outside of the jib tip 3 along the radial direction, the above-mentioned acceleration is reduced to converge the swing of the suspended load, and the jib tip 3 is raised and lowered. When the speed is accelerated to the side where the jib 3 is turned down, and the suspended load is inclined inward of the jib tip 3 along the radial direction, the acceleration is reduced to reduce the suspended load. This is to converge the shake.

The values of the acceleration and deceleration of the turning speed and the undulating speed performed to converge the run-out are obtained using well-known fuzzy inference. For example, when controlling the turning speed, the turning speed, the distance from the current position of the jib tip 4 to the stop position (turning angle), and the index indicating the swing width output from the suspended load swing width measuring means 12 are indicated. The turning direction component and the like are used as fuzzy input variables, and the amount of change in the turning speed (or acceleration) of the turning device 6 is used as a fuzzy output variable. Then, the range of each fuzzy input / output variable is defined as a fuzzy set (NB: negatively large, NM: negatively medium, NS: negatively small, Z0: almost zero, PS: positively small, PM: positively Medium, PB: very large) from the numerical value indicating the fuzzy set and weight of the fuzzy output variable corresponding to the antecedent consisting of the combination pattern of each Fiji set of fuzzy input variables A fuzzy rule consisting of a consequent part is created.

The numerical value indicating the weight of each fuzzy rule weights the fuzzy rule. If it is smaller than 1, it indicates that the rule is not so important but must be added. The emphasis is placed on the output of the consequent part of the fuzzy rule over the output of the other fuzzy rules, indicating that the output of the fuzzy rule greatly affects the actual output. And the actual output is
During the control, the fuzzy rules in which the value of each fuzzy input variable of the above fuzzy rules is within the selected range of the fuzzy rule become valid, and the weight of the output of the consequent part set by each valid fuzzy rule is given. The multiplied value is output.

Then, by synthesizing the output value of the consequent part of each enabled fuzzy rule, the value of the change amount of the turning speed is output from the fuzzy inference unit to the main arithmetic processing unit of the automatic operation control device 14. You. In addition, even if the swing of the suspended load is caused not by the acceleration or deceleration of the turning movement or the acceleration / deceleration of the undulating movement but by an external factor such as wind, the acceleration of the turning movement and the undulating movement is controlled as described above. The deflection of the load is converged. Further, when the suspended load is swiveled, a centrifugal force is applied to the suspended load. Therefore, when the rotational movement speed is high, it is necessary to consider the centrifugal force. And, at the stage where the suspended load reaches the unloading place under the control as described above,
The suspended load is automatically lowered to the set height. Here, the automatic operation is manually stopped by the wireless operation device 15, and the suspended load is lowered to the ground.

According to the above-described automatic operation control device of this example, the position of the jib tip portion 4 is measured in substantially real time by the jib tip position measuring device 11 and substantially in real time by the suspended load swing width measuring device 12. By measuring the swing of the suspended load and controlling the automatic operation of the crane in near real time based on these measurements, if the suspended load is shaken by external factors such as wind, or the position of the jib tip for some reason is determined in advance. Even when the vehicle deviates from the determined moving route, it is possible to automatically respond without stopping the automatic operation.

Further, in order to prevent the swing of the suspended load as in the prior art, it is not necessary to finely pattern the change in the moving speed of the turning movement and the undulating movement before performing the automatic operation.
The speed is controlled so that the suspended load does not largely swing, and when the suspended load is shaken, control is performed based on an index indicating the swing width or the like input from the suspended load swing width control device 12. By performing the vibration control in real time, it is possible to prevent the swing of the suspended load from increasing, and to cope with it by converging the swing of the suspended load. That is, at the start of the automatic operation, the arithmetic processing for finely patterning the change in the moving speed of the turning movement and the undulating movement can be saved, so that the processing before the automatic operation is started can be shortened and the control device can be downsized. Cost and cost can be reduced.

Further, the turning speed and the undulating speed are associated with the distance (turning angle, undulating angle) between the current position measured by the jib tip position measuring device 11 and the stop position of the turning movement and the undulating movement, and the turning speed and the undulating speed. By controlling the undulating speed, the change of the moving speed does not need to be finely patterned every time the position of the starting point and the ending point is changed and the moving route is changed accordingly, as in the related art. Can be reduced in labor.

[0100]

According to the apparatus for automatically operating a crane according to the first aspect of the present invention, at the time of automatic operation of the crane, the position of the jib tip portion is determined to be the starting position and the stopping position of the suspended load supporting means. The automatic operation control means controls the up-and-down moving means and the turning drive means so as to return the position of the jib tip to the movement path when the jib tip deviates from the movement path based on the crane. Even if the automatic operation is continued, the suspended load does not approach the obstacle or the unloading position does not shift, and there is no need to stop the automatic operation and switch to the manual operation.

That is, the automatic operation of the crane can be made more reliable, further labor saving can be achieved, and the burden on the crane operator and signaling person can be greatly reduced. In addition, since the burden on the crane operator and the signer is reduced, the operator and the signer have more time to grasp the surrounding situation more precisely when the suspended load is moved, so that the operator and the signer can respond more quickly to changes in the surrounding situation. be able to.

According to the automatic driving apparatus for a crane according to the second aspect of the present invention, the automatic driving control means turns the jib tip by the turning moving means based on the distance between the stop position and the current position. Since the speed of the movement and the speed of the up and down movement of the jib tip by the up and down moving means are controlled,
The control that accelerates when the jib tip is far from the stop position and decelerates when the jib tip approaches the stop position can be performed based on the actual jib tip position. Therefore, the suspended load can be stopped at the exact stop position of the XY coordinates corresponding to the ground surface without previously patterning the relationship between the position and the speed on the moving route in detail and completely. The previous arithmetic processing can be saved, and control corresponding to the actual position of the jib tip can be performed.

According to the automatic operating device for a crane according to the third aspect of the present invention, the automatic operation control means, to which the index indicating the swing direction and the swing width outputted from the suspended load swing width measuring means, is inputted, is provided. Judge whether or not the swing load swings by the swing drive means so as to cancel the current swing of the suspended load based on the swing direction and the swing width indicated by the index when the suspended load swings. Acceleration or deceleration,
By controlling acceleration or deceleration of the speed of the undulating movement of the suspended load by the undulating drive means, it is possible to suppress the swing of the suspended load.

Further, since the actual swing of the suspended load is measured by the suspended load swing width measuring means and the acceleration / deceleration of the turning drive means and the undulation drive means is controlled, the suspended load caused by the acceleration / deceleration of the movement of the suspended load is measured. Not only the swing of the suspended load but also the swing of the suspended load due to external factors such as wind. Further, when the acceleration / deceleration of the suspended load is patterned in advance to control the swing of the suspended load, if the acceleration / deceleration pattern of the suspended load is not completely optimized, the swing of the suspended load may be reduced. Therefore, a lot of arithmetic processing may be required to optimize the pattern. However, according to the present invention, the acceleration and deceleration of the movement of the suspended load can be easily patterned, and By controlling the swing drive means and the undulation drive means to cancel the run-out of the load when the load has run out, the swing of the suspended load can be eliminated. Can be

According to the automatic crane driving apparatus of the fourth aspect of the present invention, when the crane is automatically operated at the loading and unloading place where the situation constantly changes, during the automatic operation, the suspended load is not changed. It is necessary to completely remove workers and vehicles from the vicinity of the building or to fully grasp the movements of workers and vehicles using various monitoring devices. When lifting the load to a predetermined height and when unloading the suspended load from the predetermined height at the unloading place, manual operation using wireless operation means can be performed, and the crane can be remotely operated by wireless operation means By doing so, it is not necessary to arrange an operator on the crane side, and labor can be saved even if a part of the automatic operation of the crane is a manual operation.

[Brief description of the drawings]

FIG. 1 is a side view showing a tower crane that is automatically operated by an automatic crane operation device according to an embodiment of the present invention.

FIG. 2 is a plan view showing a tower crane that is automatically operated by the crane automatic driving device of the above example.

FIG. 3 is a block diagram showing a schematic configuration of the automatic driving device of the crane of the above example.

FIG. 4 is a drawing for explaining an example of a jib tip position measuring device of the crane automatic driving device.

FIG. 5 is a drawing for explaining another example of the jib tip position measuring device.

FIG. 6 is a view for explaining another example of the jib tip position measuring device.

FIG. 7 is a drawing for explaining another example of the jib tip position measuring device.

FIG. 8 is a drawing showing a more specific configuration of the crane automatic driving device of the above example.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 mast (tower) 2 revolving unit 3 jib 4 jib tip 5 hook block (suspension load supporting means) 6 revolving device (revolving driving device) 8 up-and-down winch device (up-and-down driving device) 10 winding vertical winch device (winding vertical driving device) 11) Jib tip position measuring device (jib tip position measuring means) 12 Suspended load swing width measuring device (suspended load swing width measuring unit) 14 Automatic operation control unit (automatic operation control unit) 15 Wireless operation device

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Kondo Kana 1-20-10 Toranomon, Minato-ku, Tokyo Inside Nishimatsu Construction Co., Ltd. (72) Inventor Masanori Ishii 1-20-10 Toranomon, Minato-ku, Tokyo Nishimatsu Construction Co., Ltd. (72) Inventor Akira Akagi 1-1-36 Nishiawaji, Higashiyodogawa-ku, Osaka-shi, Osaka Tachibana Co., Ltd.

Claims (4)

[Claims] 1. A crane automatic driving apparatus having a jib capable of raising and lowering and turning, comprising: a jib tip position measuring means for detecting and outputting an actual position of a jib tip end of an operating crane almost constantly; Up / down driving means for raising / lowering movement of the jib, turning driving means for turning movement of the jib, and winding up / down driving means for lifting / lowering movement of the suspended load supporting means suspended from the jib tip by a wire. Automatic driving control means for controlling the movement of the suspended load supporting means from an arbitrary position to an arbitrary position, wherein the automatic driving control means comprises a predetermined suspended load supporting means. The movement path of the jib tip based on the movement start position and the movement stop position of the jib is compared with the current position of the jib tip output from the jib tip position measuring means. An automatic crane driving apparatus characterized in that when the current position of the jib tip is displaced, the undulating movement means and the turning drive means are controlled so that the position of the jib tip returns on a movement path. . 2. The automatic driving control means outputs a stop position of a turning movement of the jib tip and a stopping position of an up-and-down movement of the jib tip based on a moving path of the jib tip, and outputs the jib tip position measuring means. The current position of the jib tip is compared with the current position and the stop position, and the speed of the turning movement of the jib tip by the turning moving means and the jib tip by the undulating moving means are determined based on the distance between the current position and the stop position. The crane automatic driving device according to claim 1, wherein the speed of the undulating movement of the crane is controlled. 3. The apparatus according to claim 1, further comprising: a suspended load swing width measuring unit that almost always detects and outputs an index indicating a swing direction and a swing width of the suspended load supporting unit suspended from a jib tip of the operating crane. The operation control means determines whether or not the suspended load is in a swing state based on the index indicating the swing direction and the swing width of the suspended load output from the swing width measuring means, and the suspended load is swinging. When it is determined that acceleration or deceleration of the speed of the swing movement of the suspended load by the swing driving means and the acceleration or deceleration of the speed of the hoisting movement of the suspended load by the up / down driving means so as to cancel the current swing of the suspended load. The crane automatic driving device according to claim 1, wherein the crane is controlled. 4. An automatic operation control means for remotely controlling the hoisting / lowering drive means, the turning drive means, and the hoisting / lowering drive means of the crane, wherein the automatic operation control means uses the wireless operation means when the automatic operation is stopped. 4. The automatic crane driving apparatus according to claim 1, wherein the hoist driving means, the turning driving means, and the winding up / down driving means of the crane can be remotely controlled.