JP2523212B2 - Crane automatic driving method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to general construction work and other fields.
Crane The present invention relates to an automatic crane operation method for work such as cargo handling and lifting using equipment similar to the crane.

[Prior Art] When performing such work, conventionally, an operator manually performs operations such as traveling and turning by using switches such as push buttons and levers. However, in order to perform these operations, it is necessary to optimally avoid obstacles, suppress the shake of the load, and stop the load at the target position, and a skilled operator is required.

Various automatic crane operating methods have been proposed (for example, JP-A-58-69695 and JP-A-60-218290).
JP-A-60-23287, JP-A-62-41189, etc.). These methods are roughly classified into (a) a method of transporting over an obstacle in a traveling crane, and (b) a method of setting an optimal route in a plane and transporting it in a pattern according to the route. It

[Problems to be Solved by the Invention] In both the methods (a) and (b), it is not possible to avoid obstacles three-dimensionally, and the method (b) is a pattern operation, so the load is When a shake occurs, the shake of the load cannot be suppressed.

The present invention provides a crane automatic operation method that sets a three-dimensionally safe and quick route, stably moves a load without shaking, and stops at a target position with excellent safety, time saving, and versatility. It is an object.

[Means for Solving the Problem] According to the present invention, a route for three-dimensionally and safely moving a load to the target position is set based on the input information such as the current position, the target position, and the obstacle position. Then, while moving on the route, it was selected toward a short-term target for moving the load on the route correctly on the route based on the information such as the current position from the sensor and the swing of the load. Operation commands such as steady rest start, steady rest stop, and positioning stop are automatically output to a device such as a trolley.

[Operation] In the crane automatic operation method configured as described above, the route setting circuit determines an optimal route from the three-dimensional coordinates of the target position, the position of the obstacle, and the current position of the trolley from the sensor input in advance. Set.

The operation selection circuit, based on the set route, the current position of the trolley, the swing angle of the load, and the like, determines the operation mode of the first axis, the second axis, and the third axis of the trolley in consideration of steady rest and positioning. select.

Each axis control circuit controls the operation of keeping the steady motion by the first control circuit according to the state by fuzzy reasoning based on the information such as the swing angle from the sensor, and the runout by the second control circuit. It controls the operation to stop and stop, and the third
The control circuit controls the operation for maintaining a stable running state.

By the automatic control of such an operation, the load is quickly moved on the three-dimensional route from the start position to the stop position without shaking the load.

Embodiment An embodiment of the present invention will be described below with reference to the drawings.

The crane automatic operation method according to the present invention, route setting,
The operation selection and the operation method are not limited, and the type of crane may be any mechanism such as traveling and turning as long as the load is handled via a rope. As an example, a method using fuzzy control will be described for a traveling crane.

Embodiments according to the invention are shown in FIGS. 1a to 1d. In the automatic driving, when reaching the target position E from the starting position S, as shown in FIG. 1b, the obstacle A,
Based on the information of B, short-term targets P1, P2, ... P4 for moving the load W in the setting of the route are set, and the loads W are moved while sequentially controlling these short-term targets. For example, the trolley T is started so that the load W swings from the starting position S to suppress the swing V, the load W is moved over the positions P1 and P2 and the obstacle A, and the positions P3 and P4 and the obstacle B are bypassed. And moves on the three-dimensional optimum route R to the target position E.

 FIG. 2 shows an apparatus embodying the present invention.

An operation selection circuit 2 is connected to the route setting circuit 1,
The circuit 2 includes a first axis control circuit 3 that controls the first axis of the trolley T, a second axis control circuit 4 that controls the second axis, and a third axis control circuit 4 that controls the second axis.
A third axis control circuit 5 for controlling the axis is connected in parallel. These three circuits 3 to 5 are connected to the trolley T. CCD cameras 9a, 9b, and 9c have respective circuits 1 to 5
It is connected to the. As shown in FIG. 6, the CCD camera 9a is provided adjacent to the host 11 of the trolley T traveling on the rail 10 of the garter, and measures downward the measurement range D1. Then, the swing angle θ is obtained from θ = sin ⁻¹ (A / l) from the swing A of the load W and the length 1 of the suspension wire 12, and the swing angular velocity Δθ is calculated from the swing angle θ and time.
Is to be asked.

Further, as shown in FIG. 7, CCD cameras 9b and 9c are provided so as to measure the measurement ranges D2 and D3 on the front and sides of the obstacle B, and the trolley T, the load W and the obstacles A and B are provided. And the swing angle θ of the load W are obtained.

In these drawings, C1 to C3 are capture screens of the cameras 9a to 9c, respectively.

The route setting circuit 1 uses the three-dimensional coordinates of the target position E, the positions of the obstacles A and B, which are input in advance, and the current position of the trolley T, that is, the starting position S, input from the cameras 9a to 9c, based on the travel distance and The optimum three-dimensional route R is set for the index such as the number of operation switching.

The operation selection circuit 2 is based on the route R set by the route setting circuit 1, the current position of the trolley T from the cameras 9a to 9c, the signal of the swing angle of the load W, etc., and the trolley T in consideration of steadying and positioning. The control mode of the first axis to the third axis is selected.

The first axis to the third axis control circuits 3 to 5 will be described by taking the first axis control circuit 3 as an example. The circuit 3 includes a first control circuit 6, a second control circuit 7, and a third control circuit 7. A control circuit 8 is provided.

The first control circuit 6 carries out steady rest and controls an operation for continuing traveling, and as shown in FIGS. 3a to 3d,
When restraining the swing V of the load W from the starting position S to start,
Alternatively, it is performed when the swing V occurs in the load W in the traveling state or when the moving speed is changed during traveling.

The second control circuit 7 carries out steady rest and controls the stopping operation, and as shown in FIGS. 4a to 4d, restrains the swing V of the load W from the traveling state to achieve the target position. It is carried out when the load W is shaken V when the load W is stopped or when the load W is stopped.

The third control circuit 5 is for performing a stable traveling state as it is.

Similarly to the first axis control circuit 3, the second axis control circuit 4 and the third axis control circuit 5 have first control circuits 6a and 6b, second control circuits 7a and 7b, and a third control circuit 8a. , 8b are provided respectively.

The first to third control circuits are adapted to perform ON / OFF of the trolley T and a movement direction command by fuzzy inference. Of these, the second control circuit 7 will be described as an example. The fuzzy inference algorithm is as follows.
The control law shown in Table 1, The membership function of the fuzzy set relating to the swing angle shown in FIG. 5a and the membership function of the fuzzy set of angular velocity shown in FIG. 5b are used. However, if the moving direction of the trolley T obtained by fuzzy inference turns ON in the direction away from the target position E, the operation is not performed, and
If the vehicle greatly separates from the target position E before catching up with the shake V, the trolley T is stopped. The above-mentioned control law and membership function are examples, and adjustment is made according to the specifications of the trolley.

EFFECT OF THE INVENTION Since the present invention is configured as described above,
It has the following effects.

(A) By inputting the target position where the load is desired to be moved, the load can be stably moved and stopped at the target position without causing the shake of the load on the optimum route.

(B) The labor saving of the operator and the operation by the operator who does not have the specialized knowledge can be enabled, and the cargo handling work can be automated.

(C) It can be easily carried out by adding a control circuit and a sensor without extensively modifying the crane body.

(D) It is safe for both the worker and the load because the load is prevented from shaking during the entire movement of the load.

[Brief description of drawings]

1a to 1d are drawings for explaining the outline of the operation mode according to the present invention, FIG. 1a is a side view, FIG. 1b is a plan view, and FIGS. 1c and 1d are respectively views in the direction of arrow X in FIG. 1b. FIG. 2 is a control block diagram, FIG. 3a to FIG. 3d are side views for explaining the operation mode when traveling with a steady rest, and FIG.
FIGS. 4 to 4d are side views for explaining the operation mode when the steady rest is used to stop at the target position, and FIGS. 5a and 5b are members of the fuzzy set relating to the swing angle and the angular velocity of the second control circuit, respectively. 6 and 7 are a side view and a plan view for explaining the CCD camera. E: target position, T: trolley, V: load swing, W
... load, 1 ... route setting circuit, 2 ... operation selection circuit,
3 ... 1st axis control circuit, 4 ... 2nd axis control circuit, 5 ...
Third axis control circuit, 6, 6a, 6b ... First control circuit, 7,
7a, 7b ... second control circuit, 8,8a, 8b ... third control circuit, 9a, 9b, 9c ... CCD camera

Claims (1)

(57) [Claims] 1. A route for safely and swiftly moving a load to a target position in a three-dimensional manner is set on the basis of the inputted information such as a current position, a target position and an obstacle position, and a sensor is arranged on the route. Based on information such as the current position and load swing, etc., selected steady rest start, steady rest stop, positioning stop toward a short-term goal to move the load correctly on the route without load swing In automatically outputting the operation command of the trolley or the like to the device such as the trolley, the operation command is the route setting circuit, the operation selection circuit, and the axis control of the first axis, the second axis, and the third axis of the trolley. Circuit, and each axis control circuit has a first control circuit for controlling the steady rest traveling operation by fuzzy reasoning, a second control circuit for controlling the steady rest stopping operation, and a third control circuit for controlling safe traveling. With a control circuit, The first to third control circuits respectively obtain the weight of the control law according to the degree to which the input value is applied to any of the fuzzy sets, by the control law and the fuzzy set relating to the swing angle and the angular velocity of the load. A method for automatically operating a crane, characterized in that a value based on a weighted control law is used as an output value to a trolley.