JP2807768B2 - Lifting equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to an earth-lifting apparatus for lifting earth and sand excavated by an excavation work underground, for example, in an underground tank.

[Related Art] Conventionally, earth and sand excavated by an excavation work underground is lifted to the ground by an earth-lifting device and transported to a predetermined place by a truck or the like. In such an excavating device, it is necessary to quickly and efficiently excavate excavated earth and sand so that excavation work under the ground can be performed smoothly. It is required that the lifting speed be as high as possible.

[Problems to be Solved by the Invention] However, when the lifting speed of the bucket is set to, for example, 70 m / min, which is about twice as high as the conventional one, the lifting efficiency of 250 m ³ / h at a depth of 30 m underground is obtained. Approximately 2 minutes of bucket operation per cycle is required to secure this. For this reason, the unloading work is performed at a very high frequency of 30 times / hour, which not only increases the operator's fatigue, but also
Attention is distracted. As a result, an erroneous determination by the operator may cause an operation error such as a collision between a construction machine or the like in the work range and a bucket, and may cause a difficulty in quickly and quickly performing the earth discharging work.

The present invention has been made in view of such circumstances, and an object of the present invention is to reduce the operator's operation mistakes and smoothly and quickly perform the earth unloading work, even if the lifting speed of the bucket is set to high speed. The purpose of the present invention is to provide a lifting device which can be carried out at a time.

[Means for Solving the Problems] In order to solve the above-mentioned problems, an invention according to claim 1 is a monitoring device for monitoring a predetermined work range in a lifting device that lifts excavated earth and sand upward by a vertically movable bucket. Device, a bucket position detecting device that detects the position of the bucket, an alarm device, and when it is determined that it is necessary to stop the lowering of the bucket based on each signal from the monitoring device and the bucket position detecting device, A control device for outputting an alarm signal to the alarm device, wherein the alarm device issues an alarm according to the alarm signal from the control device.

The invention according to claim 2 further includes a bucket emergency stop device, wherein the control device outputs a bucket emergency stop signal to the bucket emergency stop device when outputting the alarm signal, and issues an alarm and stops the bucket. It is characterized by having

The invention according to claim 3 further includes a bucket emergency stop device, wherein the control device outputs a bucket emergency stop signal to the bucket emergency stop device when the alarm signal is continuously output for a predetermined time, and issues an alarm. It is characterized in that it emits light and stops the bucket.

Further, the invention according to claim 4 is a lifting device for lifting up excavated earth and sand by a bucket that can be raised and lowered, a monitoring device for monitoring a predetermined work range, a bucket position detection device for detecting the position of the bucket, and a bucket. An emergency stop device, and a control device that outputs a bucket emergency stop signal to the bucket emergency stop device when it is determined that it is necessary to stop the lowering of the bucket based on each signal from the monitoring device and the bucket position detection device. The bucket emergency stop device performs an emergency stop of the lowering of the bucket in response to the bucket emergency stop signal from the control device.

[Operation] In the lifting device according to the first aspect of the present invention having such a configuration, the control device needs to stop the lowering of the bucket based on each signal from the monitoring device and the bucket position detecting device. When it is determined, an alarm signal is output to the alarm device, and the alarm device issues an alarm. For this reason, the operator realizes that the bucket must not be lowered, stops the lowering of the bucket, and others within the working range recognize that the bucket is lowering.

According to the second aspect of the present invention, an alarm is issued and the lowering of the bucket is automatically stopped by the control device. In this case, the lowering of the bucket is automatically stopped by the control device when the alarm is continuously issued for a predetermined time.

Further, in the invention according to claim 4, when the control device determines that it is necessary to stop the lowering of the bucket based on the respective signals from the monitoring device and the bucket position detecting device, an emergency stop signal is transmitted to the bucket emergency stop device. Is output, so that the bucket emergency stop device makes the bucket emergency stop. For this reason, the lowering of the bucket is automatically stopped even if the operator does not notice that the bucket should not be lowered.

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

FIG. 1 is an overall schematic diagram schematically showing a system for underground excavation work using an embodiment of a lifting apparatus according to the present invention, and FIG. 2 is an enlarged view of the lifting apparatus of this embodiment. . In the figure, 1 is a lifting device, 2 is a column, 3 is a horizontal beam, 4 is a moving carriage, 5 is a winch, 6 is a wire cable, 7 is a clamshell bucket, 8 is a pan head, 9 is a monitoring camera, 10 Is a camera position control and detection device, 11 is a bucket position detection device, 12 is an image processing device, 13 is a control device, 14 is an underground level setting device, 15 is a bucket emergency stop device, and 16 is an alarm device.

As shown in FIG. 1, for example, in order to construct an underground tank 17, a rail is provided along an upper peripheral edge of the underground tank 17, and the unloading device 1 is movably mounted on the rail. I have. The lifting device 1 has a column 2 having wheels running on rails at a lower end, and a cross beam 3 is bridged over the column 2. Further, a movable carriage 4 movable along the longitudinal direction of the cross beam 3 is provided, and a clamshell bucket 7 is suspended on the movable carriage 4 via a winch 5 and a wire cable 6 as in the conventional case. It is suspended.

A monitoring camera 9 is provided via a camera platform 8 below the operator room provided on the cross beam 3, and a camera position control and detection device 10 is provided.
Further, the cross beam 3 is provided with a bucket position detecting device 11.

 FIG. 3 is a control block diagram in this embodiment.

As shown in FIG. 3, the monitoring camera 9 is an image processing device.
The image processing in the image processing apparatus 12 may be performed by a pattern recognition method or a color identification method. The image processing device 12 is connected to the control device 13. Therefore, the signal obtained by the camera 9 is subjected to image processing by the image processing device 12, and
The processed signal is sent to the control device 13. Similarly, the camera position control and detection device 10 and the bucket position detection device 11 are also connected to the control device 13, and the position signal of the camera 9 and the position signal of the bucket 7 are also sent to the control device 13.

A camera position control signal is output from the control device 13 to the camera position control and detection device 10, and the ground level (GL) is set to A as shown in FIG.
The direction of the camera 9 and the zoom lens of the camera 9 are controlled as the underground excavation progresses from B to B, so that the field of view of the camera 9 always captures a certain range, thereby improving the detection accuracy and the effects of blind spots and the like. I try to eliminate. In this case, as a zoom control method, a depth signal is fetched from the unloading device 1 side, and the control device 13 outputs a control signal based on the depth signal, so that the signal of the control device 13 is automatically used as described above. In addition to the method used, it can be controlled manually.

Further, an underground level setting device 14 is connected to the control device 13, and a level signal set for underground excavation is sent to the control device 13. Further, the control device 13 includes a bucket emergency stop device.
15 and an alarm device 16 are connected. Thereby, the control device 13 outputs a bucket emergency stop signal to the bucket emergency stop device 15 and an alarm signal to the alarm device 16 based on the image processing signal and the bucket position signal.

Next, the operation of the present embodiment configured as described above will be described.

First, adjust the screen to the working range of the underground part. That is, the control device 13 controls the pan head 8 and the zoom lens of the camera 9 to adjust the screen so as to be within a predetermined monitoring range, that is, a working range. Next, the bucket position detecting device 11 detects the front and rear and up and down positions of the bucket 7 to measure the current position of the bucket, and sends the position signal to the control device 13.

Further, a signal from the camera 9 is subjected to image processing by the image processing device 12, and the presence or absence of the construction machine M within the work range and the position of the construction machine M, if any, are measured. Send to In this case, the image processing recognizes and stores the shape of the construction machine M if the image processing method is a pattern recognition method, and if the image processing method is a color recognition method, a part of the construction machine M has a special color. Apply the paint and monitor with a CCD camera, measure the density histogram of the image, perform binarization on the density histogram with a certain brightness or higher, analyze the XY oblique data of the image, and If there is a boundary between the areas, the detection is performed by detecting and storing the color as the construction machine M or the like.

When the control device 13 determines that the construction machine M is within the working range based on the bucket position signal and the presence / absence of the construction machine M and the position signal, the bucket 7 is positioned near the ground position above the excavation area. At the stage when the alarm has been reached, an alarm signal is output to the alarm device 16. As a result, the alarm device 16 issues an alarm, and the operator of the excavating device is informed that the construction machine M is within the working range.
To the operator, and to the operator of the construction machine M, that the bucket is lowered. When the control device 13 determines that the construction machine M is outside the working range, the control device 13 does not issue an alarm signal to the alarm device 16, and the alarm device 16 does not emit an alarm.

If the alarm continues to be generated while the bucket 7 is being lowered, such as when the operator lowers the bucket 7 without noticing the warning signal, the control device 13 will contact the construction machine M in anticipation of the control distance of the bucket 7. An emergency stop signal is output to the bucket emergency stop device 15 when the bucket 7 reaches a position where it can be stopped reliably before contact. As a result, the bucket emergency stop device 15 stops the driving device of the winch 5 and applies the brake to make the bucket 7 emergency stop.

Note that the control device 13 may output an emergency stop signal at the same time as outputting the alarm signal.

Thereafter, the operator confirms the situation within the work range and restarts the drive device of the winch 5. In this case, when the control device 13 determines that the construction machine M is not within the work range, the control device 13 restarts the drive of the winch 5. Thereby, the bucket 7 descends again to the excavation level. Also, if the construction machine M is within the working range, the control device
If the control unit 13 determines, the control unit 13 disables the restart of the drive unit of the winch 5. While these control operations are repeated, the lifting and lowering of the bucket 7 is controlled, and the earth discharging work is performed.

In this way, the lifting and lowering of the bucket is controlled by the control device 13, so that an operation error of causing the bucket 7 to collide with the construction machine M due to an erroneous determination by the operator is reliably prevented, and the earth unloading operation is performed smoothly and Be done quickly.

[Effects of the Invention] As is clear from the above description, according to the earth-lifting device according to the present invention, when the bucket starts the descending operation, for example, there is a construction machine or the like in the working range, so that the bucket descends. When it is necessary to stop the operation, a warning is issued to each operator such as a lifting device and construction equipment to alert the operator. And can be evacuated. Further, as described above, when it is necessary to stop the lowering of the bucket, the lowering of the bucket is automatically stopped, so that the collision between the bucket or the like and the construction machine or the like can be prevented.

Thus, according to the present invention, an operation error due to an erroneous determination by the operator can be reliably prevented, and the earth discharging work can be performed smoothly and quickly.

[Brief description of the drawings]

FIG. 1 is an overall schematic diagram schematically showing an underground excavation work system using an embodiment of a lifting device according to the present invention, FIG. 2 is an enlarged view of the lifting device of this embodiment, and FIG. Is a control block diagram in this embodiment. DESCRIPTION OF SYMBOLS 1 ... Unloading device, 2 ... Prop, 3 ... Cross beam, 4 ... Moving trolley, 5 ... Winch, 6 ... Wire cable, 7 ...
Clamshell bucket, 8 head, 9 monitoring camera, 10 camera position control and detection device, 11 bucket position detection device, 12 image processing device, 13 control device, 14 …… underground level setting device, 15 …… bucket emergency stop device, 16 …… alarm device

Claims (4)

(57) [Claims] 1. A lifting device for lifting excavated earth and sand by means of a vertically movable bucket, comprising: a monitoring device for monitoring a predetermined working range; a bucket position detecting device for detecting a position of the bucket; an alarm device;
When it is determined that it is necessary to stop the lowering of the bucket based on each signal from the monitoring device and the bucket position detection device, the control device outputs a warning signal to the warning device. The earth lifting device, wherein the alarm device issues an alarm in response to the alarm signal. 2. The apparatus according to claim 1, further comprising a bucket emergency stop device, wherein the controller outputs a bucket emergency stop signal to the bucket emergency stop device when the alarm signal is output, and issues an alarm and stops the bucket. The lifting device according to claim 1, characterized in that: 3. The apparatus according to claim 1, further comprising a bucket emergency stop device, wherein the control device outputs a bucket emergency stop signal to the bucket emergency stop device when the alarm signal is continuously output for a predetermined time, and issues an alarm. The lifting device according to claim 1, wherein the bucket is stopped. 4. A lifting device for lifting excavated earth and sand by means of a vertically movable bucket, a monitoring device for monitoring a predetermined work range, a bucket position detecting device for detecting a position of the bucket, and a bucket emergency stop device. And a control device that outputs a bucket emergency stop signal to the bucket emergency stop device when it is determined that it is necessary to stop the lowering of the bucket based on each signal from the monitoring device and the bucket position detection device,
The earth unloading device, wherein the bucket emergency stop device makes an emergency stop of the lowering of the bucket in response to the bucket emergency stop signal from the control device.