JP3080189B2 - Jib crane anti-sway operation control method and apparatus - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an operation control method and apparatus for stopping a load swing generated during acceleration and deceleration of a jib crane having a swivelable and undulating jib.

[0002]

2. Description of the Related Art A jib crane having a tower shape or the like is known as a crane having a jib capable of turning and raising and lowering (up and down). It is also used for outfitting work and dam construction work. In recent years, this jib crane has been operated automatically by automatic control, jib turning and undulating operations have been performed automatically just by inputting cargo handling data such as the loading / unloading position of the luggage. It is designed to control its speed so that it can be transported.

[0003]

When a jib crane of this type is operated, a swing caused by acceleration and deceleration occurs as the jib turns and undulates, thereby deteriorating the safety of work and causing run-out. There is a problem that it takes extra time to stop the operation. When driving manually, the vibration generated by the acceleration and deceleration driving techniques that the driver has learned empirically has been attenuated. That is, a two-stage acceleration / deceleration operation method has been performed in which the vibration generated in the preceding stage is canceled in the subsequent stage by appropriately interrupting the acceleration / deceleration. However, in automatic driving, there was no such thing that stops the runout properly.

On the other hand, the present applicant has previously developed and applied for a method of preventing a steadying of a load in the automatic operation of a container crane (“Method of controlling steadying operation of a suspended load”, Japanese Patent Application No. Sho 63).
141756, etc.). In this method, two-stage acceleration / deceleration operation patterns based on the experience side (simulation) can be incorporated into automatic control by detecting the deflection angle, etc., and discrete rules are continuously connected by using fuzzy inference. It was possible to implement appropriate anti-sway operation.

If this technique is applied to a jib crane, there is a prospect that the unsteady load can be prevented. However, in order to prevent excessive power consumption, it is not possible to simultaneously perform turning and undulating activation (acceleration operation). Because of the unique circumstances of the jib crane, such as difficulty in accurately detecting the deflection angle in two directions due to undulation, it cannot be applied as it is.

Accordingly, the present invention has been devised in order to provide a method for controlling a steady rest operation and a device thereof adapted to the unique circumstances of a jib crane, such as the inability to simultaneously start turning and undulating.

[0007]

According to the present invention, a turning operation speed pattern and an undulating operation speed pattern including a two-stage acceleration / deceleration for stopping a load swing are created by fuzzy inference based on cargo handling data and a rule map. After setting the acceleration start time of the shorter speed pattern among the speed patterns to the acceleration end time of the longer speed pattern or later, the crane during the two-stage acceleration / deceleration in the set speed pattern The attitude and the suspended load are calculated, the optimum command speed pattern is determined by fuzzy inference, and the jib crane is automatically controlled and operated in accordance with the command speed pattern.

[0008] The present invention is also an apparatus for automatically controlling a jib crane in accordance with an operation speed pattern determined by cargo handling data, for performing the above method,
A first fuzzy inference block for creating a turning operation speed pattern including a two-stage acceleration / deceleration for stopping the load and an undulating operation speed pattern by fuzzy inference based on the cargo handling data and the rule map; A priority determination block that sets the acceleration start time of the shorter speed pattern to the acceleration end time of the longer speed pattern or later, and the crane posture and load during two-stage acceleration / deceleration in this set speed pattern A second fuzzy inference block for calculating a height and determining an optimal command speed pattern by fuzzy inference.

[0009]

According to the above construction, simultaneous activation of jib turning and undulation can be avoided, and a speed pattern that can automatically prevent load swing can be created.

[0010]

Embodiments of the present invention will be described below with reference to the accompanying drawings.

FIG. 1 shows an embodiment of an apparatus for controlling a steady rest operation of a jib crane according to the present invention.
This apparatus includes a first fuzzy inference block 1 for first creating a turning operation speed pattern and a undulating operation speed pattern, and a priority determination block 2 for starting a longer one of the speed patterns first. And a second fuzzy inference block 3 for determining an optimal command speed pattern based on the speed pattern. An input unit (setting device) 5 for appropriately inputting cargo handling data to a fuzzy control unit 4 incorporating these blocks 1, 2, 3 and a driving unit 7 of a jib crane 6 in accordance with the determined command speed pattern. An output control unit 8 for outputting an operation signal is provided, and an automatic jib crane operation system 9 to which a function of preventing the movement of the load is added is configured.

The jib crane 6 is constructed by mounting a swivel-type undulating jib 11 on a tower 10.
A swing motor 12 for swing drive, an up-and-down motor 13 for up-and-down operation, and a hoist 15 for winding up or down (extending) a rope (wire) 14 for hanging the load A. Is provided. When a predetermined operation signal is input to the drive units 7 of the motors 12 and 13, the jib 11 pivots by a predetermined angle α and performs an undulating operation by a predetermined angle θ.
4, the cargo A is transported from a predetermined carry-out point B to a carry-in point C.

The input unit 5 is formed so that the height of the unloading point B and the unloading point C, which are the cargo handling data, such as the ground height, the planar position, and the amount of the suspended load can be set and input by operating buttons or the like. . And convert these data,
The initial undulation angle θ ₀ and the initial turning angle α _{0 of} the jib 11,
The initial suspended load ground height H _{0 at which} the jib 11 should start turning and undulating operation, the final values of the final undulating angle θ _E and the final turning angle α _E which are the target values, and the final suspended load at which the jib 11 should end the turning and undulating operation. it is intended to enter the ground clearance H _E first fuzzy inference block 1.

[0014] The first fuzzy inference block 1, input to calculate the initial and final suspension rope length L _0, L _E from the data, the calculated value from the acceleration and deceleration patterns written on rules map 16 (timing) Those corresponding to the lengths of the hanging ropes close to L ₀ and L _E are extracted, and their fitness is calculated by a membership function to obtain a definite value. And together with the steady speed (maximum speed) derived from other data and its operation time,
A basic turning operation speed pattern and a undulating operation speed pattern from start to stop are created. The rule map 16 is prepared in advance by the experience side and computer simulation. In the present embodiment, the acceleration / deceleration and the length of the former stage and the latter stage are roughly described as the two-stage acceleration / deceleration pattern. Shall be equal,
The length of the constant velocity section between the front and rear stages is changed and set for each hanging rope length L.

The priority determination block 2 compares the total operation time of the speed pattern created in the first fuzzy inference block 1 and determines the acceleration start time T of the shorter speed pattern.
₀ is set as the acceleration end time of the longer speed pattern. At this time, if the total operation time length of the shorter speed pattern is sufficiently shorter than the other, and the operation is completed within the other operation time, the start time is appropriately set after the longer acceleration end time. It does not matter.

The second fuzzy inference block 3 calculates the crane attitude (α, θ) and the suspended load (H) at the time of two-step acceleration / deceleration in the speed pattern set by the priority order determination block 2, and calculates this. The suspension rope length (L) at that time is calculated based on the value. This is because the suspension rope length L changes due to the horizontal retraction effect due to the up-and-down movement of the jib 11, and also changes due to the hoisting made while the load A is turning and undulating.
This is because it is necessary to change the timing of the two-step acceleration / deceleration. This hanging rope length L relates to the transport route. For example, if there is an obstacle or the like in the middle, the loading / unloading point B,
Since the information changes independently of C, the cargo handling information is input to the input unit 5
To the second fuzzy inference block 3. Then, according to the calculated hanging rope length L,
The acceleration / deceleration timing created first on the basis of the correction rule map 17 is corrected using fuzzy inference, and an optimal command speed pattern is determined.

Note that if the length L of the suspension rope changes between the time when the first acceleration is performed and the time when the subsequent acceleration is started, the cycle of the load swing also changes. Therefore, in the present embodiment, the acceleration based on the suspension rope length L ₀ at the acceleration start time (time 0) of the turning operation speed pattern and the acceleration based on the suspension rope length L _S1 at the subsequent acceleration start time The timing and the timing are obtained by fuzzy inference, respectively, and the average value is determined as the final value T _S1 . Also, the deceleration timing T _S2 , and the subsequent-stage acceleration / deceleration start time T _K1 , which is the acceleration / deceleration timing of the undulating speed pattern,
T _K2 is determined in the same manner.

The output control section 8 outputs an operation signal to the drive section 7 based on the command speed pattern determined by the second fuzzy inference block 3 to control the turning motor 12 and the up / down motor 13. ing. By this control, the jib 11 operates appropriately and cooperates with the hanging rope 14 to carry the load A from the carry-out point B to the carry-in point C.

Next, an embodiment of the method for controlling the steady rest operation of the jib crane according to the present invention will be described as the operation of the above-mentioned structure.

When automatically carrying the cargo A by the jib crane 6, first, cargo handling data is input to the input unit 5. This cargo handling data is based on the crane attitude (α ₀ , α _E ,
theta _0, is converted into a theta _E) and the suspended load ground clearance (H _0, H _E), is input to the first fuzzy inference block 1. In the first fuzzy inference block 1, the suspension rope length (L ₀ , L _E ) is calculated from these input data, and the load can be stopped according to the suspension rope length (L ₀ , L _E ) by fuzzy inference. The step acceleration / deceleration pattern is determined, and a turning operation speed pattern and an undulating operation speed pattern are created as shown in FIG.

The created turning operation speed pattern and undulating operation speed pattern are input to the priority order determination block 2 and the operation time lengths are compared. If the turning operation speed pattern is longer, as shown in FIG. 3, the acceleration start time is set to the origin (0), the start time T ₀ of the undulating operation speed pattern is set, and the turning operation speed pattern ends the two-stage acceleration. Delay until the point in time.

The turning operation speed pattern and the undulating operation speed pattern after the priorities are determined are input to the second fuzzy inference block 3. As shown in FIG. 4, since the length L of the suspension rope changes with time (refer to the transportation route indicated by the two-dot chain line), the crane posture (α, θ) and the suspended load ( By calculating H), the suspension rope length (L) at that time is estimated. Then, the subsequent acceleration start time (T _S1 , T _K1 ) and deceleration start time (T _S2 , T _K2 ) in each speed pattern are determined using fuzzy inference, and the optimal command speed pattern is determined.

The determined command speed pattern is input to the output control unit 8, and an operation signal according to the command speed pattern is sequentially transmitted to the drive unit 7, and the jib 11 turns and undulates while keeping the load steady. The package A is automatically transported in the shortest time.

Thus, the first fuzzy inference block 1
And a priority order determination block 2 and a second fuzzy inference block 3 to generate a turning operation speed pattern including a two-stage acceleration / deceleration and an undulating operation speed pattern based on the input data, and then activate them. After the priorities are set, the crane attitude (α, θ) and the suspended load height (H) are calculated, and fuzzy inference is performed again to create a command speed pattern having optimal acceleration / deceleration timing. As a result, it is possible to appropriately eliminate the run-out of the load during the transportation, thereby improving the safety of the automatic operation and shortening the operation time. Then, a simultaneous start of turning and undulation is avoided, and a speed pattern is obtained such that the entire operation time does not become excessively long.

The anti-sway operation control device of the present invention can be easily incorporated into a conventional automatic operation system, and is extremely versatile.

In this embodiment, a tower type jib crane is shown. However, the present invention is not limited to this, and can be widely applied to other types of jib cranes having a swivelable and undulating jib.

[0027]

In summary, according to the present invention, the following excellent effects are exhibited.

(1) According to the method of the first aspect, it is possible to eliminate the run-out of the load during the transportation while avoiding the simultaneous start of the turning and the undulation, thereby improving the safety of the automatic operation and shortening the working time. .

(2) According to the configuration of the second aspect, it is possible to improve the safety of automatic driving and shorten the working time with a configuration that is versatile.

[Brief description of the drawings]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a configuration diagram illustrating an embodiment of a jig crane anti-vibration operation control device according to the present invention, in which (a) is a configuration diagram in plan view, and (b) is a configuration diagram in side view.

FIG. 2 is a diagram showing a speed pattern created in a first step for explaining one embodiment of a method for controlling a steady rest operation of a jib crane according to the present invention.

FIG. 3 is a diagram showing a speed pattern created in the next step of FIG. 2;

FIG. 4 is a diagram showing a speed pattern created in the next step of FIG. 3;

[Explanation of symbols]

 1 first fuzzy inference block 2 priority determination block 3 second fuzzy inference block

Continued on the front page (72) Inventor Shigeki Murayama 3-1-1-15 Toyosu, Koto-ku, Tokyo Ishikawa Shima-Harima Heavy Industries Co., Ltd. In the Toji Technical Center (72) Inventor Shigeru Okano 1-1-1, Kanda Ogawacho, Chiyoda-ku, Tokyo Address Ishikawajima Transport Air Machine Co., Ltd. (72) Inventor Yoshihiro Muta 1-1, Kanda Ogawacho, Chiyoda-ku, Tokyo Ishikawajima Transport Aircraft Co., Ltd. (72) Inventor Mitsuru Tahara 1 Mitsuguchi, Yasuura-cho, Toyota-gun, Hiroshima Prefecture Ishikawajima (56) References JP-A-3-56397 (JP, A) Patent 2522020 (JP, B2) (58) Fields investigated (Int. Cl. ⁷ , DB name) B66C 13/22 , 23/00

Claims (2)

(57) [Claims] 1. A turning operation speed pattern and an undulating operation speed pattern including two-stage acceleration / deceleration for stopping a load swing are created by fuzzy inference based on cargo handling data and a rule map. After setting the acceleration start time of the shorter speed pattern to the acceleration end time of the longer speed pattern or later, the crane attitude and the suspended load at the time of the two-step acceleration / deceleration in the set speed pattern are set. A jig crane anti-vibration operation control method comprising calculating and determining an optimal command speed pattern by fuzzy inference, and automatically controlling the jib crane according to the command speed pattern. 2. An apparatus for automatically controlling a jib crane in accordance with an operation speed pattern determined by cargo handling data, comprising: a swing operation speed pattern including a two-stage acceleration / deceleration for load sway prevention; A first fuzzy inference block created by fuzzy inference based on the cargo handling data and the rule map, and an acceleration start time of a speed pattern having a shorter operation time among the above speed patterns or an acceleration end time of a longer speed pattern. A priority determination block to be set thereafter, and a second fuzzy inference for calculating the crane attitude and the suspended load at the time of the two-stage acceleration / deceleration in the set speed pattern and determining an optimal command speed pattern by fuzzy inference. A jig crane anti-sway operation control device comprising a block.