JP3501103B2 - Method and apparatus for controlling suspension operation of shipboard crane device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and a device for controlling a lifting operation such as a ground cutting operation and a horizontal pulling operation by a crane device installed on a ship.

[0002]

2. Description of the Related Art Conventionally, as a method for controlling a lifting operation by a crane device, for example, Japanese Patent Application Laid-Open No. 8-188379 discloses a method for controlling a ground cutting operation of a crane device which is operated on land. . This method detects the amount of change in the working radius due to the flexure of the boom and adjusts the boom hoisting angle so as to cancel out the amount of change, thereby shifting the tip of the boom as much as possible just above the suspended load and suspending it. The load can be cut vertically and the swinging load is prevented from swinging during the cut.

[0003]

Unlike the above-mentioned land-based crane device, in the on-board crane device, the lifting load gradually increases not only on the crane device but also on the entire pontoon along with the ground cutting operation for lifting the suspended load in the water landing state. As it acts on
Due to the fluctuation of the suspension load, there is a possibility that the ship is rocked (pitching or rolling). Therefore, in such an on-board crane device, it is difficult to effectively prevent the hull from swinging due to a change in the suspension load at the time of ground cutting, even if the boom hoisting control as disclosed in the above publication is performed. This also applies to a case where a horizontal pulling operation is performed in which the suspended load is pulled toward the front side in the horizontal direction while gradually raising the boom.

In Japanese Patent Application Laid-Open No. 8-253193, a hull is constructed by mounting a storage pack for storing a liquid on a berth and offsetting a tilting moment generated by the behavior of a working crane by the weight of the storage pack. Although a method of suppressing the inclination of the above is disclosed, such a method requires a large amount of equipment, and a significant cost increase cannot be avoided. Further, it is difficult to obtain high control responsiveness by this method, and it is difficult to effectively suppress the sway of the ship due to the above ground cutting work and the like.

In view of the above circumstances, the present invention is a method for controlling a hoisting operation of a ship crane, which can realize good ship crane work while suppressing swinging of the suspended load and shaking of the ship without adding large-scale equipment. And to provide a device.

[0006]

Means for Solving the Problems In a crane device installed on a ship, a hoisting operation for hoisting a boom and an operation for hoisting and lowering a suspended load (hereinafter, referred to as a suspended load hoisting operation in general). There are at least two motion elements. Therefore, if these two operations are controlled so that the horizontal distance from the vertical metacenter to the boom tip and the boom tip height are maintained at appropriate distances and heights, the ground cutting operation can be effectively suppressed while suppressing the shaking of the ship. It is possible to favorably perform a suspending operation such as a horizontal drawing operation or a horizontal drawing operation.

The present invention has been made by paying attention to such a point, and is a shipboard crane in which a boom that moves up and down and a hoisting device that hoists a suspended load suspended from the tip of the boom are mounted on a ship. A method of controlling a suspending operation by a device, wherein a target horizontal distance from a vertical metacenter for preventing swing of the pontoon and a boom tip end and a target boom tip height are obtained, and the target horizontal distance is maintained. The hoisting angle of the boom during the hoisting operation is adjusted, and the hoisting speed of the hoisted load is adjusted so as to maintain the target boom tip height.

Further, the present invention is a device for controlling a suspending operation by the above-mentioned ship crane device, which comprises position detecting means for detecting a value corresponding to a tip position of the boom, and a vertical direction for preventing the rocking of the barge. Target value calculating means for calculating the target horizontal distance from the metacenter to the boom tip and the target boom tip height, and the horizontal value from the actual vertical metacenter to the boom tip during the lifting operation to calculate the calculated value and the target horizontal distance. And a boom hoisting control means for controlling the drive of the boom driving means so as to bring the deviation of the boom closer to 0, and the actual height of the boom tip at the time of lifting operation, and the deviation between the calculated height and the target boom tip height. And a hoisting speed control means for controlling the hoisting speed of the suspended load so as to approach 0.

The value of the calculated "horizontal distance" may be the horizontal distance itself or a parameter corresponding to this horizontal distance. Further, the boom tip height may be a height set in a coordinate system with the vertical metacenter as a reference, and the vertical distance from the vertical metacenter to the boom tip height may be used. The height may be based on an element that does not move in the coordinate system that uses the vertical metacenter as a reference (for example, the water surface on which the barge floats).

According to the method and apparatus described above, control for maintaining the horizontal distance from the vertical metacenter to the boom tip by the boom hoisting operation and maintaining the boom tip height at the hoisting operation at the proper distance and height, respectively. By this control, the shaking of the barge and the shaking of the suspended load are effectively suppressed. That is, it is possible to safely perform the ground cutting operation and the horizontal pulling operation of the crane while suppressing the swing of the suspended load and the swing of the barge itself without adding large-scale equipment as in the conventional case.

For example, in the case where the hoisting operation is a ground cutting operation for lifting a suspended load in the water landing state to separate the water, it is not necessary to move the boom tip in principle, so the target horizontal distance is just before starting the ground cutting operation. The horizontal distance (that is, before starting the hoisting operation for ground cutting) may be set, and the target boom tip height may be set regardless of changes in the pitching angle and rolling angle of the ship accompanying the ground cutting operation. Instead, the boom tip height required to bring the actual horizontal distance closer to the target horizontal distance may be calculated moment by moment. That is, the target value calculating means sets the horizontal distance from the longitudinal metacenter of the pontoon to the boom tip immediately before the hoisting operation to the target horizontal distance based on the detection result of the position detecting means, and during the ground cutting operation. The boom tip height required to bring the horizontal distance from the vertical metacenter to the boom tip closer to the target horizontal distance may be calculated as the target boom tip height.

As the hoisting speed control means, a target hoisting speed setting means for setting a target hoisting speed and a hoisting speed correction value for making the actual boom tip height close to the target boom tip height are provided. A hoisting speed correction value calculating means for calculating and a hoisting load by the hoisting device based on a final target hoisting speed in which the target hoisting speed is corrected by the correction value calculated by the hoisting speed correction value calculating means. It is preferable to have a hoisting speed adjusting means for adjusting the hoisting speed. According to this structure, the target hoisting speed is corrected by the correction value calculated by the hoisting speed correction value calculating means, and the hoisting device hoists the hoisting load based on the corrected final target hoisting speed. By adjusting the speed, hoisting speed control for bringing the actual boom tip height closer to the boom tip target height is realized.

The target value set by the target hoisting speed setting means may be constant, but if the target hoisting speed is set to a value corresponding to the operation amount of the operating member by the operator, It is possible to perform hoisting speed control that suppresses swaying of the pier while taking into consideration the operator's intention.

The correction value calculating means calculates a correction value in the hoisting direction when the actual boom tip height is higher than the target boom tip height, and the actual boom tip height is calculated as the target boom tip height. If it is lower than the height, it is preferable to calculate a correction value in the unwinding direction.

That is, when the actual boom tip height is too high, the hoisting height of the boom is kept low by correcting the hoisting speed of the suspended load in the hoisting direction to increase the load acting on the boom tip. If the actual height of the boom tip is too low, the boom tip height can be increased by correcting the hoisting speed of the suspended load in the hoisting direction to reduce the downward load that acts on the boom tip. .

On the other hand, when the suspending operation is a horizontal retracting operation for retracting the suspended load in the horizontal direction, the operation is performed by raising and lowering the boom as appropriate, so that the target value calculating means is the swing of the barge. A target hoisting angle calculation means for momentarily calculating a target boom hoisting angle for performing a horizontal retracting operation while preventing the above, and a target position calculation means for calculating a target value of the boom tip position based on the target hoisting angle, The target horizontal distance and the target boom tip height may be calculated based on the calculated target position.

For example, when the operating member for instructing the hoisting operation of the boom is provided, the boom tip position should draw a locus corresponding to the operation contents of the operating member unless the ship is shaken. In other words, if the boom hoisting speed is controlled so that the boom tip position follows the trajectory, it is possible to perform a stable horizontal pulling operation while avoiding sway of the ship. Therefore, in the case of the horizontal retraction operation, the target hoisting angle calculation means is based on the boom hoisting angle before the operation member for instructing the boom hoisting operation is operated and the operation content of the operation member after the operation is started. The target boom hoisting angle may be calculated.

As the boom up / down control means,
A target hoisting speed setting means for setting a target boom hoisting speed, a hoisting speed correction value calculating means for calculating a boom hoisting speed correction value for bringing the horizontal distance from the vertical metacenter to the boom tip position close to the target horizontal distance, And a hoisting speed adjusting means for adjusting the boom hoisting speed by driving the boom driving means based on the final target hoisting speed in which the target hoisting speed is corrected by the correction value calculated by the hoisting speed correction value calculating means. Is preferred. With this configuration, the target hoisting speed is corrected by the correction value calculated by the hoisting speed correction value calculating means, and the hoisting speed of the boom by the hoisting device is adjusted based on the corrected final target hoisting speed. As a result, boom hoisting control is realized to bring the horizontal distance from the actual vertical metacenter to the boom tip closer to the target horizontal distance.

On the other hand, the hoisting speed control means sets the suspended load height calculating means for calculating the actual suspended load height and the deviation of the calculated suspended load height from the target suspended load height to zero. And a horizontal pull-in correction value calculating means for calculating a hoisting speed correction value for correcting the hoisting speed by the correction value calculated by the horizontal pull-in correction value calculating means. , And more preferable. According to this configuration, in addition to the function of bringing the height of the boom tip end closer to the target boom tip height, the function of allowing the suspended load to be pulled in while keeping the height constant is added.

Further, similar to the ground cutting operation, the hoisting speed control means calculates a hoisting direction correction value when the actual boom tip height is higher than the target boom tip target height, and actually When the boom tip height is lower than the target boom tip height, hoisting speed correction value calculating means for calculating a correction value in the hoisting direction is provided, and the correction value calculated by the hoisting speed correction value calculating means. The one configured to correct the hoisting speed according to is preferable.

[0021]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT A preferred embodiment of the present invention will be described with reference to the drawings. In this embodiment, a device capable of automatically controlling both the ground cutting operation and the horizontal pulling operation of the ship crane is disclosed, but the present invention is
It may be configured only for one of the operations.

FIG. 1 shows an example of a crane ship to which the present invention is applied. In the figure, a crane revolving structure 14 is installed on a deck 11 of a barge 10 so as to be pivotable about a vertical shaft 12, and a boom 18 is pivotally mounted at a front part of the crane revolving structure 14 about a horizontal shaft 16. It is pivotally supported. At the tip of the boom 18, the boom roping rope 2
One end of 0 is fixed, and the other end is wound around a boom hoisting drum 22 installed on the crane revolving structure 14.

A boom hoisting drum driving device 23 as shown in FIG. 2 is connected to the boom hoisting drum 22, and the boom hoisting drum driving device 23 drives the boom hoisting drum 22 to rotate in the forward and reverse directions. , The boom 18 rotates about the vertical axis 16 (performs an undulating motion)
It is like this. That is, the boom hoisting rope 20, the boom hoisting drum 22, and the boom hoisting drum drive device 23 constitute a boom drive means for hoisting the boom 18.

A sheave 19 is rotatably attached to the tip of the boom 18, and the hoisting rope 24 is attached to the sheave 19.
Is hung. Then, a hook 26 for hanging a load is fixed to one end portion (end portion on the hanging side) of the suspended load hoist rope 24, and the other end portion thereof is a suspended load hoist drum installed on the crane revolving structure 14. It is wrapped around 28.

A suspended load hoisting drum driving device 29 as shown in FIG. 2 is connected to the suspended load hoisting drum 28.
Is rotated in the forward and reverse directions, so that the hook 2
The hanging load hung on 6 is hoisted and unwound. That is, the hoisting rope 24, the hoisting hoisting drum 28, the hoisting hoisting drum driving device 29, and the like constitute the hoisting device of the present invention.

In FIG. 1, G is the center of gravity of the hull including the crane device, and θ _P is the pontoon 1 around the vertical metacenter ML.
Pitching angle of 0, θ _R is the rolling angle of the ship 10 around the horizontal metacenter MB, L _MCP is the height distance from the water surface to the vertical metacenter ML, L _MCR is the height distance from the water surface to the horizontal metacenter MB, L _SC Is the horizontal distance from the center of gravity G to the center of swing of the crane, L _CB is the horizontal distance from the center of swing of the crane to the boom foot (center of horizontal axis 16), L _BF is the height distance from the water surface to the boom foot, and L _B is the boom The length, θ _B, is the actual boom undulation angle.

Further, in this apparatus, an operation / detection system 30 as shown in FIG. 2 and a controller 40 are mounted.

The operation / detection system 30 comprises a hoisting and hoisting operation means 31A and its operation amount detection means 31B, a boom hoisting operation means 32A and its operation amount detection means 32B, a rolling angle detection means 32, and a pitching angle detection. Means 33, boom hoisting angle detection means 34, crane turning angle detection means 35, boom hoisting drum rotation speed detection means 36B, and suspended load hoisting drum rotation speed detection means 36R are provided.

The suspended load hoisting operation means 31A is provided with a suspended load hoisting operation lever operated by an operator, and the operation amount detection means 31B detects an operation amount of the suspended load hoisting operation lever and outputs a detection signal thereof. Is output to the controller 40. The boom hoisting operation means 32A includes a boom hoisting operation lever operated by an operator, and the operation amount detection means 32B detects an operation amount of the boom hoisting operation lever and outputs a detection signal to the controller 40.

The rolling angle detecting means 32, the pitching angle detecting means 33, the boom hoisting angle detecting means 34, and the crane turning angle detecting means 35 are respectively an actual rolling angle θ _R , pitching angle θ _P , boom hoisting angle θ _B ,
The crane turning angle θ _C is detected, and constitutes a position detecting unit together with a boom tip position calculating unit (described later) in the controller 40. Boom hoisting drum rotation speed detecting means 36B detects the rotational speed V _B of the boom hoisting drum 22, the suspended load hoist drum rotation speed detecting means 36R detects the rotational speed V _R of the suspended load hoist drum 28.

On the other hand, the controller 40 has a function common to the ground cutting operation (an operation of separating a suspended load in the water landing state from above the water) and a horizontal retracting operation (an operation of retracting the suspended load to the front side in the horizontal direction). As a boom tip position calculation unit 41, an actual horizontal distance calculation unit 41a, a target boom tip position calculation unit (target value calculation means) 42, a target horizontal distance calculation unit (target value calculation means) 42a, a boom hoisting drum target rotation speed setting Section (target hoisting speed setting means) 43, hoisting hoist drum target rotation speed setting section (target hoisting speed setting means) 44, boom hoisting drum speed correction value calculation section (hoisting speed correction value calculation means) 45, hoisting load Hoisting drum speed correction value calculation unit (hoisting speed correction value calculation unit) 46A, boom hoisting drum drive command value setting unit (hoisting speed adjustment unit) 48B, and hoisting load hoisting drum drive finger It has value setting portion (winding speed adjusting unit) 48R. Further, as a function for horizontal retracting operation, a boom hoisting angle storage unit (target hoisting angle calculation means) 50, a target boom hoisting angle calculation unit (target hoisting angle calculation means) 51, a suspended load height position calculation unit (suspended load height). (A calculation means) 52, a target suspended load height position storage section 53, and a horizontal draw-in hoisting drum hoisting drum speed correction value calculation section (horizontal draw-in correction value calculation means) 46B. Then, specifically, the following arithmetic control operation is executed.

A) Ground-cutting operation In this ground-cutting operation, basically, the boom hoisting operation is not performed, but only the suspended load hoisting operation is performed. Therefore, the boom up / down operation means 32A and the operation amount detection means 32B thereof.
Is not actually used, and the target rotation speed set by the boom hoisting drum target rotation speed setting unit 43 is zero.

Calculation of Boom Tip Position and Target Boom Tip Position First, the boom tip position calculating section 41, before and after the start of the ground cutting operation, the rolling angle detecting means 32, the boom tip position pitching angle detecting means 33, and the boom hoisting angle. Based on the detection signals output from the detection means 34 and the crane turning angle detection means 35, the boom tip position coordinates (X _BT , Y _BT , in the three-dimensional rectangular coordinate system X, Y, Z).
Z _BT ) is calculated every moment. Here, the X-axis is a horizontal axis along the longitudinal direction of the hull, the Y-axis is a horizontal axis orthogonal to the X-axis, the Z-axis is a vertical axis, and the coordinate X _BT is from the vertical metacenter ML to the boom tip position (to be exact, the boom tip). The position in the X axis direction (horizontal distance) from the sheave 19 to the position of the fulcrum of the hoisting rope 24, the coordinate Y _BT is the distance in the Y axis direction from the vertical metacenter ML to the boom tip position (horizontal distance) Coordinates Z _BT
Is the distance (height distance) in the Z-axis direction from the water surface to the boom tip position, and these coordinates X _BT , Y _BT , and Z _BT are calculated by the following equation.
It is calculated by (1a) (1b) (1c).

[0034]

[Equation 1]

That is, the boom tip position calculation unit 41
A position detecting means is configured with each detecting means.

Further, the actual horizontal distance calculating section 41a calculates the horizontal distance R _BT from the actual vertical metacenter ML to the boom tip position based on the X and Y coordinates obtained by the boom tip position calculating section 41. This horizontal distance R _BT is R _BT
= √ (X _BT ² + Y _BT ² ).

On the other hand, the suspended load hoisting operation amount detecting means 31B
The operating lever of the hanging load hoisting operation means 31A
The operation amount is detected moment by moment and input to the controller 40.
Be done. And the operating lever is
When it is operated in the winding direction, that is, the ground cutting work is started.
At the time of starting, the target boom tip position calculation unit 42
Immediately before (that is, before the operating lever is operated)
XY coordinates (X
_BT, Y_BT) Is the target coordinate (X_BTO, Y_BTO), Or
The target Z coordinate given by
Dome tip height Z_{BT O}Is calculated.

[0038]

[Equation 2]

Where θ_BAIs a suspended load due to ground cutting operation
Pitching angle θ due to change in weight_PAnd rolling angle θ_R
The actual horizontal distance R_BTThe target horizontal distance
R_{B TO}Boom undulation angle required to get close to
Angle). In other words, the horizontal distance R expressed by the following equation
_BTZOIs the target horizontal distance R_BTOBoom to equal value
The undulation angle.

[0040]

[Equation 3]

This target undulation angle θ _BA can be calculated by an appropriate numerical calculation method (convergence calculation method) based on the conditional expression (Formula 3) and R _BTZO = R _BTO . Then, the target boom tip height Z _BTO can be obtained by substituting the calculated target hoisting angle θ _BA into the above (Formula 2).

On the other hand, the target horizontal distance calculating section 42a
Calculates the target horizontal distance R _BTO based on the target coordinates (X _BTO , Y _BTO ). This target horizontal distance R _BTO is R
_BTO = √ (X _BTO ² + Y _BTO ² )

Then, based on the target horizontal distance R _BTO and the target boom tip height Z _BTO , the next boom hoisting control and suspended load hoisting speed control are performed in parallel.

Boom hoisting control The boom hoisting drum target rotation speed setting unit 43 sets a target rotation speed according to the operation amount of the boom hoisting operation lever in the boom hoisting operation means 32A.
Since the boom hoisting operation is not performed in this ground cutting operation, the boom hoisting drum target rotation speed V _BO is fixed at zero. Therefore, the finally commanded boom hoisting drum rotation speed is determined only by the next speed correction value δ _VB .

That is, the boom hoisting drum speed correction value calculation unit 45 calculates the target horizontal distance R _BTO calculated by the target horizontal distance calculation unit 42a and the actual horizontal distance calculation unit 41a.
Deviation ΔR _BT (= R from the actual horizontal distance R _BT calculated by
_BTO- R _BT ) is calculated, and the undulating drum speed correction value δ _VB for making the deviation ΔR _BT closer to 0 is calculated.

More specifically, the control amount Fr corresponding to the deviation ΔR _BT is calculated by the proportional differential calculation, and the undulating drum speed correction value δ _VB corresponding to this control amount Fr is prepared in advance in FIG. ) Calculated from the graph shown in. As shown in this graph, when the control amount Fr is positive (that is, when the actual horizontal distance R _BT is smaller than the target horizontal distance R _BTO ), the boom undulation in the boom fall direction (that is, negative) is performed. When the drum speed correction value δ _VB is set and conversely the control amount Fr is negative (that is, when the actual horizontal distance R _BT is larger than the target horizontal distance R _BTO ), the boom rising direction (that is, the positive value) is positive. The undulating drum speed correction value δ _VB is set.

Then, the boom hoisting drum drive command value setting unit 48B sets this boom hoisting drum speed correction value δ _{VB as it is} to the final boom hoisting drum target rotation speed V _BO ′, and this final target rotation speed V _BO. ′ ′ And the actual boom hoisting drum rotation speed V _B detected by the boom hoisting drum rotation speed detection means 36B, ΔV _B (=
V _BO ′ −V _B ), and the undulating drum drive command value S _B for making the deviation ΔV _B closer to 0 is calculated.

More specifically, the control amount Fs corresponding to the speed deviation ΔV _B is calculated by proportional-plus-integral calculation, and the undulating drum drive command value S _B corresponding to this control amount Fs is prepared in advance in FIG. It is calculated from the graph shown in c). As shown in this graph, when the control amount Fs is positive (that is, when the actual rotation speed V _B is smaller than the target rotation speed V _BO ), the boom falls in the boom falling direction (that is, negative).
When the drive command value S _B is set and the control amount Fs is negative (that is, when the actual rotation speed V _B is higher than the target rotation speed V _BO ), the boom is in the upright direction (that is, positive).
The drive command value S _B is set.

By inputting such a drive command value S _B to the boom hoisting drum driving device 23, boom hoisting control is performed so that the horizontal distance R _BT approaches the target horizontal distance R _BTO .

On the other hand, the lifting load hoisting drum target rotation speed setting unit 44 controls the lifting load hoisting drum target rotation speed setting unit 44 to match the operation amount of the lifting load hoisting operation lever detected by the operation amount detecting means 31B. The target rotation speed V _RO is set. This setting is set based on the graph shown in FIG.

On the other hand, the suspended load hoist drum speed correction value calculation unit 4
6A is a deviation ΔZ _BT (= Z _BTO −) between the boom tip target height Z _BTO calculated by the target boom tip position calculation section 42 and the actual boom tip height Z _BT calculated by the boom tip position calculation section 41. Z _BT ) is calculated and this deviation ΔZ
A hoisting drum speed correction value δ _VR for making _BT close to 0 is calculated.

Specifically, the deviation is calculated by the proportional derivative calculation.
Difference ΔZ_BTThe control amount Gr corresponding to is calculated, and this control amount G
Suspended load hoist drum speed correction value δ corresponding to r_VRPrepared in advance
It is calculated from the graph shown in FIG. This gra
As shown in FIG. 4, when the control amount Gr is positive (that is,
Target height Z_BTOActual boom tip height Z_BTIs better
(If low), increase the boom hoisting load due to hoisting of the hoisting load.
In order to suppress the size and secure the boom height, increase the hoisting load hoisting speed.
Suspended load hoist drum speed compensation in the direction of deceleration (ie negative)
Positive value δ_VRIs set, and conversely, when the control amount Gr is negative (
The target height Z _BTOActual boom tip height Z_BTof
If it is higher, the boom hoisting load due to the hoisting
Suspended load hoisting speed to promote increase and lower boom height
(Ie positive) hoist hoist drum speed in the direction of increasing
Correction value δ_VRIs set.

The suspended load hoisting drum drive command value setting unit 48R is used to set the suspended load hoisting drum target rotation speed setting unit 44.
A value (V _RO + δ _VR ) corrected by adding the speed correction value δ _VR to the target speed V _RO set in step 4 is the final target rotation speed V _RO ′.
And the final target rotation speed V _RO ′
When, the deviation [Delta] V _R of the suspended load hoist drum rotation speed V _R detected by the suspended load hoist drum rotation speed detecting means 36R (=
V _RO ′ −V _R ) is calculated, and the hanging load hoist drum drive command value S _R for making this deviation ΔV _R close to 0 is calculated.

More specifically, the control amount Gs corresponding to the speed deviation ΔV _R is calculated by the proportional-plus-integral calculation, and the undulating drum drive command value S _R corresponding to the control amount Gs is prepared in advance in FIG. It is calculated from the graph shown in c). As shown in this graph, when the controlled variable Fs is positive (that is, when the actual rotation speed V _R is smaller than the target rotation speed V _RO ′), the driving in the unwinding direction (that is, negative) is performed. When the command value S _R is set and the control amount Gs is negative (that is, when the actual rotation speed V _R is larger than the target rotation speed V _RO ′), the hoisting direction (that is, positive) drive is performed. The command value S _B is set.

By inputting such a drive command value S _R to the hoisting and hoisting drum driving device 29, hoisting so that the actual boom tip height Z _BT approaches the boom tip target height Z _BTO . Speed control is executed.

As described above, the boom hoisting control and the hoisting speed control are performed in parallel to bring the horizontal distance R _BT from the vertical metacenter ML to the boom tip position closer to the initial target horizontal distance R _BTO . It is possible to perform the ground cutting operation while keeping the suspended load safely above the water while effectively suppressing the swing of the suspended load due to the change in the horizontal distance and the hull swing around the metacenter. It is possible to wind up.

B) Horizontal pulling operation In this horizontal pulling operation, contrary to the ground cutting operation,
Only the boom hoisting operation is performed, and basically the suspended load hoisting operation is not performed. Therefore, the suspended load hoisting operation means 31A and the operation amount detection means 31B are not used practically, and the target rotation speed V _RO set by the suspended load hoisting drum target rotational speed setting unit 44 becomes zero.

Boom tip position and target boom tip position
Arithmetic Similar to the ground cutting operation, the boom tip position calculation unit 41
Boom tip position coordinates in three-dimensional Cartesian coordinate system X, Y, Z
(X_BT, Y_BT, Z_BT) Is calculated from time to time, and
The flat distance calculation unit 41a includes the boom tip position calculation unit 41.
Actual vertical metacenter based on the X and Y coordinates obtained in
Horizontal distance R from ML to boom tip position _BTCalculate
It The calculation principle is as described above.

On the other hand, in the boom hoisting operation amount detecting means 32B, the operation amount of the boom hoisting operating lever in the boom hoisting operating means 32A is detected moment by moment and input to the controller 40. Here, at the time when the boom hoisting operation is actually started for the purpose of horizontal retraction work, the boom hoisting angle storage unit 50 stores the actual boom hoisting angle θ _B at that time as the reference boom hoisting angle θ _BO . At the same time, the target boom hoisting angle calculation unit 51 calculates a boom hoisting angle change amount Δθ _B corresponding to the operation content of the boom hoisting operation lever from the reference boom hoisting angle θ _BO, and calculates the boom hoisting angle change amount Δθ _B. The angle added to the reference boom hoisting angle θ _BO is calculated every moment as the target boom hoisting angle θ _BA . That is, the boom hoisting angle corresponding to the operation of the boom hoisting operation lever by the operator is set as the target boom hoisting angle θ _BA .

Since the signal output by the operation of the boom hoisting operation lever is a rotation speed command signal as shown in FIG. 3A, the boom hoisting angle change is obtained by integrating the lever operation amount over time. It is possible to calculate the quantity Δθ _B.

The target boom tip position calculation unit 42
Calculates the boom tip position corresponding to the target boom hoisting angle θ _BA as the target boom tip position (X _BTO , Y _BTO , Z _BTO ). This target boom tip position can be obtained by the following equation.

[0062]

[Equation 4]

Further, the target horizontal distance calculating section 42a, based on the target coordinates (X _BTO , Y _BTO ), sets the target horizontal distance R.
Calculate _BTO . This target horizontal distance R _BTO is given by R _BTO = √ (X _BTO ² + Y _BTO ² ) as in the ground cutting operation.

The target horizontal distance R thus obtained
_{Based on the BTO} and the target boom tip height (that is, the Z coordinate value of the target boom tip position) Z _BTO , the next boom hoisting control and suspended load hoisting speed control are performed in parallel.

Boom hoisting control First, the boom hoisting drum target rotation speed setting unit 43 sets the target rotation speed V _BO according to the operation amount of the boom hoisting operation lever in the boom hoisting operation means 32A. This setting is set based on the graph shown in FIG. 3A prepared in advance.

On the other hand, the boom undulation drum speed correction value calculation unit
45 is the target horizontal level in the same manner as in the ground cutting operation.
Distance R_BTOAnd the actual horizontal distance R_BTDeviation from_BT(= R
_BTO-R_BT) Is calculated and this deviation ΔR_BTClose to 0
Relief drum speed correction value for _VBIs the deviation ΔR_BTRatio of
Example Differentiation and graph prepared in advance as shown in FIG. 3 (b)
Calculate from

The boom hoisting drum drive command value setting unit 48B adds the boom hoisting drum speed correction value δ _VB to the boom hoisting drum target rotation speed V _BO set by the boom hoisting drum target rotation speed setting unit 43. This value is set as the final boom hoisting drum target rotation speed V _BO ′, and the final target rotation speed V _BO ′ and the boom hoisting drum rotation speed detecting means 36B are detected in the same manner as in the ground cutting operation. The deviation ΔV _B (= V _BO ′ −V _B ) from the actual boom undulation drum rotation speed V _B is calculated,
The deviation [Delta] V _B calculates the undulating drum drive command value S _B for close to 0 from the graph shown in FIG. 3 that is provided proportional differential operation and advance of the deviation ΔV _B (c). By inputting such a drive command value S _B to the boom hoisting drum drive device 23, boom hoisting control is performed so that the actual horizontal distance R _BT follows the target horizontal distance R _BTO calculated momentarily. It

Suspended load hoisting speed control As described above, in principle, the hoisted load hoisting operation lever is not operated in the horizontal retracting operation, so the hoisted load hoisting drum target rotation speed V _RO is basically 0, which is basically the final value. The target rotational speed of the hoisted load hoisting drum is determined by the following two correction values δ _VR and δ _VRh .

First, the suspended load hoist drum speed correction value calculation unit 4
6A is a boom tip target height Z _BTO calculated by the target boom tip position calculation section 42 and an actual boom tip height Z calculated by the boom tip position calculation section 41, as in the ground cutting operation. the deviation between the _{BT ΔZ BT} (= Z
_BTO- Z _BT ) is calculated, and the winding drum speed correction value δ _VR for making the deviation ΔZ _BT closer to 0 is calculated in the same manner as in the ground cutting operation and the proportional differential calculation of the deviation ΔZ _BT is prepared in advance. It is calculated from the graph shown in FIG.

On the other hand, the horizontal pull-in hanging load hoisting drum speed correction value calculation section 46B calculates a speed correction value δ _VRh for keeping the height of the hanging load constant during the horizontal pulling operation. The calculation is performed as follows.

The suspended load height position calculation unit 52 constantly calculates the suspended load height position hr during the horizontal pulling operation.
This suspended load height hr is given by hr = Z _BT −L / m, where L is the suspended rope length and m is the number of rope suspensions.
The rope length L is obtained by subtracting (the rope length wound on the drum) and (the rope length arranged along the boom) from the (total rope length). Then, the target hanging load height storage unit 50 stores the hanging load height h _r at the start of the horizontal pulling operation as the target hanging load height h _ro .

Next, a horizontal pull-in for the suspended load hoist drum speed correction value calculation unit 46B is the target suspended load height h _ro the actual suspended load height h _r deviation between Δh _r (= h _ro -h _r ) _Is calculated, and a horizontal drawing hoisting drum speed correction value δ _VRh for approximating this deviation Δh _r to 0 is calculated.

Specifically, the control amount Grh corresponding to the deviation ΔZ _BT is calculated by the proportional derivative calculation, and the control amount Grh is calculated.
The suspended load hoist drum speed correction value δ _VRh corresponding to rh is calculated from the graph shown in FIG. As shown in this graph, when the controlled variable Grh is positive (that is, the target suspended load height h _ro
When the actual suspended load height h _r is lower than that), the suspended load hoisting drum speed correction value in the direction of increasing the suspended load hoisting speed to increase the suspended load height (that is, a positive value) δ _VR is set,
Conversely, when the control amount Grh is negative (that is, the target suspended load height h _ro
When the actual suspended load height h _r is higher than the actual suspended load height h _r ), the suspended load hoist drum speed correction value δ _{VRh in the} unwinding direction (that is, the negative direction) is set in order to lower the suspended load height.

Then, the hanging load hoist drum drive command value setting unit 48R sets the target hoisting speed V _RO = 0) to the speed correction value δ _VR for adjusting the boom height and the horizontal value for adjusting the height of the hanging load. Value corrected by adding the velocity correction value δ _VRh for pull-in (0 + δ
_VR + _{δ VRh)} a 'as well as operation as, the final target speed V _RO' final target speed V _RO and, suspended load hoist drum is detected by the suspended load hoist drum rotation speed detecting means 36R rotational speed V _R deviation ΔV _R of the (= V _RO '-V _R)
Is calculated, and the hanging load hoisting drum drive command value S _R for bringing the deviation ΔV _R close to 0 is calculated in the same manner as in the ground cutting operation and the proportional differential calculation of the deviation ΔV _{R and} the operation shown in FIG. Calculate using a graph. By inputting such a drive command value S _R into the lifting load hoist drum driving device 29,
The actual boom tip height Z _BT is the boom tip target height Z
While close to the _BTO, yet, hoist speed control for maintaining the suspended load height h _r constant is performed.

As described above, since the boom hoisting control and the hoisting speed control are performed in parallel, the horizontal distance R _BT from the vertical metacenter ML to the boom tip position is
It is possible to follow the horizontal distance (target horizontal distance) R _BTO corresponding to the operation of the boom hoisting operation lever. In other words, the horizontal retraction operation can be performed while controlling the actual boom tip position to follow the trajectory of the boom tip position while the ship is stationary.
It is possible to safely pull in the suspended load toward the front side while effectively suppressing the swing of the suspended load caused by the disturbance of the change in the horizontal distance, and further the swing of the hull around the metacenter.

When it is not necessary to accurately move the suspended load horizontally in this horizontal retracting operation (that is, when it is not necessary to keep the suspended load height exactly constant), the suspended load hoisting drum for horizontal retracting is performed. It is possible to omit the calculation of the velocity correction value δ _VRh .

In addition, the present invention can take the following embodiments as examples.

(1) In the above embodiment, an example in which the boom tip height Z _BT is set on the basis of the water surface is shown, but the reference position of the boom tip height Z _BT can be set freely, and basically, Any value may be used as long as it is possible to specify the height position relative to the vertical metacenter ML. For example, the vertical distance from the vertical metacenter ML may be used as the boom tip height.

(2) In the above-described embodiment, the hoisting load hoisting drum target rotation speed (that is, the target hoisting speed) is set in accordance with the operation amount of the operation lever in the hoisting load hoisting operation means 31A during the ground cutting operation. Although the target hoisting speed is shown, the target hoisting speed may be constant. For example, a ground cutting work command button is provided in the driver's cab, and when this button is operated, ground cutting control is automatically performed based on the constant target hoisting speed, and the suspended load is separated from the water to some extent. It may be configured such that the winding operation and the winding operation can be performed by the operation lever from the point of time.

On the contrary, it is possible to make the target boom rising speed constant during the horizontal pulling operation. For example, a horizontal retraction operation command button may be provided in the driver's cab, and when the button is operated, the horizontal retraction control may be performed based on the constant boom rising speed.

(3) In the present invention, the boom hoisting drum 22 as described above is used regardless of the specific structure of the boom driving means.
In addition to the combination of the boom hoisting rope 20, a hydraulic cylinder, for example, may be used.

[0082]

As described above, according to the present invention, the target horizontal distance from the vertical metacenter to the boom tip and the target boom tip height for preventing the sway of the pontoon are obtained, and the target horizontal distance is maintained so as to maintain the target horizontal distance. Since the hoisting angle of the boom is adjusted during the hoisting operation and the hoisting speed of the hoisting load is adjusted so as to maintain the target boom tip height, swinging of the hoisting load is possible without adding large-scale equipment. Also, there is an effect that good ship crane work can be performed while suppressing the sway of the ship.

[Brief description of drawings]

FIG. 1 is an overall front view and side view of a barge and a crane device mounted thereon according to an embodiment of the present invention.

FIG. 2 is a block diagram showing a suspension operation control device of the crane device.

3A is a graph used for calculating a boom hoisting drum target rotation speed in the suspension operation control device, and FIG. 3B is a graph used for calculating a hoisting drum rotation speed correction value in the device. , (C) are graphs used to set the undulating drum drive command value in the same apparatus.

FIG. 4A is a graph used for calculating a hoisting load hoisting drum target rotation speed in the hoisting operation control device, and FIG. 4B is for calculating a hoisting load hoisting drum speed correction value in the device. And (c) is a graph used to set a suspended load hoisting drum drive command value in the same device.

FIG. 5 is a graph used for calculating a horizontal hoisting load hoisting drum speed correction in the hoisting operation control device.

[Explanation of symbols]

10 Ship 14 Crane revolving structure 18 Boom 20 Boom hoisting rope (composing boom driving means) 22 Boom hoisting drum (composing boom driving means) 23 Boom hoisting drum driving device (composing boom driving means) 24 Hoisting load Rope (constituting a hoisting device) 28 Suspended load hoisting drum (constituting a hoisting device) 29 Lifting load hoisting drum driving device (constituting a hoisting device) 32 Rolling angle detecting means (constituting a position detecting means) 33 Pitching angle detecting means (constituting position detecting means) 34 Boom hoisting angle detecting means (constituting position detecting means) 35 Crane turning angle detecting means (constituting position detecting means) 40 Controller 41 Boom tip position calculating section (representing position detecting means) Configuration) 41a Actual horizontal distance calculation unit (configures boom up / down control means) 42 Target boom tip position calculation unit (target value calculation means) 42a Target horizontal distance calculation unit (target value calculation means) 43 Boom hoisting drum target rotation speed setting unit (target hoisting speed setting means) 44 Suspended load hoisting drum target rotation speed setting unit (target hoisting speed setting means) 45 Boom hoisting Drum speed correction value calculation unit (raising / lowering speed correction value calculation unit) 46A Suspended load hoisting drum speed correction value calculation unit (Hoisting speed correction value calculation unit) 46B Horizontal retraction suspended load hoisting drum speed correction value calculation unit (horizontal) Retracting correction value computing means) 48B Boom hoisting drum drive command value setting section (hoisting speed adjusting means) 48R Suspended load hoisting drum drive command value setting section (hoisting speed adjusting means)

─────────────────────────────────────────────────── --Continued from the front page (56) Reference JP-A-8-188379 (JP, A) JP-A-62-8992 (JP, A) JP-A-10-227042 (JP, A) JP-A-63- 37095 (JP, A) JP-A-8-295488 (JP, A) Actually developed 62-26383 (JP, U) (58) Fields investigated (Int.Cl. ⁷ , DB name) B66C 23/00 B66C 13 / 22 B66C 13/52

Claims (11)

(57) [Claims] 1. A method of controlling a hoisting operation by an on-board crane device mounted on a ship, comprising: a hoisting boom and a hoisting device for hoisting a suspended load suspended from a tip of the boom. Obtaining the target horizontal distance from the vertical metacenter to prevent the ship from swinging to the boom tip and the target boom tip height, and adjusting the boom undulation angle during the lifting operation to maintain the target horizontal distance,
A hoisting operation control method for an on-board crane device, wherein hoisting speed of a hoisting load is adjusted so as to maintain the target boom tip height. 2. An on-board crane in which a boom that hoists and lowers, a boom driving means that drives the boom in the hoisting direction, and a hoisting device that hoists a suspended load suspended from the tip of the boom are mounted on a carrier. A device for controlling a suspending operation by a device, the position detecting means detecting a value corresponding to a tip position of the boom, and a target horizontal distance from a vertical metacenter to a boom tip for preventing the rocking of the barge and a target. The target value calculating means for calculating the boom tip height and the boom so that the horizontal distance from the actual vertical metacenter to the boom tip during the lifting operation is calculated and the deviation between the calculated value and the target horizontal distance approaches zero. The boom up-and-down control means for controlling the drive of the drive means and the actual boom tip height during the lifting operation are calculated, and the deviation between the calculated height and the target boom tip height is calculated. A hoisting speed control device for controlling a hoisting speed of the hoisted load so as to approach 0, and a hoisting operation control device for an on-board crane device. 3. The hoisting operation control device for an on-board crane apparatus according to claim 2, wherein the hoisting operation is a ground cutting operation for pulling up a suspended load in a watering state to separate the water, and the target value computing means is configured to position the position. Based on the detection result of the detection means, the horizontal distance from the vertical metacenter of the ship to the boom tip immediately before the hoisting operation is set to the target horizontal distance, and the horizontal distance from the vertical metacenter to the boom tip during the ground cutting operation. A boom operation height control device for a ship crane, wherein a boom tip height required to bring the target boom distance closer to the target horizontal distance is calculated as the target boom tip height. 4. The hoisting operation control device for an on-board crane device according to claim 3, wherein the hoisting speed control means sets a target hoisting speed setting means for setting a target hoisting speed and an actual boom tip height. A hoisting speed correction value calculating means for calculating a hoisting speed correction value for approaching the target boom tip height, and the target hoisting speed is corrected by the correction value calculated by the hoisting speed correction value calculating means. And a hoisting speed adjusting means for adjusting the hoisting speed of the hoisting load by the hoisting device based on the final target hoisting speed. 5. The hoisting operation control device for an on-board crane apparatus according to claim 4, wherein the target hoisting speed setting means sets the target hoisting speed to a value corresponding to an operation amount of an operating member by an operator. A characteristic control device for hoisting cranes on board. 6. The hoisting motion control device for an on-board crane device according to claim 4 or 5, wherein the hoisting speed correction value calculation means is configured to operate when the actual boom tip end height is higher than the target boom tip end target height. Calculates a correction value in the hoisting direction, and calculates a correction value in the hoisting direction when the actual boom tip height is lower than the target boom tip height. apparatus. 7. The hoisting operation control device for an on-board crane apparatus according to claim 2, wherein the hoisting operation is a horizontal pulling-in operation for pulling a suspended load in a horizontal direction, and the target value calculation means causes the rocking of the pontoon. A target hoisting angle calculation means for momentarily calculating a target boom hoisting angle for performing a horizontal retracting operation while preventing, and a target position calculation means for calculating a target value of the boom tip position based on the target hoisting angle are provided. A hoisting operation control device for an on-board crane device, which is configured to calculate the target horizontal distance and the target boom tip height based on the calculated target position. 8. The hoisting operation control device for an on-board crane device according to claim 7, wherein the target hoisting angle calculation means is:
A shipboard crane, wherein the target boom hoisting angle is calculated based on the boom hoisting angle before the operation member for instructing the boom hoisting operation and the operation content of the operation member after the operation is started. Equipment suspension control device. 9. The hoisting motion control device for an on-board crane apparatus according to claim 7 or 8, wherein the boom hoisting control means includes a target hoisting speed setting means for setting a target boom hoisting speed, and a vertical metacenter to a boom tip position. The hoisting speed correction value calculating means for calculating a boom hoisting speed correction value for making the horizontal distance of the hoisting speed closer to the target horizontal distance, and the target hoisting speed is corrected by the correction value calculated by the hoisting speed correction value calculating means. And a hoisting speed adjusting means for adjusting the boom hoisting speed by the drive of the boom driving means based on the final target hoisting speed. 10. The hoisting operation control device for an on-board crane device according to claim 7, wherein the hoisting speed control means is a hoisting load height calculating means for calculating an actual hoisting load height. And a horizontal pull-in correction value calculating means for calculating a hoisting speed correction value for making the deviation of the calculated hanging load height from the target hanging load height zero, and this horizontal pull-in correction value calculating means A hoisting motion control device for an on-board crane device, which is configured to correct the hoisting speed based on the correction value calculated in. 11. The hoisting speed control device for a ship crane according to any one of claims 7 to 10, wherein the hoisting speed control means has an actual boom tip height higher than the target boom tip target height. A hoisting speed correction value calculating means for calculating a hoisting direction correction value, and a hoisting speed correction value when the actual boom tip height is lower than the target boom tip height. A hoisting motion control device for a ship crane, wherein the hoisting speed is corrected by the correction value calculated by the hoisting speed correction value calculating means.