JP4131092B2 - Cable crane automatic control method and program - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a method for automatically controlling a cable crane in accordance with an operation plan in which a position and an acceleration in each conveying process of a bucket or a traversing trolley are determined.
[0002]
[Prior art]
At a dam construction site, a cable crane is used as one of means for transporting concrete from a manufacturing site to a placing site. As shown in FIG. 1, the cable crane includes a main rope 2 stretched along a longitudinal direction on a dam 1 constructed between mountains, and a transverse trolley that is suspended by the main rope 2 and can travel along the main rope 2. 3, a check 4 for pulling the trolley, a concrete bucket 6 suspended below the traversing trolley 3 via a hanging rope 5, and the traverse trolley 3 provided on the mountain side by pulling the check 4. A traverse winch 7 that reciprocates between a transport start position A and a transport end position B set at an arbitrary position at the bottom of the dam 1, and a traverse winch 8 that winds and lowers the suspension rope 5 to raise and lower the bucket 6. The operation chamber 9 is provided for monitoring the position of the traversing trolley 3 and the position of the bucket 6 and drivingly controlling the winches 7 and 8.
[0003]
A transfer car 10 that transports concrete made by a batcher plant (not shown) travels in a direction perpendicular to the paper surface in the upper side portion of the transport start position A, and a concrete hopper 11 travels at the transport end position B. Based on the control signal from the operation chamber 9, the bucket 6 is moved up and down while the transverse trolley 3 is moved laterally, the bucket 6 is positioned at each of the positions A and B, and concrete is supplied and discharged. Regarding the reciprocating motion of the traversing trolley 3 from the transport start position A to the transport end position B and the vertical motion of the bucket 6, the relationship between the position of the traversing trolley 3 and the bucket 6 and the acceleration and the like is in accordance with a predetermined operation plan. Thus, it is possible to automatically command forward / reverse rotation, deceleration, stop, etc. to the drive control device of each winch 7, 8, and automatic control of the cable crane according to the operation plan is possible.
[0004]
[Problems to be solved by the invention]
However, in actuality, there is a response delay in the acceleration / deceleration of the bucket 6 through the driving of the winches 7 and 8 in response to the instruction content of the acceleration or deceleration of the bucket 6 at the predetermined transfer position described in the operation plan. As a result, a residual shake phenomenon occurs in the bucket. Due to this phenomenon, an unnecessary amplitude is generated in the bucket 6 at a predetermined transport position, and if this amplitude is large, there is a possibility that the transported material in the bucket 6 flows out of the bucket. Therefore, if the residual shake is suppressed and automatic control of the cable crane in accordance with the operation plan is to be realized, the state of the residual shake of the bucket 6 and the like is conveyed while the bucket 6 is being transported by the automatic control. However, based on the degree of residual vibration recognized by the workers, the trial plan is simply repeated, or the operation plan is reviewed based on experience. In such a method, it takes a considerable amount of time to find the relationship between the minimum residual shake and the drive voltage of the winches 7 and 8 before realizing the smooth and reliable automatic control in which the residual shake of the bucket is actually suppressed. There is no doubt that it will be spent, and it is unavoidable that labor costs and other expenses will increase.
[0005]
On the other hand, even if the cable crane is controlled by switching to manual operation at the time when residual shake occurs, for example, a monitoring person arranged at each position A, B and an operator arranged in the operation room 9 The only way to keep the rest steady is to keep in touch by radio and manually operate the operator based on instructions from the supervisor, but the time delay from the supervisor's information transmission to the operator's correction and fine adjustment operations cannot be ignored. The amount of control tended to be ambiguous. Furthermore, since the bucket swings above the worker's head, the evacuation time of the worker becomes longer, the overall work efficiency deteriorates, and there are problems in both efficiency and cost.
Therefore, the present invention has been made paying attention to such a conventional problem, and makes it possible to proceed with reliable automatic control according to the operation plan while simply and smoothly suppressing the residual vibration of the bucket. The present invention provides an automatic control method for a cable crane that can improve the workability and the economical efficiency.
[0006]
[Means for Solving the Problems]
The present invention has been made to achieve the above object, and the first invention relates to a main rope stretched between two points, a transverse trolley that can travel along the main rope, and the trolley towing machine. A checker, a bucket suspended under the trolley via a suspension cable, a traverse winch that winds and unwinds the checker and reciprocates the trolley along the main cable, and An operation plan in which a cable crane equipped with a longitudinal winch that lifts and lowers a bucket by winding and unwinding a suspension rope and a drive control device for each winch is determined in position and speed in each conveying process of the bucket or the transverse trolley A method of automatically controlling along
The relationship between the position and speed of the transverse trolley and the bucket and the driving voltage value of the transverse winch and the longitudinal winch during automatic operation of the cable crane according to the operation plan is related to the amplitude value of the bucket over time. Source data measuring step to measure automatically, and when the amplitude value of the bucket at the predetermined speed change point obtained in the source data measuring step is not included in the predetermined allowable range, the operation plan and corresponding to this A time difference calculating step for calculating a time difference by comparing a time at which the bucket reaches from a certain position to a predetermined position in the source data, and a predetermined coefficient for the time difference after the operation according to the operation plan is completed. Of the correction factor calculated by computing the above with respect to the transverse winch and the longitudinal winch By performing operations on the drive voltage value described in the operation plan, characterized in that it comprises a driving plan adjustment step of modifying the operation plan.
[0007]
In a second invention, the method of the first invention is repeatedly executed until the amplitude value at the predetermined speed change point falls within a predetermined allowable range, and when the amplitude value falls within the predetermined allowable range, The operation plan is confirmed, and thereafter, the cable crane is operated along the determined operation plan.
[0008]
A third invention is a cable crane automatic control program for causing a cable crane automatic control method according to the first or second invention to function on a computer.
[0009]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. FIG. 1 is an overall configuration diagram showing a cable crane to which an automatic control method of the present invention is applied. The cable crane in the figure includes a main rope 2 stretched along the longitudinal direction of a dam 1 constructed between mountains, a trolley 3 suspended on the main rope 2 and capable of traveling along the main rope 2, and a trolley Towing check 4, concrete bucket 6 suspended below the trolley 3 via a suspension line 5, a conveyance start position A and a dam where the check 4 is pulled and the trolley 3 is provided on the mountain side The traverse winch 7 that reciprocates between the conveyance end positions B set at the bottom arbitrary position of 1, the traverse winch 8 that winds and lowers the suspension rope 5 to raise and lower the bucket 6, and the position of the trolley 3 And an operation chamber 9 for monitoring the position of the bucket 6 and drivingly controlling the winches 7 and 8.
A transfer car 10 that transports concrete made by a batcher plant (not shown) travels at a transport start position A in a direction orthogonal to the paper surface, and a concrete hopper 11 is disposed at a transport end position B. In the operation room 9, the operation console 20 for each winch 7, 8, the control unit 22 for commanding various drive modes to each winch 7, 8, the traveling pattern of the trolley 3 and the lifting pattern of the bucket 6 are calculated, An arithmetic unit 24 and a radio 26 are provided to give the pattern to the control unit 22. An inclination angle detection device 28 is provided at the root of the main rope 4, and a light wave rangefinder 30 is disposed. The inclination angle detection device 28 detects the degree of inclination of the main rope 4 at the stop position immediately above the conveyance start position A of the trolley 3, and the light wave rangefinder 30 detects the starting coordinates of the trolley 3, and each of the controls Connected to the unit 22.
[0010]
In correspondence with the light wave rangefinder 30, the trolley 3 is provided with a vertically long reflecting plate 30a that covers the irradiation range of the light wave rangefinder 30. The transverse winch 7 and the longitudinal winch 8 are disposed in the machine room 32 in the vicinity of the main rope 2 and are driven to rotate forward and backward and accelerate / decelerate by a drive control device. The drive control device is connected to the control unit 22 and is driven by a command from the control unit 22. Each winch 7 and 8 has a drum 7d and 8d that winds and unwinds the check cable 4 and the suspension cable 5 in conjunction with the respective motors via a brake and a speed reducer. The traverse winch 7 winds up the checker 4 in an endless manner. As shown in FIG. 1, both ends of the checker 4 are wound and rewound while being wound around the intermediate drum 7d-1 and the drum 7d. .
Each winch motor is provided with a speed detector, and these detected values are fed back to the drive control device to control the rotational direction and speed according to the travel command from the control unit 22. . Each drum 7d, 8d is provided with an encoder. There are two types of encoders for detecting the lateral amount of the trolley 3 and for detecting the downward amount of the bucket 6, and data derived from each encoder is input to the control unit 22. The traversing amount detection value is preferably corrected to the measurement value by the light wave range finder 30 every time the trolley 30 arrives because an error occurs due to slippage of the check 4 at the intermediate drum 7d-1. It is.
A bottom confirmation switch 42 is provided on the bunker line that is the transfer start position A, an area sensor 44 is disposed in the vicinity thereof, and a control panel 46 is further disposed. The bottom confirmation switch 42 detects the bottom of the bucket 6, and the area sensor 44 is a control sensor when the bucket 6 is bottomed. Further, the control panel 46 performs control when the concrete is discharged from the transfer car 10 to the bucket 6.
Below the bucket 6 are provided a gate that is opened and closed by a hydraulic cylinder (not shown), an open / close detection limit switch 48, and an ultrasonic area sensor 50. In addition, a wireless device 52, a gyro-type deflection angle detector 54, a control panel 56, a battery 58 for driving these movable parts, and a solar-type charging device 60 are disposed on the upper portion of the bucket 6, and each of these sensors is arranged. The detected value is transferred to the control unit 22 on the operation room 9 side through the wireless devices 52 and 26.
The hopper 11 is supported by a support frame 62, and a gate that is opened and closed by a hydraulic cylinder (not shown) and an open / close detection limit switch are provided below the hopper 11. In addition, on the legs of the support frame 62, for example, a concrete discharge manual switch 68, a display device 70, a control panel 72, and the like are disposed at a position where the driver seat of the dump truck that stops at the lower portion of the hopper 11 is easily visible and easily operated. Has been. Further, an ultrasonic area sensor 76 for detecting the stop position of the wireless device 74 and the bucket 6 is arranged on the upper part of the gantry 62, and the detection value of each sensor is controlled on the operation room 9 side through the wireless devices 74 and 26. Is transferred to the unit 22.
According to the transport start position and the transport end position, for example, the calculation unit 24 determines the degree of bending of the main rope 2, the feeding length of the check rope 4, the feeding length of the suspension rope 5, and the winch (motor) corresponding thereto. A program in which the behavior of the main rope 2, the trolley 3 and the bucket 6 is analyzed in advance and the operation plan is modeled by using various events such as drive voltage as analysis elements is incorporated. This program is set for each target area of the dam 1 divided into several small blocks, for example, and determines the speed of operation of the trolley 3 at a predetermined position and the lifting speed of the bucket 6 for each block. It describes the operation plan. As shown in FIG. 3, the operation speed V of the trolley accelerates stepwise from the start position L (0) (“t (0)” when elapsed), then reaches a constant speed, and then reaches the target position L ( 6) The operation plan is set to 0 at (elapsed time “t (6)”). An operation plan according to the operation plan of the trolley 3 is set for the lifting speed of the suspension rope 5 of the bucket 6.
FIG. 2 is a flowchart showing an embodiment of the cable crane automatic control method of the present invention. Hereinafter, an actual procedure for performing the cable crane automatic control method of the present invention will be described. In carrying out the present invention, the cable crane is first started (s200), and the calculation unit 24 reads an operation plan stored in an appropriate storage means (s201). Therefore, when concrete is thrown into the bucket 6 with the bucket 6 bottomed at the transport start position A, the start coordinates of the trolley 3 are then determined according to the detection results of the light wave rangefinder 30 and the tilt angle detector 28. And the arrival coordinates are determined. When the preparation for transporting the bucket 6 is completed and the operation OK signal is received from the control panel 46 on the bunker line, the suspension rope 5 is slightly wound up by the winch 8. Since the trolley 3 is moved by this winding, it is preferable to perform zero offset of various coordinate values. Thereafter, driving of the winches 7 and 8 is started (s202).
During operation, the control unit 22 constantly monitors the speed of the trolley 3, the amount of traversing, the length of the suspension rope 5, the driving voltage of the winches 7, 8 by the encoder and other instruments, and records them over time. To go. This record is used as source data in view of the data that will be the basis for the subsequent operation plan correction. When the bucket 6 reaches the pre-programmed speed change point (L (1) to L (5)), an operation for matching the control voltages for the winches 7 and 8 with the program content is executed accordingly. Then, the operation is terminated at the time when it coincides with the initially set arrival coordinates. In this operation end state, the bucket 6 reaches directly above the hopper 11, and thereafter, after the vertical and horizontal automatic fine adjustment work according to the detection values of the ultrasonic area sensors 50 and 76 provided in the bucket 6 and the hopper 11, Stop at the predetermined position and open the gate to release the concrete and finish all the work in the forward path. In the return path, the bucket 6 is returned to the start coordinates, for example, by following substantially the same process as the forward path.
When the movement of the bucket does not change according to the operation plan, it reaches the predetermined positions L (0) to L (6) at an elapsed time different from the operation plan as indicated by “t ′” in FIG. In this case, the time difference between the operation plan and the actual operation becomes the residual shake of the bucket 6, and the bucket 6 swings like a pendulum on the transport path. Therefore, it is determined whether or not the amplitude value of the residual shake is within an allowable range (s204). If it is within the allowable range, it is determined that the operation plan is appropriate as it was originally prepared and is not likely to cause residual vibration (s211). Thereafter, automatic control of the cable crane is executed along this (s212). .
[0011]
If the amplitude value is not within the allowable range in the operation range, in the initial operation plan and the source data corresponding thereto, for example, from the position L (3) corresponding to the operation range to the predetermined position L (4) The time difference is calculated by comparing the planned elapsed time t (4) -t (3) and the actual elapsed time t '(4) -t' (3) with which the bucket 6 reaches (s205). . Subsequently, a correction coefficient is calculated by calculating a predetermined coefficient for this time difference (s206). For example, if the actual elapsed time is greater than the planned elapsed time, the bucket 6 is moving at a slower speed than planned, so one or more corrections are made to move the bucket at a faster speed. It becomes a coefficient. On the other hand, if the actual elapsed time is smaller than the planned elapsed time, the bucket 6 is moving at a faster speed than the plan, and therefore, 0 or more 1 to move the bucket at a slower speed. The following correction coefficients are obtained. The method of calculating the correction coefficient from this time difference is not limited to the example shown in the embodiment. For example, the correction coefficient may be calculated by calculating the time difference in the elapsed time from the start of operation instead of every predetermined operation range. Of course.
[0012]
The operation plan is corrected by performing an operation on the drive voltage values of the winches 7 and 8 described in the initial operation plan for the transverse winch 7 and the longitudinal winch 8 (s207). When the correction coefficient is 1 or more, the driving voltage in the operation plan is increased by this calculation, and when the correction coefficient is 0 or more and 1 or less, the calculation is performed. When the operation plan is corrected, the cable crane is restarted (s208). Therefore, again, the speed of the trolley 3, the amount of traversing, the length of extension of the suspension rope 5, the driving voltage value of the winches 7, 8 are monitored by the encoder and other instruments and recorded over time (s209). . From this source data, it is determined again whether the amplitude value of the residual shake of the bucket 6 is within the allowable range (s210).
[0013]
If the deviation of the amplitude value from the allowable range has not been corrected, steps s205 for calculating the time difference related to the elapsed conveyance time between the planned and actual bucket 6 and the step s207 for correcting the operation plan are repeated. The residual vibration control of the is ensured. If it is determined that the residual runout is within the allowable range in this way, the operation plan at that time is determined (s211), and the cable crane is automatically controlled in accordance with this operation plan thereafter. (S212).
[0014]
【The invention's effect】
As described above in detail, according to the cable crane automatic control method of the present invention, the relationship between the residual runout generated in the bucket and the drive voltage of the winches is automatically determined for each work area such as a concrete placing block. Based on this, the review of the operation plan is routinely executed until the residual shake is appropriately suppressed within a range. Therefore, it does not take much time to realize smooth and automatic control in which the residual swing of the bucket is actually suppressed according to each work area, and in addition, it is possible to avoid increasing labor costs and other expenses. . This will greatly contribute to shortening the cycle time for dam construction.
[0015]
Therefore, automatic control of the cable crane that can improve the workability and economic efficiency by making it possible to proceed with the reliable automatic control according to the operation plan while suppressing the residual swing of the bucket easily and smoothly. A method can be provided.
[Brief description of the drawings]
FIG. 1 is an overall configuration diagram showing a cable crane to which an automatic control method of the present invention is applied.
FIG. 2 is a flowchart showing an embodiment of a method for automatically controlling a cable crane according to the present invention.
FIG. 3 is an explanatory diagram showing a relationship between elapsed time and speed in an operation plan.
[Explanation of symbols]
3 traverse trolley 6 bucket 7 traverse winch 8 longitudinal winch s203 source data measurement step s205 time difference calculation step s207 operation plan correction step

Claims (3)

A main rope stretched between two points, a traverse trolley that can travel along the main rope, a check for pulling the trolley, and a bucket that is suspended below the trolley via a suspension rope A traverse winch that winds and unwinds the check and moves the trolley back and forth along the main rope, and a longitudinal winch that winds and unwinds the suspension rope and raises and lowers the bucket. A method of automatically controlling a cable crane provided with a drive control device in accordance with an operation plan in which a position and a speed in each conveying process of the bucket or the traversing trolley are determined.
The relationship between the position and speed of the transverse trolley and the bucket and the driving voltage value of the transverse winch and the longitudinal winch during automatic operation of the cable crane according to the operation plan is related to the amplitude value of the bucket over time. Source data measurement step to measure automatically,
When the amplitude value of the bucket at the predetermined speed change point obtained in the source data measurement step is not included in the predetermined allowable range, the driving plan and the source data corresponding thereto from a certain position A time difference calculating step for comparing the time at which the bucket reaches a predetermined position and calculating the time difference;
After the operation according to the operation plan is completed, a correction coefficient calculated by calculating a predetermined coefficient for the time difference is a drive voltage value described in the operation plan with respect to the transverse winch and the longitudinal winch. An automatic control method for a cable crane, comprising: an operation plan correction step for correcting the operation plan by performing an operation. The method according to claim 1 is repeatedly executed until the amplitude value at the predetermined speed change point falls within a predetermined allowable range. When the amplitude value falls within the predetermined allowable range, the operation plan is determined at that time, and thereafter A method of automatically controlling a cable crane, wherein the cable crane is operated according to the determined operation plan .   A cable crane automatic control program for causing a cable crane automatic control method according to claim 1 or 2 to function on a computer.

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