JP7656201B2 - Overhead crane equipment, crane position detection device, crane position detection method, and program - Google Patents

Description

The present invention relates to overhead crane equipment, a crane position detection device, a crane position detection method, and a program, and is particularly suitable for use in detecting the position of an overhead crane in the direction of travel.

In warehouses in factories, etc., overhead cranes are used to transport objects such as steel plates and coils that have been processed. An overhead crane comprises a crane body, a trolley, and a lifting device. Wheels are installed on both ends of the crane body to allow the overhead crane to travel. The direction in which the overhead crane travels is called the travel direction. The trolley moves (traverses) on the crane body. The direction in which the trolley moves is called the traverse direction. The object is transported by the crane body traveling and the trolley traversing while it is lifted using the lifting device. It is necessary to constantly know the position of the overhead crane in the travel direction in order to prevent the overhead crane from lifting an object other than the desired object.

One method for detecting the position of an overhead crane in the direction of travel is an induction wireless method, as described in Patent Document 1. In this method, induction wires are stretched throughout the travel range of the overhead crane. Electromagnetic induction is then generated between the induction wires and an antenna attached to the overhead crane, and the position of the overhead crane in the direction of travel is detected based on the signal received by the antenna. However, due to the structure of this method, it is necessary to stretch induction wires throughout the entire height of the building, which makes the introduction cost high.

Patent Document 1 discloses that distance display boards are installed on the sides of the overhead crane along the travel direction of the overhead crane over the entire range of the travel section in the travel direction of the overhead crane. The technology described in Patent Document 1 detects the position of the overhead crane in the travel direction by optically reading the information displayed on the distance display board with a laser transmitter/receiver.

Patent Document 2 also discloses that multiple magnetic rods are installed in series on the sides of the overhead crane along the travel direction of the overhead crane over the entire range of the travel section in the travel direction of the overhead crane, and multiple detection heads are installed on the overhead crane to detect the magnetic flux generated by the magnetic rods. The technology described in Patent Document 2 detects the position of the overhead crane in the travel direction based on the results of magnetic flux detection by the detection heads.

Patent document 3 also discloses that reflectors are installed on both sides of the crane body in the direction of travel, and that a laser range finder that measures the distance to each reflector is installed on the crane body. The technology described in patent document 3 detects the position of the overhead crane in the direction of travel based on the distance measured by the laser range finder.

Patent Document 4 also discloses that reflectors are installed on the beams at the ends of the travel rails, and that a laser range finder that measures the distance to each reflector is installed on the crane body. The technology described in Patent Document 4 detects the position of the overhead crane in the travel direction based on the distance measured by the laser range finder.

Japanese Patent Application Publication No. 6-239583 JP 2009-166986 A JP 2009-168635 A Japanese Patent Application Publication No. 11-344335

However, the technology described in Patent Document 1 requires optically reading the information, such as binary code, displayed on the distance display board. For this reason, if the information displayed on the distance display board is unclear due to dirt or other reasons, it is not possible to accurately detect the position of the overhead crane in the travel direction.

In addition, the technology described in Patent Document 2 requires that a large number of magnetic rods be installed over the entire range of the travel section in the direction of travel of the overhead crane. This results in high implementation costs.

In addition, with the technology described in Patent Documents 3 and 4, when multiple overhead cranes are installed in the direction of travel of the overhead crane, the other overhead cranes get in the way, making it impossible to accurately detect the position of each overhead crane in the direction of travel.

The present invention was made in consideration of the above problems, and aims to prevent the position of the overhead crane in the travel direction from being inaccurately detected without adopting a complex configuration.

The overhead crane system of the present invention is an overhead crane system comprising: a crane body traveling in a travel direction; a plurality of overhead cranes, each of which is equipped with a trolley mounted on the crane body and traveling in a lateral direction, and a lifting tool for lifting a transported object; an optical distance meter mounted on the overhead crane; and a reflector for reflecting light output from the distance meter, wherein the crane body mounted on the rear overhead crane other than the foremost overhead crane, which is located in a position in the direction in which light is output from the distance meter equipped on the overhead crane, is A number of distance meters are installed on the subsequent overhead crane, the number of which is equal to or greater than the number of other overhead cranes installed between the subsequent overhead crane and the reflector plus one, and the number of pairs of two adjacent distance meters among the multiple distance meters installed on the crane body of the subsequent overhead crane, which are arranged so that the distance between them in the lateral direction is longer than the trolley width, which is the length in the lateral direction of the trolley existing between the subsequent overhead crane and the reflector, is equal to or greater than the number of other overhead cranes installed between the subsequent overhead crane and the reflector.
The crane position detection device of the present invention includes a position detection unit that detects the position of the subsequent overhead crane in the overhead crane installation in the traveling direction based on the distance measured by the multiple distance meters installed on the crane body of the subsequent overhead crane.

The crane position detection method of the present invention includes a position detection step of detecting the position of the rear overhead crane in the travel direction based on the distances measured by the multiple distance meters installed on the crane body of the rear overhead crane.

The program of the present invention causes a computer to function as each part of the crane position detection device.

The present invention makes it possible to prevent the position of the overhead crane in the travel direction from being inaccurately detected without adopting a complex configuration.

FIG. 1 is a diagram illustrating an example of a configuration of an overhead crane system. FIG. 1 is a diagram showing an example of the configuration of a ceiling crane. FIG. 2 is a diagram showing an example of the positional relationship between a trolley, a distance meter, and a reflector. FIG. 2 is a diagram illustrating an example of a functional configuration of a crane position detection device. 1 is a flowchart illustrating a first example of a crane position detection method. 11 is a flowchart illustrating a second example of a crane position detection method.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
In addition, the fact that the objects to be compared, such as length, position, size, and interval, are the same includes not only the case where they are exactly the same, but also the case where they are different within the scope of the invention (for example, the difference within the tolerance range determined at the time of design). In addition, in each figure, for the convenience of explanation and notation, a part or all of the configuration is omitted or simplified. In addition, the x-y-z coordinates shown in each figure are intended to indicate the relationship of the orientation in each figure. A symbol with a black circle (●) in a white circle (○) indicates the direction from the back side of the paper to the front side (the front side of the paper is the positive direction). A symbol with a cross mark (×) in a white circle (○) indicates the direction from the front side of the paper to the back side (the back side of the paper is the positive direction). In addition, the position of the origin of the x-y-z coordinates is not limited to the position shown in each figure.

[Overhead crane equipment]
Fig. 1 is a diagram showing an example of the configuration of an overhead crane system. Fig. 1 is a diagram showing the overhead crane system as viewed from above.
FIG. 1 illustrates an example in which the overhead crane system is installed in a building 10 such as a warehouse in a factory. The overhead crane system is used, for example, to carry an object into the building 10, to rearrange the object in the building 10, and to carry the object out of the building 10. The object is, for example, a steel plate or a coil, but any object that can be carried by an overhead crane may be used. FIG. 1 also illustrates an example in which an object processed (e.g., manufactured) in an upper process is temporarily stored in the building 10 (warehouse) and then carried to a lower process. In FIG. 1, the negative direction of the y-axis is the upper process side, and the positive direction of the y-axis is the lower process side (see the descriptions "lower process side" and "upper process side" in FIG. 1).

In the example shown in FIG. 1, the overhead crane equipment includes an overhead crane 100 (100a to 100c), a traveling rail 200 (200a to 200b), a distance meter 300 (300a to 300f), and a reflector 400 (400a to 400f).

<Ceiling crane 100 and traveling rail 200>
Fig. 2 is a diagram showing an example of the configuration of the overhead crane 100b. Fig. 2 shows an example of the configuration of the overhead crane 100 using the overhead crane 100b as an example. In this embodiment, the overhead crane 100a to 100c have the same configuration.
The overhead crane 100 travels in the travel direction and moves laterally in the lateral direction to move to the position of the transported object, and hoists and transports the object. In each of the drawings such as Figures 1 and 2, the y-axis direction is the travel direction of the overhead crane 100, the x-axis direction is the lateral direction of the overhead crane 100, and the z-axis direction is the height direction.

In Figures 1 and 2, the overhead crane 100 (100a to 100c) each comprises a crane body 110 (110a to 110c), a trolley 120 (120a to 120c), and a lifting tool 130. As mentioned above, Figure 1 is a view of the overhead crane equipment from above. As shown in Figure 2, the lifting tool 130 is positioned below the trolley 120. Therefore, in Figure 1, the lifting tool 130 is hidden by the trolley 120.

In Figures 1 and 2, the crane body 110 (110a to 110c) includes, for example, girders 111 (111a to 111c) and saddles 112 (112a to 112f). Note that Figure 2 illustrates the girder 111 (111b) and saddles 112 (112c to 112d) included in the crane body 110b. Trolleys 120 (120a to 120c) are installed on the girders 111 (111a to 111c). The trolleys 120 (120a to 120c) move laterally on the girders 111 (111a to 111c) in the lateral direction (x-axis direction).

For example, if the girder 111 (111a to 111c) is equipped with a lateral rail (not shown) extending in the lateral direction (x-axis direction), the trolley 120 (120a to 120c) traverses in the lateral direction along the lateral rail. Note that Figures 1 and 2 illustrate a case in which the trolley 120 (120a to 120c) is installed on top of the crane body 110 (110a to 110c). However, the trolley 120 (120a to 120c) may also be installed below the crane body 110 (110a to 110c).

The saddles 112 (112a, 112c, 112e) are attached to one end of the girder 111 in the lateral direction (negative side of the x-axis) and have wheels 113 (113a) as shown in FIG. 2. The saddles 112 (112b, 112d, 112f) are attached to the other end of the girder 111 in the lateral direction (positive side of the x-axis) and have wheels 113 (113b) as shown in FIG. 2. Note that FIG. 2 shows the wheels 113a and 113b of the crane body 110b as an example, but the other crane bodies 110a and 110c also have wheels 113.

The traveling rails 200 (220a, 200b) are installed at a position a predetermined distance away from the ceiling 11 inside the building 10, extending along the traveling direction (y-axis direction) of the overhead crane 100 (100a to 100c). The predetermined distance is determined so that the distance between the overhead crane 100 (100a to 100c) and the ceiling 11 is the distance specified by the safety regulations for cranes, etc.

The wheels 113 (113a, 113b) of the overhead crane 100 (100a to 100c) are placed on the running rails 200 (200a, 200b). In this embodiment, the wheels 113 (113a to 113b) run on the running rails 200 (200a to 200b), causing the overhead crane 100 to run in the running direction.

The trolleys 120 (120a to 120c) are connected, for example, to a traverse device (not shown) so that they can communicate with each other, and move in the traverse direction (x-axis direction) on the crane body 110 (110a to 110c) based on instructions from the traverse device. The traverse device (not shown) may be installed in the crane body 110 or may be installed outside the crane body 110. The trolleys 120 (120a to 120c) are installed one per overhead crane 100 (100a to 100c).

As shown in FIG. 2, the lifting tool 130 is installed facing downward (negative direction of the z-axis) from the trolley 120 (120a to 120c). The lifting tool 130 is for lifting the transported object. The lifting tool 130 includes, for example, a rope 130a and a holder 130b. One end of the rope 130a is attached to a hoisting device (not shown). The rope 130a is wound up and down according to the operation of the hoisting device (not shown). The hoisting device (not shown) may be installed in the crane body 110 or may be installed outside the crane body 110.

A holder 130b is attached to the other end of the cable 130a. The cable 130a may be of any type as long as it has the strength to withstand the transport of the transported object. For example, the cable 130a may be a wire rope or a chain. The holder 130b is for holding the transported object while it is being transported by the overhead crane 100 (100a to 100c). The holder 130b may be of any type as long as it can hold the transported object. For example, the holder 130b may be one that holds the transported object by clamping it, or one that holds the transported object by hooking a wire rope or the like attached to the transported object (a so-called hook).

The configuration of the overhead crane 100 itself can be realized by known technology, and is not limited to the configuration shown in Figures 1 and 2. In addition, in this embodiment, for simplicity of explanation, an example is shown in which the overhead cranes 100a to 100c have the same configuration. However, the overhead cranes 100a to 100c do not have to have the same configuration. For example, the configuration (e.g., size, type) of at least one of the overhead crane 100 and the trolley 120 may be different. In addition, in this embodiment, an example is shown in which the number of overhead cranes 100 is three. However, as long as there are multiple overhead cranes, the number is not limited to three, and may be two, or may be four or more. For example, the overhead crane 100c may not be present.

<Distance meter 300 and reflector 400>
The range finder 300 (300a to 300f) is an optical range finder. The range finder 300 is a device that measures the distance from the range finder 300 to an object in a non-contact manner by outputting light L toward the object and inputting the light L reflected from the object. The range finder 300 is, for example, a laser range finder. The laser range finder measures the distance from the laser range finder to the object based on, for example, a phase difference between a laser beam output toward the object and a laser beam reflected by the object and input. The laser range finder may also measure the distance from the laser range finder to the object based on, for example, a time difference between input and output of a laser beam whose time waveform is a pulse waveform. The laser range finder itself can be realized by a known technology, and therefore a detailed description thereof will be omitted here.

The reflector 400 (400a to 400f) is for reflecting the light L output from the rangefinder 300 (300a to 300f) in the direction of the rangefinder 300 (300a to 300f). In this embodiment, the reflector 400 (400a to 400f) is a reflecting plate (plate-shaped). However, as long as the light L output from the rangefinder 300 can be reflected in the direction of the rangefinder 300 (300a to 300f), the reflector 400 does not have to be plate-shaped.

In this embodiment, the reflectors 400 (400a to 400f) are installed on the wall 12 at the end of the building 10 on the downstream side. Therefore, in this embodiment, the reflectors 400 (400a to 400f) are installed on the downstream side of the overhead crane 100 (100a to 100c). However, this is not necessarily required. For example, the reflectors 400 (400a to 400f) may be installed on the wall 13 at the end of the building 10 on the upstream side. In this case, in FIG. 1, "downstream side" is replaced with "upstream side", and "upstream side" is replaced with "downstream side".

In addition, in this embodiment, the number of rangefinders 300 (300a to 300f) and the number of reflectors 400 (400a to 400f) are the same as each other. In addition, in this embodiment, the number of reflectors 400a, 400b, 400c, 400d, 400e, and 400f are installed at positions that intersect with the path (optical path) of the light L output from the rangefinders 300a, 300b, 300c, 300d, 300e, and 300f, respectively. However, the number of rangefinders 300 (300a to 300f) and the number of reflectors 400 (400a to 400f) do not have to be the same. For example, one reflector 400 may be installed so as to intersect with the path of the light L output from multiple rangefinders 300. In other words, the light L input and output in multiple rangefinders 300 may be reflected by one reflector 400. In this way, when the light L input and output by the multiple rangefinders 300 is reflected by one reflector 400, the length of the single reflector 400 in the horizontal direction (x-axis direction) is made longer than the distance D in the horizontal direction between the two rangefinders 300 installed at both ends of the horizontal direction (x-axis direction) among the multiple rangefinders 300. For example, when one reflector 400 is installed so as to intersect with the path of the light L output from the two rangefinders 300b to 300c, the length of the single reflector 400 in the horizontal direction (x-axis direction) is made longer than the distance D1 in the horizontal direction between the two rangefinders 300b to 300c (for example, the reflectors 400b to 400c connected in FIG. 1 are regarded as the single reflector 400).

In this embodiment, the distance meter 300 (300a to 300f) is installed on the crane body 110 (110a to 110c) of the overhead crane 100 (100a to 100c). The crane body 110 (110a to 110c) does not move laterally. Therefore, the position of the distance meter 300 (300a to 300f) in the lateral direction (x-axis direction) is fixed. If the distance meter 300 (300a to 300f) measures the distance from the distance meter 300 (300a to 300f) to the reflector 400 (400a to 400f), the position of the overhead crane 100 (100a to 100c) in the travel direction (y-axis direction) can be detected based on the distance.

Figure 3 is a diagram showing an example of the positional relationship between the trolley 120, the distance meter 300, and the reflector 400. The trolley 120 shown in Figure 3 is the trolley 120a-120b shown in Figure 1, and the trolley 120c shown in Figure 1 does not correspond to the trolley 120 shown in Figure 3. This is because there is no distance meter 300 on the upper process side (negative direction side of the y-axis) of the trolley 120c. Also, the distance meter 300 shown in Figure 3 is the distance meter 300b-300f shown in Figure 1, and the distance meter 300a shown in Figure 1 does not correspond to the distance meter 300 shown in Figure 3. This is because there is no trolley 120 on the lower process side (positive direction side of the y-axis) of the distance meter 300a.

In Figures 2 and 3, the distance meter 300 (300b to 300f) is installed in a fixed state to the support 310 (310a to 310b) installed on the crane body 110 (110b to 100c). Note that in Figure 2, the support 310a to 310b that supports the distance meter 300b to 300c is illustrated. Therefore, the distance meter 300 (300b to 300f) is installed at a position higher than the crane body 110 (110b to 100c). The position of the distance meter 300 in the height direction (z-axis direction) is determined so that the distance between the distance meter 300 and the ceiling 11 is the distance specified in the crane safety regulations. Note that the distance meter 300a installed on the crane body 110a may also be installed in a fixed state to the support 310, similar to the distance meter 300b to 300f.

As shown in FIG. 2, this embodiment illustrates a case where the height (z-axis) position of the range finder 300 (300b-300f) is lower than the top of the trolley 120 (120a-120c). Specifically, this embodiment illustrates a case where the path of the light L input and output to and from the range finder 300 (300b-300f) is lower than the top of the trolley 120 (120a-120c).

More specifically, in this embodiment, the path of light L input and output in the range finders 300b-300c, 300d-300f installed on the crane bodies 110b, 110c of the overhead cranes 100b, 100c is illustrated as being lower than the tops of the trolleys 120a, 120a-120b of the other overhead cranes 100a, 100a-100b installed between the overhead cranes 100b, 100c and the reflector 400 (400a-400f). In FIG. 3, this is represented by the light L input and output in the range finder 300 being lower than the top of the trolley 120 between the range finder 300 and the reflector 400.

However, the height (z-axis) position of at least one of the distance meters 300 (300b to 300f) does not have to be lower than the top of the trolley 120 (120a to 120c). The height (z-axis) positions of the distance meters 300 (300b to 300f) may be different from each other or may be the same. Similarly to the distance meters 300b to 300f, the height position of the distance meter 300a may or may not be lower than the top of the trolley 120 (120a to 120c), and may be the same as or different from the height positions of the other distance meters 300b to 300f.

As shown in FIG. 1, this embodiment illustrates a case where the positions of the rangefinders 300 (300a to 300f) in the horizontal direction (x-axis direction) are different from each other. In this way, even if the height positions of the rangefinders 300 are not different, it is possible to prevent the light L input/output to/from the rangefinders 300 (300b to 300f) from being blocked by the other rangefinders 300. Also, even if the height positions of the rangefinders 300 are not different, it is possible to prevent the light L output from the other rangefinders 300 from being input to the rangefinders 300 (300a to 300f). However, this is not necessarily required, and the positions of at least two of the rangefinders 300 in the horizontal direction may be the same.

In addition, in this embodiment, as shown in FIG. 1, the distance meter 300 (300a to 300f) is illustrated as being installed downstream of the crane body 110 (110a to 100c) (the side where the reflector 400 is installed). However, as long as it is installed so as not to interfere with the operation of the overhead crane 100 (100a to 100c), such as the lateral movement of the trolley 120 (120a to 120c), the distance meter (300a to 300f) does not necessarily have to be installed downstream of the crane body 110 (110a to 100c) (the side where the reflector 400 is installed).

Here, of the overhead cranes 100 (100a to 100c), the overhead cranes 100a that are in a position where there are no other overhead cranes 100 in the direction in which light L is output from the distance meter 300 (300a to 300f) provided on that overhead crane 100 will be referred to as the foremost overhead crane 100a as necessary. Also, the overhead cranes 100b to 100c other than the foremost overhead crane 100a will be referred to as the subsequent overhead cranes 100b to 100c as necessary.

There are no other overhead cranes between the foremost overhead crane 100a and the wall 12 at the end of the building 10 on the downstream side. Therefore, there is no obstacle (trolley 120) that blocks the light L input and output to the distance meter 300a installed on the foremost overhead crane 100a. Therefore, it is sufficient that at least one distance meter 300 is installed on the foremost overhead crane 100a.

In contrast, between the rear overhead crane 100b and the wall 12 at the end of the building 10 on the lower process side, there is another overhead crane 100a. Between the rear overhead crane 100c and the wall 12 at the end of the building 10 on the lower process side, there are also other overhead cranes 100a to 100b. As mentioned above, the trolley 120 moves in the lateral direction. Therefore, there is a risk that the light L input and output to the distance meter 300 provided on the rear overhead crane 100b, 100c may be blocked by the trolleys 120a, 120a to 120b provided on the overhead cranes 100a, 100a to 100b, which are installed on the lower process side (the side where the reflector 400 is installed) of the rear overhead crane 100b, 100c. Figure 1 shows how the light L input and output to the distance meter 300b, 300d is blocked by the trolleys 120a, 120b, respectively. Also, in FIG. 1, when the trolley 120a is in the position shown by the dashed line, the light L input and output to the distance meter 300e is also blocked by the trolley 120a.

Therefore, in this embodiment, the multiple distance meters 300b-300c are installed on the subsequent overhead crane 100b so that the distance D1 in the lateral direction between the two distance meters 300b-300c) installed at adjacent positions with a gap in the lateral direction (x-axis direction) on the crane body 110b equipped on the subsequent overhead crane 100b is longer than the trolley width W1 of the trolley 120a located between the subsequent overhead crane 100b and the reflector 400 (400a-400f). In addition, the distance meters 300d-300e, 300e-300f are installed in the rear-stage overhead crane 100c so that the distance D2, D3 in the lateral direction between the two distance meters 300d-300e, 300e-300f installed adjacent to each other with a gap in the lateral direction (x-axis direction) in the crane body 100c of the rear-stage overhead crane 100c is longer than the trolley widths W1-W2 of 120a-120b that exist between the rear-stage overhead crane 100c and the reflector 400 (400a-400f).

Here, the trolley widths W1, W1 to W2 of the trolleys 120a, 120a to 120b between the downstream overhead cranes 100b, 100c and the reflector 400 (400a to 400f) are the lengths in the lateral direction (x-axis direction) of the trolleys 120a, 120a to 120b at the positions where they intersect with the paths of the light L input and output at the distance meters 300b to 300c, 300d to 300f when the trolleys 120a, 120a to 120b are positioned directly opposite the distance meters 300b to 300c, 300d to 300f provided on the downstream overhead cranes 100b, 100c.

In FIG. 1, the trolley width W determined in this manner is denoted as W1 for the trolley width W of the trolley 120a of the other overhead crane 100a installed between the subsequent overhead crane 100b and the reflector 400 (400a to 400f). Also, the trolley width W determined in this manner is denoted as W2 for the trolley width W of the trolleys 120a to 120b of the other overhead crane 100b installed between the subsequent overhead crane 100c and the reflector 400 (400a to 400f).

In Figures 2 and 3, the height position of the path of light L input and output at distance meter 300 (300b to 300f) is indicated by dashed line HP within trolley 120. Note that in Figure 3, for convenience of notation, light L and the height position HP of the path of light L are shown shifted, but they are the same. The trolley widths W1 and W2 shown in Figure 1 are the lengths in the lateral direction (x-axis direction) of trolleys 120a and 120b at the height position (z-axis direction) indicated by dashed line HP in Figure 3.

In this embodiment, the height (z-axis) position of the distance meters 300b-300c installed on the crane body 110b of the rear-stage overhead crane 100b is the same as the height (z-axis) position of the distance meters 300d-300f installed on the crane body 110c of the rear-stage overhead crane 100c, and the direction of the light L input and output in the distance meters 300b-300f is the same (y-axis). Therefore, the trolley width W of the trolley 120a between the rear-stage overhead crane 100b and the reflector 400 (400a-400f) and the trolley width W of the trolley 120a between the rear-stage overhead crane 100c and the reflector 400 (400a-400f) are the same length (=W1).

On the other hand, for example, if the height (z-axis) position of the distance meters 300b-300c installed on the crane body 110b of the subsequent overhead crane 100b is different from the height position of the distance meters 300d-300f installed on the crane body 110c of the subsequent overhead crane 100c, the trolley width W of the trolley 120a between the subsequent overhead crane 100b and the reflector 400 (400a-400f) may be different from the trolley width W of the trolley 120a between the subsequent overhead crane 100c and the reflector 400 (400a-400f). This is because the path of the light L input and output at the distance meters 300b-300c does not match the path of the light L input and output at the distance meters 300d-300f.

The horizontal distance D between two adjacent range finders 300 (300b-300c, 300d-300e, 300e-300f) that are spaced apart in the horizontal direction is a distance determined by using the input and output positions of light L in the two range finders 300 as both end points. In FIG. 1, the distances D determined in this way are denoted as D1, D2, and D3.

As described above, in this embodiment, the distance meters 300b to 300c are installed on the crane body 110b so that the distance D1 between the distance meters 300b to 300c in the lateral direction (x-axis direction) is longer than the trolley width W1. In addition, the distance meters 300d to 300f are installed on the crane body 110c so that the distance D2 between the distance meters 300d to 300e in the lateral direction and the distance D3 between the distance meters 300e to 300f in the lateral direction are longer than the trolley widths W1 to W2, respectively.

In addition, in this embodiment, the number of distance meters 300 (300b-300c, 300d-300f) installed on the crane body 110b-100c of the subsequent overhead crane 100b-100c is the number of overhead cranes 100a, 100a-100b installed between the subsequent overhead crane 100b-100c and the reflector 400 (400a-400f) plus 1. In FIG. 1, the number of overhead cranes 100a installed between the subsequent overhead crane 100b and the reflector 400 (400a-400f) is 1. Therefore, the number of distance meters 300b-300c installed on the crane body 110b of the subsequent overhead crane 100b is 2 (=1+1). Additionally, the number of overhead cranes 100a-100b installed between the rear-stage overhead crane 100c and the reflector 400 (400a-400f) is two. Therefore, the number of distance meters 300d-300e installed on the crane body 110c of the rear-stage overhead crane 100c is three (=2+1).

In this manner, by determining the lateral distance D (D1, D2, D3) of the distance meters 300 (300b-300c, 300d-300e, 300e-300f) installed on the crane body 110b-110c of the subsequent overhead crane 100b-100c, it is possible to prevent the light L input and output by the distance meters 300b-300c, 300d-300f from being blocked by the trolleys 120a, 120a-120b, respectively. By determining the number of distance meters 300b-300c, 300d-300f installed on the crane body 110b-110c of the subsequent overhead crane 100b-100c in the above manner, it is possible to reliably prevent the light L input and output to and from the distance meters 300b-300c, 300d-300f from being blocked by the trolleys 120a, 120a-120b, respectively. For example, even if the trolley 120a is in the position shown by the dashed line in FIG. 1 and the trolley 120b is in the position shown in FIG. 1, the distances from the overhead crane 100b, 100c to the reflectors 400c, 400f can be measured by the distance meter 300c installed on the crane body 110b of the overhead crane 100b and the distance meter 300f installed on the crane body 110c of the overhead crane 100c, respectively.

On the other hand, as mentioned above, there is no obstacle (trolley 120) that blocks the light L input/output from the distance meter 300 installed on the foremost overhead crane 100a. Therefore, as mentioned above, the number of distance meters 300a installed on the foremost overhead crane 100a may be any number as long as it is one or more.

[Crane position detection device 500]
As shown in Figs. 1 and 2, this embodiment illustrates a case where a crane position detection device 500 (500a, 500b, 500c) is installed on each of the overhead cranes 100 (100a, 100b, 100c). In Figs. 1 and 2, for convenience of notation, the "crane position detection device" is abbreviated to "position detection device". The crane position detection devices 500 (500a, 500b, 500c) detect the position in the travel direction of the overhead cranes 100 (100a, 100b, 100c) on which the crane position detection device 500 (500a, 500b, 500c) is installed, based on the distance measured by the distance meter 300 (300a, 300b to 300c, 300d to 300f) installed on the overhead cranes 100 (100a, 100b, 100c). The distances measured by the range finders 300a, 300b, 300c, 300d, 300e, and 300f are the distances from the range finders 300a, 300b, 300c, 300d, 300e, and 300f to the reflectors 400a, 400b, 400c, 400d, 400e, and 400f, respectively.

In this embodiment, the crane position detection device 500 (500a to 500c) is installed in a position that cannot be seen from outside the crane body 110 (110a to 100c). In Figures 1 and 2, this is indicated by showing the crane position detection device 500 (500a to 500c) with a dashed line.

Figure 4 is a diagram showing an example of the functional configuration of the crane position detection device 500. Note that the hardware of the crane position detection device 500 may be realized, for example, using a PLC (Programmable Logic Controller), a computer equipped with a processor such as a CPU, a main storage device such as a RAM, an auxiliary storage device such as a HDD, and various interfaces, or may be realized by using dedicated hardware.

<Acquisition Unit 510>
The acquisition unit 510 acquires information on the distance measured by the rangefinder 300. In this embodiment, a case is illustrated in which the rangefinder 300 measures and outputs the distance at a predetermined cycle. Also, in this embodiment, a case is illustrated in which the acquisition unit 510 acquires information on the distance every time the rangefinder 300 measures the distance. Also, in this embodiment, for simplicity of explanation, it is assumed that the rangefinders 300b to 300c and 300d to 300f measure the distance at the same timing.

The acquisition unit 510 of the crane position detection device 500a acquires information on the distance measured by the distance meter 300a. The acquisition unit 510 of the crane position detection device 500b acquires information on the distance measured by the distance meter 300b-300c. The acquisition unit 510 of the crane position detection device 500c acquires information on the distance measured by the distance meter 300d-300f.

The acquisition unit 510 of the crane position detection device 500a, 500b, 500c may acquire information on the distance measured by the distance meter 300a, 300b to 300c, 300d to 300f by performing wired communication with the distance meter 300a, 300b to 300c, 300d to 300f, respectively, or may acquire information on the distance measured by the distance meter 300a, 300b to 300c, 300d to 300f by performing wireless communication with the distance meter 300a, 300b to 300c, 300d to 300f. The acquisition unit 510 of the crane position detection device 500a, 500b, 500c may also acquire information on the distance measured by the distance meter 300a, 300b to 300c, 300d to 300f by other methods. For example, the acquisition units 510 of the crane position detection devices 500a, 500b, and 500c may each acquire information on the distance measured by the distance meters 300a, 300b-300c, and 300d-300f via a device (not shown) other than the distance meter 300.

<Determination Unit 520>
The determination unit 520 determines whether or not the distance measured by the rangefinder 300 (the distance acquired by the acquisition unit 510) is an abnormal value. For example, if the distance measured by the rangefinder 300 exceeds the maximum possible distance between the rangefinder 300 and the reflector 400, the distance measured by the rangefinder 300 is an abnormal value. Therefore, the determination unit 520 determines whether or not the distance acquired by the acquisition unit 510 is an abnormal value when the distance measured by the rangefinder 300 exceeds a threshold value that is preset based on the maximum possible distance between the rangefinder 300 and the reflector 400, for example.

The determination unit 520 of the crane position detection device 500a determines whether the distance measured by the distance meter 300a is an abnormal value. The determination unit 520b of the crane position detection device 500b determines whether the distance measured by the distance meter 300b to 300c is an abnormal value. The determination unit 520 of the crane position detection device 500c determines whether the distance measured by the distance meter 300d to 300f is an abnormal value.

<Position Detection Unit 530>
The position detection unit 530 detects the position of the overhead crane 100 in the traveling direction based on the distance measured by the distance meter 300 (the distance acquired by the acquisition unit 510). The position detection unit 530 of the crane position detection device 500a detects the position of the overhead crane 100a in the traveling direction based on the distance measured by the distance meter 300a. The position detection unit 530 of the crane position detection device 500b detects the position of the overhead crane 100b in the traveling direction based on the distance measured by the distance meter 300b-300c. The position detection unit 530 of the crane position detection device 500c detects the position of the overhead crane 100c in the traveling direction based on the distance information measured by the distance meter 300d-300f.

In this embodiment, the position detection unit 530 converts the distance measured by the distance meter 300 into a control value. The control value is a position in the travel direction that is determined with a predetermined position as the starting point in order to manage the position of the transported object. An example of the control value will be described with reference to FIG. 1. FIG. 1 illustrates a case in which the position of the end of the downstream process of the building 10 is the starting point (0 (zero)) and the position of the end of the upstream process of the building 10 is the positive maximum value (MAX (+)) as the first control value. FIG. 1 also illustrates a case in which the position of the end of the upstream process of the building 10 is the starting point (0 (zero)) and the position of the end of the downstream process of the building 10 is the positive maximum value (MAX (+)) as the second control value.

The first control value has a larger value the farther the position is from the reflector 400 (400a to 400f). In contrast, the second control value has a smaller value the farther the position is from the reflector 400 (400a to 400f). Note that the starting points for determining the control value are not limited to the ends of the upper process side and the lower process side of the building 10. The starting points for determining the control value may be, for example, a position outside the building 10, or a position inside the building 10 relative to the ends of the upper process side and the lower process side of the building 10.

Here, the symbols i=a, b, c, d, e, and f are symbols indicating values for the range finders 300a, 300b, 300c, 300d, 300e, and 300f, respectively. The distances measured by the range finders 300a to 300f are designated as X _i (i=a to f). The control values converted from the distances measured by the range finders 300a to 300f are designated as Y _i (i=a to f). The conversion parameters from the distance X _i to the control value Y _i are designated as A _i and B _i (i=a to f). Then, the control value Y _i is calculated by the following formula (1).
Y _i =A _i X _i +B _i ...(1)

The conversion parameters A _i and B _i are set in advance, for example, for each position that is the starting point of the management value and for each of the range finders 300a to 300f. In this embodiment, the first management value has a larger value the farther the position is from the reflector 400 (400a to 400f). Therefore, the conversion parameters A _i and B _i are set so that the longer the distance measured by the range finders 300a to 300f, the larger the first management value. On the other hand, the second management value has a smaller value the farther the position is from the reflector 400 (400a to 400f). Therefore, the conversion parameters A _i and B _i are set so that the longer the distance measured by the range finders 300a to 300f, the smaller the second management value. In this case, the conversion parameter A _i when calculating the first management value as the management value Y _i is a positive value. On the other hand, the conversion parameter A _{i when calculating the second management value as the management value Y i is} a negative value. The formula used to convert the distance _Xi into the management value _Yi is not limited to formula (1). Also, the distance _Xi does not have to be converted into the management value _Yi by a formula. For example, the distance _Xi may be converted into the management value _Yi by using a lookup table that stores the distance _Xi and the management value _Yi in association with each other.

The position detection unit 530 of the crane position detection device 500a, which detects the position of the forefront overhead crane 100a in the traveling direction, calculates a control value Y _a by substituting the distance X _a measured by the distance meter 300a and the conversion parameters A _a and B _a into equation (1), and sets the control value Y _a as the position of the overhead crane 100a in the traveling direction.

As mentioned above, the light L input and output by the distance meters 300b-300c, 300d-300e may be blocked by the trolleys 120a, 120a-120b, respectively. In this case, the distance measured by the distance meters 300b-300f will be shorter than the distance from the distance meters 300b-300f to the reflectors 400b-400f. Therefore, in this embodiment, the position detection units 530 of the crane position detection devices 500b, 500c, which detect the positions of the overhead cranes 100b, 100c in the travel direction at the rear stage, detect the positions of the overhead cranes 100b, 100c in the travel direction based on the longest distance among the distances measured by the distance meters 300b-300c, 300d-300f, respectively.

In this embodiment, the position detection units 530 of the crane position detection devices 500b and 500c, which detect the positions of the subsequent overhead cranes 100b and 100c in the travel direction, respectively, detect the positions of the overhead cranes 100b and 100c in the travel direction using the following first method or second method, as an example.

<<First Method>>
First, a first method for detecting the positions of the overhead cranes 100b, 100c in the traveling direction will be described.
First, the position detection unit 530 of the crane position detection devices 500b, 500c substitutes the distances _Xb - _Xc , _Xd - _Xf measured by the distance meters 300b-300c, 300d-300f and _the conversion parameters _{Ab-Ac ,} Ad- _Af and _Bb - _Bc , _Bd - _Bf into formula (1) to convert them into control values _Yb - _Yc , _Yd - _Yf . Then, the position detection unit 530 of the crane position detection devices 500b, 500c selects the control value corresponding to the maximum distance among the distances _Xb - _Xc , _Xd - _Xf measured by the distance meters 300b-300c, 300d-300f from the control values _Yb - _Yc , _Yd - _Yf converted as described above, as the position in the traveling direction of the overhead cranes 100b, 100c.

When the control value is the first control value, the control value corresponding to the maximum distance among the distances _Xb to _Xc , _Xd to _Xf measured by the range finders 300b to 300c, 300d to 300f is the maximum control value among the control values _Yb to _Yc , _Yd to _Yf , respectively. On the other hand, when the control value is the second control value, the control value corresponding to the maximum distance among the distances _Xb to _Xc , _Xd to _Xf measured by the range finders 300b to 300c, 300d to 300f is the minimum control value among the control values _Yb to _Yc , _Yd to _Yf , respectively.

<<Second Method>>
Next, a second method for detecting the positions of the overhead cranes 100b, 100c in the traveling direction will be described.
First, the position detection units 530 of the crane position detection devices 500b, 500c select the maximum distances Xm1, Xm2 from the distances _Xb to _Xc , _Xd to _Xf measured by the distance meters 300b to 300c, 300d to 300f, respectively. Then, the position detection units 530 of the crane position detection devices 500b, 500c calculate the control values _Ym1 , _Ym2 by substituting the distances _Xm1 , _Xm2 selected as described above and the conversion parameters _Ab to _Ac , _Ad to _Af and _Bb to Bc, _Bd to _Bf corresponding to _the distance meters _300b to 300c, 300d to _300f into formula (1). The position detection units 530 of the crane position detection devices 500b, 500c respectively use the control values Y _m1 , Y _m2 calculated as above as the positions in the travel direction of the overhead cranes 100b, 100c. Note that m1, m2 are symbols indicating the distance meter that measured the maximum distance among the distance meter 300b-300c, 300d-300f, and indicate any of b-c, d-f.

<Output Unit 540>
When the determining unit 520 determines that the distance measured by the distance meter 300 is an abnormal value, the output unit 540 outputs warning information indicating that. Fig. 4 illustrates a case in which the output unit 540 transmits the warning information to the external device 600. The communication between the crane position detection device 500 and the external device 600 may be wired communication or wireless communication.

For example, the output units 540 of the crane position detection devices 500a, 500b, 500c may transmit warning information to crane terminal devices (not shown) installed in the overhead cranes 100a, 100b, 100c on which the crane position detection devices 500a, 500b, 500c are installed, as the external device 600. In this case, the warning information may be transmitted from the crane terminal devices (not shown) to an operation management device (not shown) installed on the ground.
Also, for example, the output unit 540 may transmit warning information to an operation management device (not shown) installed on the ground as the external device 600 .
It is preferable that the warning information transmitted to an operation management device (not shown) installed on the ground be accompanied by identification information of the rangefinder 300 that measured the abnormal value or the ceiling crane 100 in which the rangefinder 300 is installed.
Moreover, the output unit 540 may display the warning information on a computer display instead of or in addition to transmitting the warning information to the external device 600 .

When the warning information is output, the worker carries out the necessary maintenance work. If the identification information of the range finder 300 that measured the abnormal value or the overhead crane 100 in which the range finder 300 is installed is added to the warning information, the worker can easily identify the overhead crane 100 and range finder 300 at the maintenance site.

The output unit 540 also outputs travel direction position information indicating the position in the travel direction of the overhead crane 100 (100a to 100c) detected by the position detection unit 530. FIG. 4 illustrates an example in which the output unit 540 transmits travel direction position information to an external device 600. The external device 600 is, for example, the crane terminal device or operation management device not shown in the figures. It is preferable that the travel direction position information transmitted to the operation management device not shown in the figures is added with identification information of the overhead crane 100 located in the position in the travel direction indicated by the travel direction position information. The output unit 540 may also display the travel direction position information on a computer display instead of or in addition to transmitting the travel direction position information to the external device 600.

<First Example of Crane Position Detection Method>
Next, a first example of a method for detecting a crane position by the crane position detection device 500 will be described with reference to the flowchart of Fig. 5. The flowchart of Fig. 5 is executed individually in each of the crane position detection devices 500a to 500c.

First, in step S501, the acquisition unit 510 acquires information on the distance measured by the distance meter 300. In step S501, the acquisition unit 510 of the crane position detection device 500a acquires information on the distance measured by the distance meter 300a. In addition, in step S501, the acquisition unit 510 of the crane position detection device 500b acquires information on the distance measured by the distance meter 300b to 300c. In step S501, the acquisition unit 510 of the crane position detection device 500c acquires information on the distance measured by the distance meter 300d to 300f.

Next, in step S502, the determination unit 520 determines whether or not any of the distances acquired in step S501 indicate an abnormal value. If the result of this determination is that any of the distances acquired in step S501 indicate an abnormal value (YES in step S502), the process of step S503 is executed. In step S503, the output unit 540 outputs warning information. When the process of step S503 ends, the process according to the flowchart in FIG. 5 ends.

If the result of the determination in step S502 is that there is no distance that indicates an abnormal value among the distances acquired in step S501 (NO in step S502), the process of step S504 is executed. In step S504, the position detection unit 530 converts the distance acquired in step S501 into a management value.

In step S504, the position detection unit 530 of the crane position detection device 500a converts the distance measured by the distance meter 300a into a control value. In step S504, the position detection unit 530 of the crane position detection device 500b converts the distance measured by the distance meter 300b to 300c into a control value. In step S504, the position detection unit 530 of the crane position detection device 500c converts the distance measured by the distance meter 300d to 300f into a control value. As described above, in this embodiment, the control value is the first control value or the second control value. Whether the control value is the first control value or the second control value is set in the crane position detection device 500 (500a to 500c) before the flow chart in FIG. 5 starts.

Next, in step S505, the position detection unit 530 selects, from among the control values converted in step S504, the control value that corresponds to the maximum distance as the position of the overhead crane 100 in the traveling direction.
In step S505, the position detection unit 530 of the crane position detection device 500a unconditionally selects a control value converted from the distance measured by the distance meter 300a. In addition, in step S505, the position detection unit 530 of the crane position detection device 500b selects a control value corresponding to the maximum distance among the control values converted from the distances measured by the distance meters 300b to 300c. In addition, in step S505, the position detection unit 530 of the crane position detection device 500c selects a control value corresponding to the maximum distance among the control values converted from the distances measured by the distance meters 300d to 300f. When the control value is the first control value, the control value corresponding to the maximum distance is the control value having the maximum value. When the control value is the second control value, the control value corresponding to the minimum distance is the control value having the minimum value.

Next, in step S506, the output unit 540 outputs travel direction position information indicating the control value selected in step S505 (the position in the travel direction of the ceiling crane 100).
In step S506, the output unit 540 of the crane position detection device 500a outputs travel direction position information indicating a control value (position in the travel direction of the overhead crane 100a) converted from the distance measured by the distance meter 300a. In addition, in step S506, the output unit 540 of the crane position detection device 500b outputs travel direction position information indicating the control value (position in the travel direction of the overhead crane 100b) corresponding to the maximum distance among the control values converted from the distances measured by the distance meters 300b to 300c. In addition, in step S506, the output unit 540 of the crane position detection device 500c outputs travel direction position information indicating the control value (position in the travel direction of the overhead crane 100c) corresponding to the maximum distance among the control values converted from the distances measured by the distance meters 300d to 300f. When the process of step S506 is completed, the process according to the flowchart of FIG. 5 is completed.

<Second Example of Crane Position Detection Method>
Next, a second example of a method for detecting a crane position by the crane position detection device 500 will be described with reference to the flowchart of Fig. 6. The flowchart of Fig. 6 is executed individually in each of the crane position detection devices 500a to 500c.

First, steps S601 to S603 are the same as steps S501 to S503 in FIG. 5. That is, in step S601, the acquisition unit 510 acquires information on the distance measured by the rangefinder 300. Next, in step S602, the determination unit 520 determines whether or not any of the distances acquired in step S601 indicate an abnormal value. If the result of this determination is that any of the distances acquired in step S601 indicate an abnormal value (YES in step S602), then in step S603, the output unit 540 outputs warning information. When the processing of step S603 ends, the processing according to the flowchart in FIG. 6 ends.

If the result of the determination in step S602 is that there is no distance that indicates an abnormal value among the distances acquired in step S601 (NO in step S602), the process of step S604 is executed. In step S604, the position detection unit 530 selects the maximum distance among the distances acquired in step S601.

In step S604, the position detection unit 530 of the crane position detection device 500a unconditionally selects the distance measured by the distance meter 300a. In addition, in step S604, the position detection unit 530 of the crane position detection device 500b selects the maximum distance among the distances measured by the distance meters 300b to 300c. In addition, in step S604, the position detection unit 530 of the crane position detection device 500c selects the maximum distance among the distances measured by the distance meters 300d to 300f.

Next, in step S605, the position detection unit 530 converts the distance selected in step S604 into a control value, and sets the control value as the position of the overhead crane 100 in the traveling direction.
In step S605, the position detection unit 530 of the crane position detection device 500a converts the distance measured by the distance meter 300a into a control value, and sets the control value as the position of the overhead crane 100a in the traveling direction. In step S605, the position detection unit 530 of the crane position detection device 500b converts the maximum distance among the distances measured by the distance meters 300b to 300c into a control value, and sets the control value as the position of the overhead crane 100b in the traveling direction. In step S605, the position detection unit 530 of the crane position detection device 500c converts the maximum distance among the distances measured by the distance meters 300d to 300f into a control value, and sets the control value as the position of the overhead crane 100c in the traveling direction. As described above, in this embodiment, the control value is the first control value or the second control value. Whether the control value is the first control value or the second control value is assumed to be set in the crane position detection device 500 (500a to 500c) before the flow chart of FIG. 6 starts.

Next, in step S606, travel direction position information indicating the control value selected in step S605 (the position in the travel direction of the overhead crane 100) is output.
In step S606, the output unit 540 of the crane position detection device 500a outputs travel direction position information indicating a control value (position in the travel direction of the overhead crane 100a) converted from the distance measured by the distance meter 300a. In step S606, the output unit 540 of the crane position detection device 500b outputs travel direction position information indicating a control value (position in the travel direction of the overhead crane 100b) converted from the maximum distance of the distances measured by the distance meters 300b to 300c. In step S606, the output unit 540 of the crane position detection device 500c outputs travel direction position information indicating a control value (position in the travel direction of the overhead crane 100c) converted from the maximum distance of the distances measured by the distance meters 300d to 300f. When the process of step S606 is completed, the process according to the flowchart of FIG. 6 is completed.

[summary]
As described above, in this embodiment, the crane body 110b of the subsequent overhead crane 100b is provided with a plurality of distance meters 300b-300c, the number of which is equal to the number of other overhead cranes 100a installed between the subsequent overhead crane 100b and the reflector 400 (400a-400f) plus one. Similarly, the crane body 110c of the subsequent overhead crane 100c is provided with a plurality of distance meters 300d-300f, the number of which is equal to the number of other overhead cranes 100a-100b installed between the subsequent overhead crane 100c and the reflector 400 (400a-400f). In addition, the distance D1 in the lateral direction between the two distance meters 300b-300c installed adjacent to each other with a gap in the lateral direction (x-axis direction) in the crane body 110b of the rear-stage overhead crane 100b is made longer than the trolley width W1 of the trolley 120a existing between the rear-stage overhead crane 100b and the reflector 400 (400a-400f). Similarly, the distances D2, D3 in the lateral direction between the two distance meters 300d-300e, 300e-300f installed adjacent to each other with a gap in the lateral direction (x-axis direction) in the crane body 110c of the rear-stage overhead crane 100c are made longer than the trolley widths W1-W2 of the trolleys 120a-120b existing between the rear-stage overhead crane 100c and the reflector 400 (400a-400f). Therefore, it is possible to prevent the position of the overhead crane 100 in the traveling direction from being inaccurately detected without employing a complex configuration. Also, it is possible to reduce the number of distance meters 300 installed in the crane bodies 110b, 110c of the downstream overhead cranes 100b, 100c.

In addition, in this embodiment, the reflectors 400 (400a to 400f) are installed downstream of the overhead crane 100 (100a to 100c). Therefore, for example, in a building 10, there is more open area at the end on the other side (upper process side) of the travel direction than the overhead crane 100 (100a to 100c), so even if there is no space to install the reflectors 400 (400a to 400f), the position of the overhead crane 100 in the travel direction can be detected.

In addition, in this embodiment, the same number of reflectors 400 (400a to 400f) as the number of rangefinders 300 are installed at positions where each of the rangefinders 300 (300a to 300f) intersects with the path of light L. This allows the reflectors 400 to be made smaller and lighter. This allows the reflectors 400 to be easily installed on the wall 12 of the building 10.

In addition, in this embodiment, the positions of the rangefinders 300 (300a to 300f) in the lateral direction are made different from each other. Therefore, even if the positions of the rangefinders 300 in the height direction are not made different, it is possible to prevent the light L input/output to/from the rangefinders 300 (300b to 300f) from being blocked by the other rangefinders 300. Also, even if the positions of the rangefinders 300 in the height direction are not made different, it is possible to prevent the light L output from the other rangefinders 300 from being input to the rangefinders 300 (300a to 300f).

In addition, in this embodiment, the crane position detection device 500 (500a, 500b, 500c) detects the position of the overhead crane 100 (100a, 100b, 100c) in the travel direction based on the distance measured by the distance meter 300 (300a, 300b-300c, 300d-300f). Therefore, the position of the overhead crane 100 (100a, 100b, 100c) in the travel direction can be detected as accurately as possible without adopting a complex configuration.

In addition, in this embodiment, the crane position detection device 500 (500b, 500c) detects the position of the downstream overhead crane 100 (100b, 100c) in the travel direction based on the longest distance measured by the multiple distance meters 300 (300b-300c, 300d-300f) equipped on the downstream overhead crane 100b, 100c. Therefore, it is possible to identify the distance meter 300 that is performing accurate measurements simply by comparing the distances measured by the multiple distance meters 300 (300b-300c, 300d-300f).

In addition, in this embodiment, the crane position detection device 500 (500a, 500b, 500c) converts the distance measured by the distance meter 300 (300a, 300b-300c, 300d-300f) into a control value, and detects the position of the overhead crane 100 (100a, 100b, 100c) in the traveling direction based on the converted control value. Therefore, the position of the overhead crane 100 (100a, 100b, 100c) in the traveling direction can be treated as a value that conforms to a standard managed in a factory or the like.

In addition, in this embodiment, when the first control value is defined as the control value, the larger the value the farther the position is from the reflector 400 (400a to 400f), the crane position detection device 500 (500b, 500c) detects the position based on the control value with the largest value among the control values converted from the distances measured by the multiple distance meters 300 (300b to 300c, 300d to 300f) provided on the same downstream overhead crane 100 (100b, 100c) as the position in the traveling direction of the downstream overhead crane 100 (100b, 100c). On the other hand, if the second control value, which has a smaller value the farther the position is from the reflector 400 (400a to 400f), is set as the control value, the position based on the control value with the smallest value among the control values converted from the distances measured by the multiple distance meters 300 (300b to 300c, 300d to 300f) equipped on the same downstream overhead crane 100 (100b, 100c) is detected as the position in the traveling direction of the downstream overhead crane 100 (100b, 100c). Therefore, even if the direction in which the value of the control value increases and the moving direction of the overhead crane 100 in which the distance estimated by the distance meter 300 increases are the same or opposite, the position in the traveling direction of the downstream overhead crane 100 (100b, 100c) can be detected as accurately as possible.

In addition, in this embodiment, the crane position detection device 500 (500b, 500c) converts the longest distance among the distances measured by the multiple distance meters 300 (300b-300c, 300d-300f) installed on the same downstream overhead crane 100 (100b, 100c) into a control value, and detects the converted control value as the position in the travel direction of the downstream overhead crane 100 (100b, 100c). Therefore, the number of times that the distance is converted into a control value can be reduced. Therefore, it is possible to treat the position in the travel direction of the overhead crane 100 (100a, 100b, 100c) as a value according to a standard managed in a factory or the like without imposing a large calculation load.

In addition, in this embodiment, the crane position detection device 500 (500a, 500b, 500c) outputs warning information indicating that the distance measured by the distance meter 300 (300a, 300b to 300c, 300d to 300f) is an abnormal value. Therefore, it is possible to notify of abnormalities in the overhead crane 100 (100a, 100b, 100c) or the distance meter (300a, 300b to 300c, 300d to 300f).

In addition, in this embodiment, each of the rear-stage overhead cranes 100 (100b, 100c) is equipped with a crane position detection device 500 (500b, 500c). Therefore, for each rear-stage overhead cranes 100 (100b, 100c), the overhead cranes 100 (100b, 100c) can detect the position of the overhead cranes (100b, 100c) in the travel direction. This allows the processing for detecting the position of the overhead cranes (100b, 100c) in the travel direction to be distributed.

[Modification]
In this embodiment, a case has been exemplified in which a crane position detection device 500 (500a, 500b, 500c) is installed on each of the overhead cranes 100 (100a, 100b, 100c). However, this is not necessarily the case. For example, the crane position detection device 500 may be installed in a location separate from the overhead cranes 100 (100a, 100b, 100c). In this case, it is not necessary to provide a crane position detection device 500 for each overhead cranes 100 (100a, 100b, 100c).

In addition, in this embodiment, the case where all the reflectors 400 (400a to 400f) are installed on the lower process side of the overhead crane 100 (100a to 100c) is illustrated. However, this is not necessarily required. For example, the reflectors 400 may be installed not only on the wall 12 at the end of the lower process side of the building 10, but also on the wall 13 at the end of the upper process side of the building 10. In this case, in the example shown in FIG. 1, in addition to the overhead crane 100a, the overhead crane 100c is also the foremost overhead crane. In this case, the range finder 300 provided on the overhead crane 100c is positioned so that the direction of the output light L is the direction of the upper process side. In addition, the reflector 400 installed on the wall 13 at the end of the upper process side of the building 10 is installed at a position that intersects with the path (optical path) of the light L output from the range finder 300 provided on the overhead crane 100c. Also, for example, when four overhead cranes 100 are installed in the travel direction (y-axis direction), the direction of the light L output from the distance meter 300 provided on one of the two central overhead cranes 100 and the direction of the light L output from the distance meter 300 provided on the other overhead crane 100 may be opposite to each other.

In addition, in this embodiment, a case is illustrated in which a number of distance meters 300b-300c, 300d-300f is installed on the crane bodies 110b, 110c of the subsequent overhead cranes 100b, 100c, the number of which is one more than the number of other overhead cranes 100a, 100a-100b installed between the subsequent overhead cranes 100b, 100c and the reflector 400 (400a-400f). This is preferable because it reduces the number of distance meters 300 installed.

However, the number of distance meters 300 to be installed on the crane bodies 110b, 110c of the subsequent overhead cranes 100b, 100c need only be equal to or greater than the number of other overhead cranes 100a, 100a to 100b installed between the subsequent overhead cranes 100b, 100c and the reflector 400 (400a to 400f) plus one. In this case, the number of pairs of adjacent two distance meters 300b-300c among the multiple distance meters 300 installed on the crane body 110b of the subsequent overhead crane 100b, which are arranged so that the distance D1 in the lateral direction is longer than the trolley width W1 of the trolley 120a located between the subsequent overhead crane 100b and the reflector 400 (400a-400f), is made to be greater than or equal to the number of other overhead cranes 100a installed between the subsequent overhead crane 100b and the reflector 400 (400a-400f). Similarly, the number of pairs of adjacent two distance meters 300d-300e, 300e-300f among the multiple distance meters 300 installed on the crane body 110c of the subsequent overhead crane 100c, arranged so that the distance D2, D3 in the lateral direction is longer than the trolley width W1-W2 of 120a-120b between the subsequent overhead crane 100c and the reflector 400 (400a-400f), is set to be equal to or greater than the number of other overhead cranes 100a-100b installed between the subsequent overhead crane 100c and the reflector 400 (400a-400f).

For example, suppose three distance meters 300 are installed on the crane body 110b of the rear-stage overhead crane 100b. The number of other overhead cranes 100a installed between the rear-stage overhead crane 100b and the reflector 400 (400a to 400f) is "1". Therefore, among the three distance meters 300, the number of pairs of two adjacent distance meters 300 arranged so that the distance in the lateral direction is longer than the trolley width W1 of the trolley 120a between the rear-stage overhead crane 100b and the reflector 400 (400a to 400f) should be "1" or more. In other words, as long as the distance between any two of the three distance meters 300 in the lateral direction is longer than the trolley width W1 of the trolley 120a, the distance between the other two of the three distance meters 300 in the lateral direction may or may not be longer than the trolley width W1 of the trolley 120a.

The above also applies to the latter overhead crane 100c. For example, assume that four distance meters 300 are installed on the crane body 110c of the latter overhead crane 100c. The number of other overhead cranes 100a installed between the latter overhead crane 100c and the reflector 400 (400a to 400f) is "2". As long as the spacing in the lateral direction of at least two pairs of adjacent two distance meters 300 selected from the four distance meters 300 is longer than the trolley widths W1 to W2 of the trolleys 120a to 120b, the spacing in the lateral direction of the other pairs selected from the four distance meters 300 may or may not be longer than the trolley widths W1 to W2 of the trolley 120a.

The functions of the crane position detection device 500 among the embodiments of the present invention described above can be realized by a computer executing a program. In addition, a computer-readable recording medium on which the program is recorded and a computer program product such as the program can also be applied as an embodiment of the present invention. As the recording medium, for example, a flexible disk, a hard disk, an optical disk, a magneto-optical disk, a CD-ROM, a magnetic tape, a non-volatile memory card, a ROM, etc. can be used. In addition, the embodiment of the present invention may be realized by a PLC (Programmable Logic Controller) or dedicated hardware such as an ASIC (Application Specific Integrated Circuit).
Furthermore, the above-described embodiments of the present invention are merely examples of the implementation of the present invention, and the technical scope of the present invention should not be interpreted as being limited by these. In other words, the present invention can be implemented in various forms without departing from its technical concept or main features.

10 Building 11 Ceiling of building 12 End wall of building on the lower process side 13 End wall of building on the upper process side 100 (100a to 100c) Ceiling crane 110 (110a to 110c) Crane body 111 (111a to 111c) Girder 112 (112a to 112f) Saddle 113 (113a to 113b) Wheel 120 (120a to 120c) Trolley 130 Lifting tool 200 (200a to 200b) Travel rail 300 (300a to 300f) Distance meter 310 (310a to 310b) Support 400 (400a to 400f) Reflector 500 (500a to 500c) Crane position detection device 510 Acquisition unit 520 Determination unit 530 Position detection unit 540 Output unit 600 External device D (D1 to D3) Distance in the lateral direction between two distance meters HP One-dot chain line indicating the height position of the light path L Light W (W1 to W2) Trolley width

Claims (13)

An overhead crane system comprising: a crane body that travels in a travel direction; a plurality of overhead cranes, each of which is equipped with a trolley that is installed on the crane body and travels laterally in a lateral direction and a lifting tool for lifting a transported object; an optical distance meter installed on the overhead crane; and a reflector for reflecting light output from the distance meter,
Among the multiple overhead cranes, a plurality of distance meters are installed in the crane body of a rear-stage overhead crane other than the foremost overhead crane, which is located in a position in the direction in which light is output from the distance meter equipped on the overhead crane, and the number of the distance meters is equal to or greater than the number of the other overhead cranes installed between the rear-stage overhead crane and the reflector,
An overhead crane equipment in which the number of pairs of adjacent two distance meters among the multiple distance meters installed on the crane body of the subsequent overhead crane, which are arranged so that the distance between them in the lateral direction is longer than the trolley width, which is the length in the lateral direction of the trolley existing between the subsequent overhead crane and the reflector, is equal to or greater than the number of other overhead cranes installed between the subsequent overhead crane and the reflector. Among the multiple overhead cranes, a plurality of distance meters are installed in the crane body of a rear-stage overhead crane other than the foremost overhead crane, which is located in a position in the direction in which light is output from the distance meter equipped on the overhead crane, and the number of the distance meters is equal to or greater than the number of the other overhead cranes installed between the rear-stage overhead crane and the reflector,
The overhead crane installation as described in claim 1, wherein the distance between the two distance meters installed at adjacent positions with a gap in the lateral direction in the crane body of the subsequent overhead crane is longer than the trolley width, which is the length in the lateral direction of the trolley located between the subsequent overhead crane and the reflector. The overhead crane system according to claim 1 or 2, comprising as many reflectors as the number of the range finders, the reflectors being installed at positions that intersect with the light paths of the range finders. An overhead crane system according to any one of claims 1 to 3, in which the positions of the distance meters in the lateral direction are different from each other. A crane position detection device comprising a position detection unit that detects the position of the rear-stage overhead crane in the travel direction in the overhead crane facility according to any one of claims 1 to 4 based on the distance measured by the multiple distance meters installed on the crane body of the rear-stage overhead crane. The crane position detection device according to claim 5, wherein the position detection unit detects the position of the downstream overhead crane in the travel direction based on the longest distance among the distances measured by the multiple distance meters installed on the downstream overhead crane. The crane position detection device according to claim 6, wherein the position detection unit converts the distance measured by the distance meter installed on the overhead crane into a control value, and detects the position of the overhead crane in the travel direction based on the converted control value. The crane position detection device according to claim 7, wherein, when the control values are set so that the value increases the farther the position is from the reflector, the position detection unit detects the position based on the control value having the maximum value among the control values converted from the distances measured by the multiple distance meters equipped in the same subsequent overhead crane as the position in the traveling direction of the subsequent overhead crane, and when the control values are set so that the value decreases the farther the position is from the reflector, the position detection unit detects the position based on the control value having the minimum value among the control values converted from the distances measured by the multiple distance meters equipped in the same subsequent overhead crane as the position in the traveling direction of the subsequent overhead crane. The crane position detection device according to claim 7 or 8, wherein the position detection unit converts the longest distance among the distances measured by the multiple distance meters installed on the same downstream overhead crane into the control value, and detects the converted control value as the position of the downstream overhead crane in the travel direction. The crane position detection device according to any one of claims 5 to 9, further comprising an output unit that outputs warning information indicating that the distance measured by the distance meter is an abnormal value. A crane position detection device according to any one of claims 5 to 10, provided on each of the rear-stage overhead cranes. A crane position detection method comprising a position detection step of detecting the position of the rear overhead crane in the travel direction in the overhead crane system according to any one of claims 1 to 4 based on the distances measured by the multiple distance meters installed on the crane body of the rear overhead crane. A program for causing a computer to function as each part of the crane position detection device according to any one of claims 5 to 11.

Images