JP7819014B2 - Crane condition identification system, crane condition identification device and program - Google Patents

Description

The present invention relates to a crane status identification system, a crane status identification device, and a program therefor.

Patent Document 1 describes an overload prevention device that stops operation according to the load on the boom, taking into account the boom angle and deflection of the boom.

Japanese Patent Application Laid-Open No. 2001-89078

However, because the technology in Patent Document 1 is calculated based on the deflection and angle of an ideal boom structure, it does not address the deterioration of the boom over time, making it difficult to achieve the effect of overload prevention that takes into account the actual boom condition.

The present invention aims to provide a crane condition identification system, a crane condition identification device, and a program therefor that can more accurately identify the actual boom condition.

The present invention provides a crane state identification system for identifying a state of a boom provided on a crane main body, comprising:
a boom basic information acquisition unit that acquires basic information including structural data of the boom;
a boom actual information acquisition unit that acquires actual information of the boom;
an identification unit that identifies a state of the boom based on the basic information including the structural data of the boom and the actual information;
It has the following characteristics.

The present invention also provides a crane state identification device having an identification unit that identifies the state of the boom based on basic information including structural data of a boom provided on a crane body and actual information of the boom.

The present invention also relates to a program for the crane state identification device that identifies the state of the boom using the identification unit.

The present invention allows for more accurate identification of the actual boom condition.

FIG. 1 is a diagram illustrating a crane condition identification system according to a first embodiment. FIG. 2 is a block diagram showing a calculation processing unit of the crane state identification system. FIG. 10 is a diagram illustrating a crane condition identification system according to a second embodiment. FIG. 10 is a diagram illustrating a crane condition identification system according to a third embodiment. FIG. 10 is a diagram illustrating a crane condition identification system according to a fourth embodiment.

Each embodiment will be described in detail below with reference to the drawings.

<<First Embodiment>>
Fig. 1 is a diagram showing a crane condition specifying system 1 according to a first embodiment. Fig. 2 is a configuration diagram of a calculation processing unit 2 that constitutes the crane condition specifying system 1 according to the first embodiment.

As shown in Figure 1, the crane 3 that constitutes the crane condition identification system 1 has an upper rotating body (crane body) 5 rotatably mounted on a lower traveling body 4. A boom 6 is attached to the upper rotating body 5 so that it can be raised and lowered. The upper rotating body 5 and boom 6 can rotate together relative to the lower traveling body 4.

The boom 6 is supported at its lower end on the upper rotating body 5 by a rotating support shaft (not shown) or the like so that it can be raised or lowered. The boom hoisting rope 7 is wound onto or unwound from a boom hoisting drum 8 installed on the upper rotating body 5, allowing the boom to be raised or lowered using the rotating support shaft (not shown) as a pivot point. The boom 6 is also capable of suspending a load 9 using a hoisting wire 10 installed at its upper end.

The boom 6 comprises a lower boom 11 connected to the upper rotating structure 5, multiple unit booms 12 connected to the lower boom 11, and an upper boom 13 connected to the unit booms 12. If the boom 6 is broadly divided into three sections, an upper section, a middle section, and a lower section, a distance measuring device (boom measurement means) 14 is installed at either the upper section, the lower section, or a position below the lower section. By positioning the distance measuring device in this manner, the position (deformation) of each section in the longitudinal direction of the boom 6 can be measured over a wide range. The crane 3 shown in Figure 1 is attached to the upper rotating structure 5 so that the distance measuring device 14 is located below the lower section of the boom 6, allowing it to rotate together with the upper rotating structure 5 and boom 6 on the undercarriage 4.

The boom 6 also has a marker 15 installed on each of the multiple unit booms 12. These markers 15 are capable of reflecting signals (light, radio waves, etc.) emitted from the distance measuring device 14 back towards the distance measuring device 14.

The ranging device 14 may be, for example, a LiDAR, millimeter-wave radar, or ultrasonic distance sensor, and may be fixed to the upper rotating structure 5. It may also be rotated to track the boom 6's elevation angle (tilt angle) so that it can constantly emit a signal (light, radio waves, etc.) at a constant angle to a marker 15 attached to the boom 6. To rotate the ranging device 14 to track the boom 6's elevation angle, it may be possible to attach the ranging device 14 to the rotation shaft of a stepping motor (not shown) fixed to the upper rotating structure 5, and rotate the rotation shaft of the stepping motor by the amount of the boom 6's elevation angle. The ranging device 14 may also be an imaging device (camera, etc.). Furthermore, the ranging device 14 may also be a perimeter monitoring system for the crane 3.

This distance measuring device 14 measures the position of the marker 15 on each unit boom 12 as three-dimensional data, and the measurement results (three-dimensional data) are input into the boom reality information acquisition unit 17 of the calculation processing unit main body 16.

As shown in Figures 1 and 2, a calculation processing unit main body 16 is installed on the upper rotating body 5. This calculation processing unit main body 16 has a boom basic information acquisition unit 18, a boom actual information acquisition unit 17, an identification unit 20, a notification unit 21, and a control unit 22. The calculation processing unit main body 16, together with the boom basic data input means 23 and the distance measuring device (boom measurement means) 14, constitutes the calculation processing unit 2. In the calculation processing unit 2, the boom basic information acquisition unit 18, the boom actual information acquisition unit 17, and the identification unit 20 constitute a crane state identification device. As shown in Figure 2, the crane state identification device uses a program 30 that causes a computer (calculation processing unit main body 16) to function as the boom basic information acquisition unit 18, which acquires basic information about the boom 6, the boom actual information acquisition unit 17, which acquires actual information about the boom 6, and the identification unit 20, which identifies the state of the boom 6 based on the basic information and actual information. The program 30 is stored in the memory unit 28 that constitutes the calculation processing unit main body 16.

The boom basic information acquisition unit 18 calculates the deformation of the boom 6 by simulation based on basic information about the boom 6 of the crane 3 before use (at the time of crane design) (such as previously input structural data for the boom 6, the predicted load of the load 9, the tension acting on the boom hoist rope 7, the number of reels, and the boom hoist angle), and readably stores the calculated basic information (deflection or twist) of the boom 6 as a first physical quantity. The boom basic information acquisition unit 18 may also calculate the deformation (deflection or twist) of the boom 6 at the marker 15 installation section using pre-installed simulation software based on design data for the boom 6 input from an external boom basic data input unit 23 (such as an external PC, smartphone, or tablet device). The boom basic information acquisition unit 18 may also readably store the deflection and twist of the boom 6 before use, calculated by simulation in advance using the external boom basic data input unit 23, as a first physical quantity. Additionally, the boom basic information acquisition unit 18 may measure each marker 15 on the boom 6 before use (for example, during a test run of the crane 3) using the distance measuring device 14, and calculate the deflection and twist of the marker 15 installation portion of the boom 6 from the measurement data of the distance measuring device 14.

When the position of each marker 15 installed on the boom 6 of the actual crane 3 is measured by the distance measuring device 14 and the boom actual information acquisition unit 17 receives the three-dimensional data (actual information) measured by the distance measuring device 14, it calculates the distortion (flexure or twist) of the actual boom 6 and stores the calculation result readably as a second physical quantity.

The identification unit 20 identifies the state of the boom 6 (e.g., determines whether the state of the boom 6 is normal or abnormal) based on a first physical quantity obtained from the basic information and a second physical quantity obtained from the actual information. For example, the identification unit 20 compares the first physical quantity (ε1) and the second physical quantity (ε2) for each marker 15, and determines that the state of the boom 6 is abnormal if the second physical quantity (ε2) is greater than the first physical quantity (ε1) and the difference (ε2 - ε1) between the second physical quantity (ε2) and the first physical quantity (ε1) is greater than the threshold value (ε). The threshold value (ε) is determined as an optimal value taking into account factors such as the safety factor at the time of designing the boom 6.

If the identification unit 20 determines that the state of the boom 6 is abnormal, it outputs an abnormality detection signal to the notification unit 21, which then notifies the operator of the crane 3's cab and the manager in the crane 3's operation control room of the abnormality in the boom 6. Furthermore, if the identification unit 20 determines that the state of the boom 6 is abnormal, it outputs an abnormality detection signal to the control unit 22.

The notification unit 21 is composed of a display, speaker, etc. installed in the driver's cab of the crane 3. When the notification unit 21 receives an abnormality detection signal from the identification unit 20, it displays an image consisting of letters, figures, etc. on the display, thereby visually notifying the operator or manager of the crane 3 that the state of the boom 6 is abnormal. In addition, when the notification unit 21 receives an abnormality detection signal from the identification unit 20, it emits an alarm sound from the speaker, thereby audibly notifying the operator of the crane 3 that the state of the boom 6 is abnormal.

When the control unit 22 receives an abnormality detection signal from the identification unit 20, it outputs a drive stop signal to the crane drive unit 25, automatically stopping the operation of the crane drive unit 25 without receiving control from the operator.

The crane condition identification system 1 of this embodiment as described above allows for more accurate identification of the actual condition of the boom 6. For example, the crane condition identification system 1 of this embodiment allows the identification unit 20 to determine whether the boom 6 is normal or abnormal based on the first physical quantity stored in the boom basic information acquisition unit 18 and the second physical quantity stored in the boom actual information acquisition unit 17, thereby taking into account deformation of the actual boom 6 due to aging, etc., and preventing overload from acting on the boom 6.

Furthermore, according to the crane condition identification system 1 of this embodiment, markers 15 are installed on each unit boom 12, and the deformation (bending, twisting) of each unit boom 12 can be measured, making it possible to accurately measure the deformation of the boom 6.

Furthermore, the crane condition identification system 1 of this embodiment takes into account actual deformation of the boom 6 and can prevent overload from acting on the boom 6, allowing the crane 3 to be operated more safely at all times.

Furthermore, compared to simply determining a threshold value based on the actual bending of the boom 6, the crane condition identification system 1 of this embodiment can determine the degree to which the boom 6 has deteriorated over time from its new state even when a small load is applied to the boom 6.

In this embodiment, if a camera is used as the distance measuring device 14, the camera may photograph the marker 15, and the degree of bending of the boom 6 and the load acting on the boom 6 may be calculated from data on changes in the position of the marker 15. Alternatively, a perimeter monitoring system for the crane 3 may be used as the distance measuring device 14, and the degree of bending of the boom 6 and the load acting on the boom 6 may be calculated from data on changes in the position of the marker 15 acquired by the perimeter monitoring system for the crane 3. Furthermore, the distance measuring device 14 is not limited to the exemplified LiDAR, camera, perimeter monitoring system, etc., and any device that can acquire data for calculating the degree of bending of the boom 6 may be used.

<<Second Embodiment>>
FIG. 3 is a diagram showing a crane condition identification system 1 according to the second embodiment.

In Figure 3, the crane 3 that constitutes the crane condition identification system 1 has a distance measuring device 14 attached to the tip of the boom 6. This distance measuring device 14 is capable of emitting a signal from the upper side of the boom 6 toward the lower side of the boom 6. This distance measuring device 14 measures the position of the marker 15 on each unit boom 12 as three-dimensional data by receiving reflected signals from the marker 15 on each unit boom 12, and this measurement result (three-dimensional data) is input into the boom reality information acquisition unit 17 of the calculation processing unit main body 16. The calculation processing unit 2 that constitutes the crane condition identification system 1 of this embodiment is configured in the same way as the calculation processing unit 2 shown in the first embodiment.

The crane condition identification system 1 of this embodiment as described above can achieve the same effects as the crane condition identification system 1 of the first embodiment.

<<Third Embodiment>>
FIG. 4 is a diagram showing a crane condition identification system 1 according to the third embodiment.

In Figure 4, the crane condition identification system 1 has a distance measuring device 14 attached to an external structure 26 (such as a pillar with its lower end buried in the ground or a building fixed to the ground) located on the side of the crane 3. This distance measuring device 14 is capable of emitting a signal from the side of the crane 3 toward the side of the boom 6. The distance measuring device 14 receives reflected signals from the markers 15 on each unit boom 12 to measure the position of the markers 15 on each unit boom 12 as three-dimensional data, and this measurement result (three-dimensional data) is input into the boom reality information acquisition unit 17 of the calculation processing unit main body 16. The calculation processing unit 2 that constitutes the crane condition identification system 1 of this embodiment is configured in the same way as the calculation processing unit 2 shown in the first embodiment.

The crane condition identification system 1 of this embodiment as described above can achieve the same effects as the crane condition identification system 1 of the first embodiment.

<<Fourth Embodiment>>
FIG. 5 is a diagram showing a crane condition identification system 1 according to the fourth embodiment.

In Figure 5, the crane condition identification system 1 has a ranging device 14 attached to an air vehicle 27 such as a drone, and is capable of emitting a signal from the ranging device 14 toward the markers 15 on each unit boom 12. The ranging device 14 attached to the air vehicle 27 receives reflected signals from the markers 15 on each unit boom 12, thereby measuring the position of the markers 15 on each unit boom 12 as three-dimensional data, and transmitting the measurement results (three-dimensional data) to the boom reality information acquisition unit 17 of the calculation processing unit main body 16. The calculation processing unit 2 that constitutes the crane system 1 of this embodiment is configured in the same way as the calculation processing unit 2 shown in the first embodiment.

The crane condition identification system 1 of this embodiment as described above can achieve the same effects as the crane condition identification system 1 of the first embodiment.

<<Other embodiments>>
In the first embodiment, the first physical quantity and the second physical quantity are exemplified as distortion (flexure or torsion) of the boom 6, but are not limited thereto and may be the natural frequency of the boom 6 or the amplitude of the boom 6. In this way, the crane condition identification system 1 according to the present invention may detect an abnormality in the boom 6 based on changes in the natural frequency or amplitude of the boom 6, and prevent an overload from acting on the crane 3. The natural frequency and amplitude as the first physical quantity of the boom 6 may be calculated by inputting basic information about the boom 6 into simulation software and performing a simulation. The natural frequency as the second physical quantity of the boom 6 may be actually measured using a natural frequency measurement system (e.g., SA-A1 by Rion Co., Ltd.) as boom measurement means. The amplitude as the second physical quantity of the boom 6 may be actually measured using a portable digital vibrometer (e.g., V-Checker, product name, by Sinfonia Technology Co., Ltd.) as boom measurement means.

The crane condition identification system, crane condition identification device, and program of the present invention have been described in the above embodiments with reference to a crawler crane, but are not limited to this. For example, in addition to mobile cranes such as wheel cranes and truck cranes, they can also be widely applied to port cranes, overhead cranes, gantry cranes, unloaders, jig cranes, fixed cranes, etc.

1 Crane condition identification system 5 Upper rotating body (crane body)
6 Boom 11 Lower boom 12 Unit boom 13 Upper boom 14 Distance measuring device (boom measuring means)
15 Marker 17 Boom actual information acquisition unit 18 Boom basic information acquisition unit 20 Identification unit 21 Notification unit 22 Control unit

Claims (9)

A crane state identification system that identifies a state of a boom provided on a crane main body,
a boom basic information acquisition unit that acquires basic information including structural data of the boom;
a boom actual information acquisition unit that acquires actual information of the boom;
an identification unit that identifies a state of the boom based on the basic information including the structural data of the boom and the actual information;
A crane condition identification system having: the identification unit determines whether a state of the boom is normal or abnormal based on a first physical quantity obtained from the basic information and a second physical quantity obtained from the actual information.
The crane condition identification system according to claim 1 . the first physical quantity and the second physical quantity are at least any one of deflection, torsion, frequency, and amplitude of the boom;
The crane condition identification system according to claim 2 . The deflection and torsion of the boom in the second physical quantity are acquired by a distance measuring device.
The crane condition identification system according to claim 3 . The boom comprises a lower boom connected to the crane body and an upper boom disposed at a tip end on the opposite side to the crane body,
the distance measuring device is disposed on the upper boom, the lower boom, or at a position below the lower boom;
The crane condition identification system according to claim 4. The boom comprises a lower boom connected to the crane body, a plurality of unit booms connected to the lower boom, and an upper boom connected to the unit booms,
a marker that reflects a signal from the distance measuring device is installed on each of the unit booms;
6. A crane condition identification system according to claim 4 or 5. a notification unit that notifies the identification result of the identification unit;
7. A crane condition identification system according to claim 1, further comprising: A crane state identification device having an identification unit that identifies the state of a boom based on basic information including structural data of a boom provided on a crane body and actual information of the boom. The program for the crane state identifying device according to claim 8 , wherein the identifying unit identifies the state of the boom.