JPH0729750B2 - Crane operation control system - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial field of application> The present invention relates to an operation control system for cranes, and in particular to instructions from the setting point for operations such as transporting and discharging concrete from the bunker line to the setting point. The present invention relates to a crane operation control system that can be executed based on work status data from a work department.

<Prior Art> Generally, concrete is poured at a construction site such as a dam by transporting concrete put into a bucket to a setting point by using various cranes and discharging the concrete at the setting point. One of such cranes is a tower crane, but when carrying a load with such a tower crane, turn the crane body, raise and lower the boom and hoist and lower the hook block to determine the destination point. The package is delivered to the target point by a so-called multi-axis positioning method that is combined. When the crane is automatically operated or manually operated, the crane driving instruction is given according to the information generated from the bunker line and the setting point and the work instruction.

<Problems to be Solved by the Invention> However, in such conventional concrete placing work, situation data or instruction data issued from a place away from the placing point, the bunker line, and the crane. Since it is transmitted using a voice radio, etc., there is a problem in that there is a time lag during implementation at each work station and it is not possible to carry out overall management of the system.

The present invention has been made by paying attention to such a conventional problem, and its purpose is to instruct the operating equipment of a crane,
It is an object of the present invention to provide an operation control system for a crane that can perform confirmation effectively and can perform safe and lean operation.

<Means for Solving Problems> In order to achieve the above object, the present invention provides a crane operation operation unit with a power control unit, a placement control unit, and a data transfer device, and the placement site operation unit has a work unit. A situation data input means and a data transfer device are provided, and a bunker line control section is provided with a bunker line control means, and the work situation data input at the placement site operation section is processed by the placement overall control means, and the crane and The point is that the operation of the bunker line is controlled.

<Operation> In the operation site of the pouring site, the pouring point of the concrete pouring target site and the data such as the operating conditions of the crane are input. This data is sent to the integrated driving control means provided in the crane body and processed there. Thereby, the operation of the crane and the operation of the bunker line are determined, and the crane is automatically operated based on the determined data.

<Embodiment> FIGS. 1 to 6 are views showing an embodiment of the present invention.
In this embodiment, 1 is a concrete transportation system using a tower crane which is a crane operation unit, 2 is a pouring site operation unit where concrete is placed, and 3 is a bunker line operation unit.

The concrete transportation system 1 is a tower crane 4 having a winch 9 for hoisting a hook block, a motor 10 and a motor rotation detector 11, and a control computer 5 for controlling the operation of the tower crane 4 (hereinafter simply referred to as a crane).
A casting control computer 6, a power control panel 7,
It comprises a display device 8 for notifying the driving site of the automatic operation status, a data relay computer 15 for monitoring the mutual data transfer work generated from the driving point and the bunker line, and a data transfer device 16, and has a constant control signal. The crane 4 is operated to transport concrete and release it to the setting point.

The setting site operation unit 2 requests the operator to input the data necessary for the automatic operation of the crane 4 in the setting site operation unit 2, and after checking the input result for errors and rearranging the data, the setting site operation unit 2 A function of transferring data, a function of confirming and discharging a concrete discharge signal to a data relay computer through the data transfer device 16, and a crane remote control function, and an input device 12 having a built-in site control computer, A data transfer device 13 for transferring data to and from the transfer device 16 is provided.

The bunker line control unit 3 includes a bunker line control computer.
14 is provided, and the general control computer 6 for setting the situation on the bunker line via the data relay computer 15
Communicate to.

The operation mode by the operation control system of the crane having such a configuration can realize three modes of manual operation by an operator who has boarded the tower crane 4, remote operation by remote control, and automatic operation by computer control. The main circuit of the motor 10 is shared so that these three operation modes can be constantly switched, and the signal level of each mode is adjusted by a command (speed command) given to the main circuit.

For this reason, the signal flow of the operation control system according to the present embodiment is such that, in the manual operation mode, the control signal output from the manual operation operating device in the cab of the crane 4 is as shown in FIG. 2 (a). In the remote control mode in which the motor 10 is directly input to the power control panel 7 and the crane 4 is operated based on the signal, the crane output from the input device 12 is output as shown in FIG. 2 (b). The operation signals are transmitted to the data transfer devices 13 and 16 and the data relay computer 15.
The signal is input to the control computer 5 via the, the signal level is adjusted, and the signal is input to the power control panel 7.

In the automatic operation mode, as shown in FIG. 2 (c), when the setting target point is input to the input device 12, the data is passed through the data transfer devices 13 and 16 and the data relay computer 15 to control the setting. It is input to the control computer 6. The data of this concrete placing target point is input by dividing the concrete placing surface (placement area) at the construction site such as a dam into a mesh 18 of a size according to the situation as shown in FIG. This is done by assigning a number to each of the created grid points 19 and entering the number of this grid point 19.
The placement control computer 6 makes a condition determination for the placement target point and calculates the crane and bunker line control data. The calculated crane control data is transferred to the control computer 5, and the bunker line control data is transferred to the bunker line control computer 14 via the data relay computer 15. When the data transfer to the control computer 5 and the bunker line control computer 14 is completed, the casting integrated control computer 6 requests the input device 12 to input a start start signal via the data relay computer 15 and the data transfer devices 16 and 13. To do. When a person at the setting site inputs a start start command, the command is transferred to the general control computer for setting and the automatic operation of the crane is started.

In order to execute this automatic operation, three coordinates, that is, the setting target point input coordinate system, the movement coordinate system of the crane 4, and the winch management coordinate system are used. The setting target point input coordinate system is used for inputting the above-mentioned setting point. In Fig. 3, an orthogonal Cartesian coordinate system with a fixed point on the dam axis as the origin is adopted, and the turning center of the crane 4 Not only the data such as the setting target point is shown, but also the data regarding the position of the crane 4, the receiving position of the concrete, the dam shape, etc. are expressed.

On the other hand, as for the crane motion coordinate system, since the crane 4 is a tower crane, its suspended load, that is, the bucket 17
Since the plane motion of is performed by swiveling and undulating motion, and the up-and-down motion is performed by undulating and winding motion, the polar coordinates of the r, Θ, Z system with the swivel center as the origin are adopted. Then, the work radius, the height of the bucket 17 and the turning amount are displayed on the automatic operation monitor of the crane 4 by the polar coordinates.

Further, as the winch management coordinate system, the linear coordinate set on the wire is adopted in consideration of the fact that the movement amount of the undulation / winding operation is determined by the amount of the winding wire of the winch 9. With this linear coordinate, the control amount of the undulation / winding winch and the limit value only above and below the winch are displayed.

The bunker line carriage moves according to the pattern shown in FIG. The operation control is performed by the bunker line control computer according to an instruction from the overall computer. For example, 5th
As shown in the figure, the movement distance on the bunker line carriage is calculated after the condition is judged by the placement integrated control computer based on the placement target point input to the input device 12, and is calculated by the bunker line control computer. Transferred. When the trolley starts moving,
Placement is performed according to the command of the integrated control computer. For example, as shown in FIG. 6, when the bucket is hoisted and conveyed to the target point for setting, when the carriage is moved to the target position, the placement control computer recognizes that the bucket has been wound up to a predetermined position. , The movement start command is issued to the bunker line control computer.

In the above automatic operation, the answer back method and the sum check method are used for data transfer between the driving control computer 6, the control computer, the data relay computer and the bunker line control computer, and the confirmation of the transfer data is confirmed. I check it on both the computer and the destination computer. Furthermore, it is designed so that prompt and accurate measures can be taken for safety measures such as emergencies. During automatic operation, it is possible to operate regardless of conditions under any circumstances.
At the same time, it is possible to switch to the emergency stop operation from any mode of manual operation, remote control operation and automatic operation.

<Effects of the Invention> As described above, according to the present invention, in a series of concrete placing operations by operating a crane, operations of the crane and the bunker line are centrally controlled based on work status data at the placing site. As a result, it is possible to achieve a variety of effects such as safe crane operation without waste as a whole and overall control of the system.

[Brief description of drawings]

FIG. 1 is a block diagram showing an embodiment of a crane operating system according to the present invention, FIGS. 2 (a), (b), and (c) are explanatory diagrams showing a signal flow, and FIG. FIG. 4 is a diagram showing a method of indexing a setting point, FIG. 4 is an explanatory view showing a movement pattern of a bunker line truck, FIG. 5 is a plan view of a situation when placing concrete on a dam, and FIG. 6 is a bunker line truck. It is a relationship diagram of a crane. 1 ... Concrete transportation system, 2 ... Placement site, 3 ...
Bunker line operation unit, 4 ... Tower crane, 5 ... Control computer, 6 ... Installation control computer, 7 ...
… Power control panel, 8… Display, 9… Winch, 10…
… Motor, 11 …… Detector, 12 …… Input device, 13 …… Data transfer device, 14 …… Bunker line control computer, 15…
… A data relay computer.

 ─────────────────────────────────────────────────── ─── Continuation of front page (72) Inventor Koichi Hase 2-5-8 Kita-Aoyama, Minato-ku, Tokyo Intra-company group (56) Reference JP-A-58-119587 (JP, A)

Claims (1)

[Claims] Claim: What is claimed is: 1. An operation control system for a concrete pouring crane comprising a crane operation control section, a pouring site operation section, and a bunker line operation section, wherein the crane operation control section controls the power of the crane. The bunker is provided with a control means, a means for performing overall control of placement and a data transfer device, and a means for inputting work status data at the placement site and a data transfer device in the placement site operation unit. The line operation unit is provided with a means for controlling the operation of the bunker line, and the work status data input at the placement site operation unit is transferred by the data transfer device to the placement integrated control means, and this data is processed. An operation control system for a crane, characterized in that the operation of the crane and bunker line is controlled.