Invention name: Crane
Technical field
[0001]
　The present invention relates to a crane provided with a monitoring device.
Background technology
[0002]
　Conventionally, in mobile cranes and the like, a crane equipped with an obstacle notification system has been proposed in order to improve the visibility of obstacles during traveling and working. The obstacle notification system is a system that detects the presence or absence of obstacles on the side of the vehicle when the crane is traveling, the presence or absence of obstacles in the work area during work, and the proximity of people, vehicles, etc., and notifies the operator. The obstacle notification system is configured to detect obstacles with a camera, millimeter-wave radar, or the like, and display the detection status on a monitor or the like installed in the cabin. For example, as in Patent Document 1.
[0003]
　The obstacle notification system described in Patent Document 1 displays a television camera provided in a crane device (boom support cover on a swivel table) of a crane, a display control unit that displays and processes surveillance images in real time, and surveillance images. It is equipped with a monitor, a notification unit that notifies the operator (driver), and the like. The TV camera is provided so as to capture a range on the boom support cover side (opposite side of the boom), which is difficult for the operator to see in the cabin. As a result, the operator can more reliably recognize the presence or absence of an obstacle by checking the range in which the field of view fluctuates depending on the undulation angle of the boom on the monitor in the cabin.
[0004]
　On the other hand, a crane in which each actuator is remotely controlled by a remote control terminal or the like has been proposed. In such a crane, regardless of the relative positional relationship between the crane and the remote control terminal, the operation direction of the operation tool of the remote control terminal and the operation direction of the crane are matched to facilitate and easily operate the crane. Remote control terminals and cranes that can be performed are known. For example, as in Patent Document 2.
[0005]
　The crane described in Patent Document 2 is operated by an operation command signal based on a load from a remote control device. That is, since each actuator of the crane is controlled based on commands related to the moving direction and moving speed of the load, the crane can be operated intuitively without being aware of the operating speed, operating amount, operating timing, etc. of each actuator. .. However, in the crane, the load may be shaken due to discontinuous acceleration at the start or stop of movement in which the speed signal from the remote control device is input in the form of a step function. Further, since the crane is controlled on the assumption that the load is always vertically below the tip of the boom, it is not possible to suppress the occurrence of misalignment and shaking of the load caused by the influence of the wire rope.
Prior art literature
Patent documents
[0006]
Patent Document 1: Japanese Patent Application Laid-Open No. 2016-13890
Patent Document 2: Japanese Patent Application Laid-Open No. 2010-228905
Outline of the invention
Problems to be solved by the invention
[0007]
　An object of the present invention is to provide a crane and a crane control method capable of moving an actuator along a target trajectory while suppressing the shaking of the load with high accuracy when controlling the actuator with reference to the load.
Means to solve problems
[0008]
　The problem to be solved by the present invention is as described above, and next, the means for solving this problem will be described.
[0009]
　That is, the first invention is a crane in which a monitoring device for monitoring the surroundings is provided in the crane device, an operating tool for inputting a target speed signal relating to a moving direction and speed of a load, and a turning angle of the boom. A means for detecting the undulation angle of the boom, a means for detecting the undulation angle of the boom, and a means for detecting the expansion / contraction length of the boom are provided. The current position of the load is calculated, and the boom tip with respect to the reference position is obtained from the turning angle detected by the turning angle detecting means, the undulating angle detected by the undulating angle detecting means, and the stretching length detected by the stretching length detecting means. The current position of the load is calculated, the target speed signal input from the operating tool is converted into the target position of the load with respect to the reference position, and the current position of the load and the current position of the boom tip are used to determine the wire rope. The direction vector of the wire rope is calculated from the current position of the baggage and the target position of the baggage, and the direction vector of the wire rope is calculated from the payout amount of the wire rope and the direction vector of the wire rope. It is a crane that calculates the target position of the boom tip at the target position and generates an operation signal of the actuator of the crane device based on the target position of the boom tip.
[0010]
　In the second invention, the current speed of the luggage is calculated from the position of the luggage detected by the monitoring device, the target speed signal is integrated, and the target orbit signal obtained by attenuating the frequency component in a predetermined frequency range is calculated. Then, the speed difference between the target speed signal and the current speed is calculated, the correction coefficient for reducing the speed difference is multiplied by the target orbit signal to calculate the correction orbit signal, and the correction orbit signal is used with respect to the reference position. It is a crane that converts to the target position of the luggage.
[0011]
　In the third invention, the monitoring device is a plurality of cameras, the plurality of cameras are configured as stereo cameras to photograph a luggage, and the current position of the luggage with respect to a reference position is obtained from images taken by the plurality of cameras. It is a crane that calculates.
Effect of the invention
[0012]
　The present invention has the following effects.
[0013]
　In the first invention, the current position of the load is detected by using a monitoring device, the direction vector of the wire rope is calculated from the current position and target position of the load and the current position of the boom tip, and the wire rope extension length and the wire rope extension length are calculated. Since the target position of the boom tip is calculated from the direction vector, the boom is controlled so that the load moves along the target trajectory while operating the crane with reference to the load. As a result, when the actuator is controlled with the load as a reference, the load can be moved along the target trajectory while suppressing the swing of the load with high accuracy.
[0014]
　In the second invention, the current speed v (n) of the luggage is calculated, and the target speed signal of the luggage is corrected so that the difference between the target speed signal of the luggage and the current speed v (n) becomes small. Accumulation of current position error with respect to the target trajectory is suppressed. As a result, when the actuator is controlled with the load as a reference, the load can be moved along the target trajectory while suppressing the swing of the load with high accuracy.
[0015]
　In the third invention, since the spatial position of the luggage is detected by the stereo camera composed of a plurality of cameras that monitor the periphery of the crane device, the position and speed of the luggage can be calculated accurately. As a result, when the actuator is controlled with the load as a reference, the load can be moved along the target trajectory while suppressing the swing of the load with high accuracy.
A brief description of the drawing
[0016]
[Fig. 1] A side view showing the overall configuration of a crane.
[Fig. 2] A plan view showing the overall configuration of a crane.
[Fig. 3] A block diagram showing a crane control configuration.
FIG. 4 is a plan view showing a schematic configuration of an operation terminal.
[Fig. 5] A block diagram showing a control configuration of an operation terminal.
[Fig. 6] Fig. 6 is a diagram showing the direction in which the load is transported when the suspended load moving operation tool is operated.
FIG. 7 is a block diagram showing a control configuration of a crane control device.
[Fig. 8] A diagram showing a reverse dynamics model of a crane.
FIG. 9 is a diagram showing a flowchart showing a control process of a crane control method.
FIG. 10 is a diagram showing a flowchart showing a target trajectory calculation process.
FIG. 11 is a diagram showing a flowchart showing a boom position calculation process.
FIG. 12 is a diagram showing a flowchart showing an operation signal generation process.
FIG. 13 is a block diagram showing a control configuration for correcting a target trajectory signal of a crane control device.
FIG. 14 is a diagram showing a graph showing the relationship between a target velocity signal and a target trajectory signal.
FIG. 15 is a diagram showing a flowchart showing a target trajectory calculation process for correcting a target trajectory signal.
FIG. 16 is a schematic diagram showing a calibration method of a stereo camera.
Mode for carrying out the invention
[0017]
　Hereinafter, a crane 1 which is a mobile crane (rough terrain crane) as a work vehicle according to an embodiment of the present invention will be described with reference to FIGS. 1 to 5. In the present embodiment, the crane 1 (rough terrain crane) will be described as the work vehicle, but an all-terrain crane, a truck crane, a loaded truck crane, an aerial work platform, or the like may be used.
[0018]
　As shown in FIG. 1, the crane 1 is a mobile crane that can move to an unspecified place. The crane 1 has a vehicle 2 and a crane device 6 which is a working device.
[0019]
　The vehicle 2 is a traveling body that conveys the crane device 6. The vehicle 2 has a plurality of wheels 3 and travels by using the engine 4 as a power source. The vehicle 2 is provided with an outrigger 5. The outrigger 5 is composed of an overhang beam that can be extended by flood control on both sides of the vehicle 2 in the width direction and a hydraulic jack cylinder that can be extended in a direction perpendicular to the ground. The vehicle 2 can expand the workable range of the crane 1 by extending the outrigger 5 in the width direction of the vehicle 2 and grounding the jack cylinder.
[0020]
　The crane device 6 is a work device for lifting a load W by a wire rope. The crane device 6 includes a swivel base 7, a swivel base 7 camera, a boom 9, a jib 9a, a main hook block 10, a sub hook block 11, a hydraulic cylinder for undulation 12, a main winch 13, a main wire rope 14, a sub winch 15, and a sub. It includes a wire rope 16, a cabin 17, a control device 31, an operation terminal, and the like.
[0021]
　The swivel 7 is a swivel that swivels the crane device 6. The swivel base 7 is provided on the frame of the vehicle 2 via an annular bearing. The swivel base 7 is rotatably configured with the center of the annular bearing as the center of rotation. The swivel 7 is provided with a plurality of swivel cameras 7a for monitoring the surroundings. Further, the swivel base 7 is provided with a hydraulic swivel hydraulic motor 8 which is an actuator. The swivel base 7 is configured to be swivelable in one direction and the other direction by a swivel hydraulic motor 8.
[0022]
　As shown in FIGS. 1 and 2, the swivel camera 7a is a monitoring device that photographs obstacles, people, and the like around the swivel 7. The swivel camera 7a is provided on the left and right sides in front of the swivel 7 and on the left and right sides behind the swivel 7. Each swivel camera 7a covers the entire circumference of the swivel 7 as a monitoring range by photographing the periphery of each installation location. Further, the swivel camera 7a arranged on the left and right sides in front of the swivel 7 is configured to be usable as a set of stereo cameras. That is, the swivel camera 7a on the left and right sides in front of the swivel 7 is a baggage position detecting means for detecting the position information of the suspended baggage W as a three-dimensional coordinate value by using it as a set of stereo cameras. Used as. At this time, the crane 1 is configured to supplement the photographing range of the swivel camera 7a used as a set of stereo cameras as a peripheral monitoring means with another camera (for example, a boom camera) or a sensor. The luggage position detecting means may be configured by other cameras such as a swivel camera 7a and a boom camera 9b provided at other positions. Further, the luggage position detecting means may be any one capable of detecting the current position information of the luggage W such as a millimeter wave radar and a GNSS device.
[0023]
　As shown in FIG. 1, the swivel hydraulic motor 8 which is an actuator is rotated by a swivel valve 23 (see FIG. 3) which is an electromagnetic proportional switching valve. The swivel valve 23 can control the flow rate of the hydraulic oil supplied to the swivel hydraulic motor 8 to an arbitrary flow rate. That is, the swivel base 7 is configured to be controllable to an arbitrary swivel speed via the swivel hydraulic motor 8 that is rotationally operated by the swivel valve 23. The swivel base 7 is provided with a swivel sensor 27 (see FIG. 3) which is a swivel angle detecting means for detecting the swivel angle θz (angle) of the swivel base 7 and the swivel speed θz.
[0024]
　The boom 9 is a movable support column that supports the wire rope so that the luggage W can be lifted. The boom 9 is composed of a plurality of boom members. The boom 9 is provided so that the base end of the base boom member can swing at substantially the center of the swivel base 7. The boom 9 is configured to be able to expand and contract in the axial direction by moving each boom member by a telescopic hydraulic cylinder (not shown) which is an actuator. Further, the boom 9 is provided with a jib 9a.
[0025]
　The expansion / contraction hydraulic cylinder (not shown), which is an actuator, is expanded / contracted by the expansion / contraction valve 24 (see FIG. 3) which is an electromagnetic proportional switching valve. The expansion / contraction valve 24 can control the flow rate of the hydraulic oil supplied to the expansion / contraction hydraulic cylinder to an arbitrary flow rate. The boom 9 is provided with an expansion / contraction sensor 28 which is an expansion / contraction length detecting means for detecting the length of the boom 9, and an orientation sensor 29 for detecting an orientation centered on the tip of the boom 9.
[0026]
　The boom camera 9b (see FIG. 3), which is a detection device, is an image acquisition means for photographing the luggage W and the features around the luggage W. The boom camera 9b is provided at the tip of the boom 9. The boom camera 9b is configured to be capable of photographing the features and terrain around the luggage W and the crane 1 from vertically above the luggage W.
[0027]
　The main hook block 10 and the sub hook block 11 are members on which the luggage W is hung. The main hook block 10 is provided with a plurality of hook sheaves around which the main wire rope 14 is wound and a main hook 10a for suspending the luggage W. The sub-hook block 11 is provided with a sub-hook 11a for suspending the luggage W.
[0028]
　The undulating hydraulic cylinder 12 is a couturer that raises and lays down the boom 9 and holds the posture of the boom 9. In the undulating hydraulic cylinder 12, the end of the cylinder portion is swingably connected to the swivel base 7, and the end of the rod portion is swingably connected to the base boom member of the boom 9. The undulating hydraulic cylinder 12 is expanded and contracted by the undulating valve 25 (see FIG. 3), which is an electromagnetic proportional switching valve. The undulation valve 25 can control the flow rate of the hydraulic oil supplied to the undulation hydraulic cylinder 12 to an arbitrary flow rate. The boom 9 is provided with an undulation sensor 30 (see FIG. 3) which is an undulation angle detecting means for detecting the undulation angle θx.
[0029]
　The main winch 13 and the sub winch 15 are actuators that carry out (winding up) and feeding out (winding down) the main wire rope 14 and the sub wire rope 16. The main winch 13 is rotated by a main hydraulic motor (not shown) in which the main drum around which the main wire rope 14 is wound is an actuator, and the sub winch 15 is a sub (not shown) in which the sub drum around which the sub wire rope 16 is wound is an actuator. It is configured to be rotated by a hydraulic motor.
[0030]
　The main hydraulic motor is rotated by a main valve 26 m (see FIG. 3), which is an electromagnetic proportional switching valve. The main winch 13 is configured to control a main hydraulic motor by a main valve 26 m so that it can be operated at an arbitrary feeding and feeding speed. Similarly, the sub winch 15 is configured to control the sub hydraulic motor by the sub valve 26s (see FIG. 3), which is an electromagnetic proportional switching valve, so that the sub winch 15 can be operated at an arbitrary feeding and feeding speed. The main winch 13 and the sub winch 15 are provided with a winding sensor 43 (see FIG. 3) for detecting the feeding amount l of the main wire rope 14 and the sub wire rope 16, respectively.
[0031]
　The cabin 17 is a housing that covers the cockpit. The cabin 17 is mounted on the swivel base 7. The cabin 17 is provided with a driver's seat (not shown). In the driver's seat, an operation tool for operating the vehicle 2 and a turning operation tool 18 for operating the crane device 6, an undulation operation tool 19, a telescopic operation tool 20, a main drum operation tool 21m, a sub-drum operation tool 21s, An operation terminal 32 and the like are provided (see FIG. 3). The swivel operating tool 18 can operate the swivel hydraulic motor 8. The undulation operation tool 19 can operate the undulation hydraulic cylinder 12. The expansion / contraction operating tool 20 can operate the expansion / contraction hydraulic cylinder. The main drum operating tool 21m can operate the main hydraulic motor. The sub drum operating tool 21s can operate the sub hydraulic motor.
[0032]
　As shown in FIG. 3, the control device 31 controls the actuator of the crane device 6 via each operation valve. The control device 31 is provided in the cabin 17. The control device 31 may substantially have a configuration in which a CPU, ROM, RAM, HDD, etc. are connected by a bus, or may have a configuration including a one-chip LSI or the like. The control device 31 stores various programs and data for controlling the operation of each actuator, switching valve, sensor, and the like.
[0033]
　The control device 31 is connected to the swivel camera 7a and the boom camera 9b, and can acquire the image i1 from the swivel camera 7a and the image i2 from the boom camera 9b. Further, the control device 31 can calculate the current position coordinates p (n) of the luggage W and the size of the luggage W from the acquired image i1 from the swivel camera 7a.
[0034]
　The control device 31 is connected to the swivel operation tool 18, the undulation operation tool 19, the telescopic operation tool 20, the main drum operation tool 21m and the sub-drum operation tool 21s, and is connected to the swivel operation tool 18, the undulation operation tool 19, the main drum operation tool 21m and It is possible to acquire each operation amount of the sub-drum operation tool 21s.
[0035]
　The control device 31 is connected to the terminal side control device 41 (see the figure) of the operation terminal 32, and can acquire a control signal from the operation terminal 32.
[0036]
　The control device 31 is connected to the swivel valve 23, the telescopic valve 24, the undulation valve 25, the main valve 26m and the sub valve 26s, and is connected to the swivel valve 23, the undulation valve 25, the main valve 26m and the sub valve. The operation signal Md can be transmitted to the valve 26s.
[0037]
　The control device 31 is connected to the swivel sensor 27, the telescopic sensor 28, the orientation sensor 29, the undulation sensor 30, and the winding sensor 43, and has a swivel angle θz, a telescopic length Lb, and an undulation angle θx. It is possible to obtain the feeding amount l (n) of the main wire rope 14 or the sub wire rope 16 (hereinafter, simply referred to as “wire rope”) and the orientation centered on the tip of the boom 9.
[0038]
　The control device 31 generates an operation signal Md corresponding to each operation tool based on the operation amounts of the turning operation tool 18, the undulation operation tool 19, the main drum operation tool 21m, and the sub-drum operation tool 21s.
[0039]
　The crane 1 configured in this way can move the crane device 6 to an arbitrary position by traveling the vehicle 2. Further, the crane 1 erects the boom 9 at an arbitrary undulation angle θx by the undulating hydraulic cylinder 12 by operating the undulating operation tool 19, and extends the boom 9 to an arbitrary boom 9 length by operating the telescopic operation tool 20. The lift and working radius of the crane device 6 can be expanded by making the crane device 6 work. Further, the crane 1 can convey the luggage W by lifting the luggage W by the sub-drum operating tool 21s or the like and turning the swivel base 7 by operating the swivel operating tool 18.
[0040]
　As shown in FIGS. 4 and 5, the operation terminal 32 is a terminal for inputting a target speed signal Vd regarding the direction and speed at which the luggage W is moved. The operation terminal 32 includes a housing 33, a suspended load moving operation tool 35 provided on the operation surface of the housing 33, a terminal-side turning operation tool 36, a terminal-side expansion / contraction operation tool 37, a terminal-side main drum operation tool 38m, and a terminal-side sub-drum. It includes an operating tool 38s, a terminal-side undulating operating tool 39, a terminal-side display device 40, a terminal-side control device 41 (see FIGS. 3 and 5), and the like. The operation terminal 32 transmits the target speed signal Vd of the load W generated by the operation of the suspended load moving operation tool 35 or various operation tools to the control device 31 of the crane 1 (crane device 6).
[0041]
　As shown in FIG. 4, the housing 33 is a main component of the operation terminal 32. The housing 33 is configured to have a size that can be held by the operator by hand. The housing 33 has a suspended load moving operation tool 35, a terminal-side turning operation tool 36, a terminal-side expansion / contraction operation tool 37, a terminal-side main drum operation tool 38m, a terminal-side sub-drum operation tool 38s, and a terminal-side undulation operation tool. 39 and a terminal side display device 40 are provided.
[0042]
　As shown in FIGS. 4 and 5, the suspended load moving operation tool 35 is an operating tool for inputting instructions regarding the moving direction and speed of the load W on a horizontal plane. The suspended load moving operation tool 35 includes an operation stick that stands substantially vertically from the operation surface of the housing 33, and a sensor (not shown) that detects the tilt direction and tilt amount of the operation stick. The suspended load moving operating tool 35 is configured so that the operating stick can be tilted in any direction. The suspended load moving operation tool 35 describes the tilting direction of the operating stick and the tilting amount thereof detected by a sensor (not shown) as the extending direction of the boom 9 in the upward direction (hereinafter, simply referred to as “upward direction”) toward the operating surface. The operation signal is configured to be transmitted to the terminal side control device 41.
[0043]
　The terminal-side turning operation tool 36 is an operating tool into which instructions regarding the turning direction and speed of the crane device 6 are input. The terminal-side expansion / contraction operation tool 37 is an operation tool for inputting instructions regarding expansion / contraction and speed of the boom 9. The terminal-side main drum operating tool 38m (terminal-side sub-drum operating tool 38s) is an operating tool for inputting instructions regarding the rotation direction and speed of the main winch 13. The terminal-side undulation operation tool 39 is an operation tool for inputting an instruction regarding the undulation and speed of the boom 9. Each operating tool is composed of an operating stick that stands substantially vertically from the operating surface of the housing 33 and a sensor (not shown) that detects the tilting direction and tilting amount of the operating stick. Each operating tool is configured to be tiltable to one side and the other side.
[0044]
　As shown in FIG. 5, the terminal-side display device 40 displays various information such as the attitude information of the crane 1 and the information of the cargo W. The terminal-side display device 40 is composed of an image display device such as a liquid crystal screen. The terminal-side display device 40 is provided on the operation surface of the housing 33. On the terminal-side display device 40, the extension direction of the boom 9 is set upward toward the terminal-side display device 40, and the direction thereof is displayed.
[0045]
　The terminal-side control device 41, which is a control unit, controls the operation terminal 32. The terminal-side control device 41 is provided in the housing 33 of the operation terminal 32. The terminal-side control device 41 may substantially have a configuration in which a CPU, ROM, RAM, HDD, etc. are connected by a bus, or may have a configuration including a one-chip LSI or the like. The terminal-side control device 41 includes a suspended load moving operation tool 35, a terminal-side turning operation tool 36, a terminal-side expansion / contraction operation tool 37, a terminal-side main drum operation tool 38m, a terminal-side sub-drum operation tool 38s, a terminal-side undulation operation tool 39, and a terminal-side undulation operation tool 39. Various programs and data are stored in order to control the operation of the terminal side display device 40 and the like.
[0046]
　The terminal-side control device 41 includes a suspended load moving operation tool 35, a terminal-side turning operation tool 36, a terminal-side expansion / contraction operation tool 37, a terminal-side main drum operation tool 38m, a terminal-side sub-drum operation tool 38s, and a terminal-side undulation operation tool 39. It is connected, and it is possible to acquire an operation signal consisting of an inclination direction and an inclination amount of the operation stick of each operation tool.
[0047]
　The terminal-side control device 41 is an operation acquired from each sensor of the terminal-side turning operation tool 36, the terminal-side expansion / contraction operation tool 37, the terminal-side main drum operation tool 38m, the terminal-side sub-drum operation tool 38s, and the terminal-side undulation operation tool 39. The target speed signal Vd of the luggage W can be generated from the operation signal of the stick. Further, the terminal-side control device 41 is connected to the control device 31 of the crane device 6 by wire or wirelessly, and can transmit the generated target speed signal Vd of the luggage W to the control device 31 of the crane device 6.
[0048]
　Next, the control of the crane device 6 by the operation terminal 32 will be described with reference to FIG.
[0049]
　As shown in FIG. 6, when the tip of the boom 9 is facing north, the suspended load moving operation tool 35 of the operation terminal 32 is tilted to the left with respect to the upward direction, and is arbitrarily tilted in the direction of the tilt angle θ2 = 45 °. When the tilt operation is performed by the amount, the terminal side control device 41 suspends and moves the operation signal regarding the tilt direction and the tilt amount from the north, which is the extension direction of the boom 9, to the northwest, which is the direction of the tilt angle θ2 = 45 °. Obtained from a sensor (not shown) of the operating tool 35. Further, the terminal-side control device 41 calculates a target speed signal Vd for moving the luggage W toward the northwest at a speed corresponding to the amount of tilt from the acquired operation signal every unit time t. The operation terminal 32 transmits the calculated target speed signal Vd to the control device 31 of the crane device 6 every unit time t.
[0050]
　When the control device 31 receives the target speed signal Vd from the operation terminal 32 every unit time t, the control device 31 calculates the target trajectory signal Pd of the luggage W based on the direction of the tip of the boom 9 acquired by the direction sensor 29. Further, the control device 31 calculates the target position coordinate p (n + 1) of the luggage W, which is the target position of the luggage W, from the target trajectory signal Pd. The control device 31 generates an operation signal Md of the turning valve 23, the expansion / contraction valve 24, the undulating valve 25, the main valve 26m, and the sub valve 26s that move the luggage W to the target position coordinate p (n + 1) ( (See FIG. 7). The crane 1 moves the load W toward the northwest, which is the tilt direction of the suspended load moving operation tool 35, at a speed corresponding to the tilt amount. At this time, the crane 1 controls the swivel hydraulic motor 8, the contraction hydraulic cylinder, the undulating hydraulic cylinder 12, the main hydraulic motor, and the like by the operation signal Md.
[0051]
　With this configuration, the crane 1 sets the target speed signal Vd of the moving direction and speed based on the operating direction of the suspended load moving operating tool 35 as a unit time based on the extending direction of the boom 9 from the operating terminal 32. Since it is acquired every t and the target position coordinate p (n + 1) of the luggage W is determined, the operator does not lose the recognition of the operating direction of the crane device 6 with respect to the operating direction of the suspended load moving operation tool 35. That is, the operation direction of the suspended load moving operation tool 35 and the moving direction of the load W are calculated based on the extension direction of the boom 9, which is a common reference. As a result, the crane device 6 can be easily and easily operated. Although the operation terminal 32 is provided inside the cabin 17 in the present embodiment, it may be configured as a remote control terminal that can be remotely controlled from the outside of the cabin 17 by providing a terminal-side radio.
[0052]
　Next, using FIGS. 7 to 12, the target trajectory signal Pd of the luggage W for generating the operation signal Md in the control device 31 of the crane device 6 and the target position coordinates q (n + 1) at the tip of the boom 9 are set. The first embodiment of the control process to be calculated will be described. The control device 31 has a target trajectory calculation unit 31a, a boom position calculation unit 31b, and an operation signal generation unit 31c. Further, the control device 31 is configured to be able to acquire the current position information of the luggage W by using a set of the swivel camera 7a on the left and right sides in front of the swivel 7 as a stereo camera as a luggage position detecting means (FIG. 2).
[0053]
　As shown in FIG. 7, the target trajectory calculation unit 31a is a part of the control device 31 and converts the target speed signal Vd of the luggage W into the target trajectory signal Pd of the luggage W. The target trajectory calculation unit 31a can acquire the target speed signal Vd of the luggage W, which is composed of the moving direction and the speed of the luggage W, from the operation terminal 32 every unit time t. Further, the target trajectory calculation unit 31a can integrate the acquired target speed signal Vd to calculate the target position information of the luggage W. Further, the target trajectory calculation unit 31a is configured to apply a low-pass filter Lp to the target position information of the luggage W and convert it into a target trajectory signal Pd which is the target position information of the luggage W every unit time t.
[0054]
　As shown in FIGS. 7 and 8, the boom position calculation unit 31b is a part of the control device 31 and calculates the position coordinates of the tip of the boom 9 from the attitude information of the boom 9 and the target trajectory signal Pd of the luggage W. .. The boom position calculation unit 31b can acquire the target trajectory signal Pd from the target trajectory calculation unit 31a. The boom position calculation unit 31b acquires the turning angle θz (n) of the turning table 7 from the turning sensor 27, obtains the expansion / contraction length lb (n) from the expansion / contraction sensor 28, and the undulation angle θx from the undulation sensor 30. (N) is acquired, and the feeding amount l (n) of the main wire rope 14 or the sub wire rope 16 (hereinafter, simply referred to as “wire rope”) is acquired from the winding sensor 43, and the amount l (n) in front of the swivel base 7 is acquired. The current position information of the luggage W can be acquired from the images of the luggage W taken by a set of swivel cameras 7a arranged on both the left and right sides (see FIG. 2).
[0055]
　The boom position calculation unit 31b calculates the current position coordinates p (n) of the luggage W from the acquired current position information of the luggage W, and obtains the swivel angle θz (n), the expansion / contraction length lb (n), and the undulation angle θx. The current position coordinates q (n) of the tip of the boom 9 (the feeding position of the wire rope), which is the current position of the tip of the boom 9 from (n) (hereinafter, simply referred to as “current position coordinates q (n) of the boom 9”. ) Can be calculated. Further, the boom position calculation unit 31b can calculate the wire rope feeding amount l (n) from the current position coordinates p (n) of the luggage W and the current position coordinates q (n) of the boom 9. Further, the boom position calculation unit 31b suspends the luggage W from the current position coordinates p (n) of the luggage W and the target position coordinates p (n + 1) of the luggage W which is the position of the luggage W after the lapse of the unit time t. The direction vector e (n + 1) of the wire rope can be calculated. The boom position calculation unit 31b is the position of the tip of the boom 9 after a unit time t elapses from the target position coordinate p (n + 1) of the luggage W and the direction vector e (n + 1) of the wire rope using inverse dynamics. It is configured to calculate the target position coordinates q (n + 1) of the boom 9.
[0056]
　The operation signal generation unit 31c is a part of the control device 31, and generates an operation signal Md of each actuator from the target position coordinates q (n + 1) of the boom 9 after the lapse of a unit time t. The operation signal generation unit 31c can acquire the target position coordinates q (n + 1) of the boom 9 after the lapse of the unit time t from the boom position calculation unit 31b. The operation signal generation unit 31c is configured to generate an operation signal Md of the swivel valve 23, the expansion / contraction valve 24, the undulation valve 25, the main valve 26 m, or the sub valve 26s.
[0057]
　Next, as shown in FIG. 8, the control device 31 defines a reverse dynamics model of the crane 1 for calculating the target position coordinates q (n + 1) at the tip of the boom 9. The inverse dynamics model is defined in the XYZ coordinate system, with the origin O as the turning center of the crane 1. The control device 31 defines q, p, lb, θx, θz, l, f and e in the inverse dynamics model, respectively. q indicates, for example, the current position coordinate q (n) of the tip of the boom 9, and p indicates, for example, the current position coordinate p (n) of the luggage W. lb indicates, for example, the expansion / contraction length lb (n) of the boom 9, θx indicates, for example, the undulation angle θx (n), and θz indicates, for example, the turning angle θz (n). l indicates, for example, the wire rope feeding amount l (n), f indicates the wire rope tension f, and e indicates, for example, the wire rope direction vector e (n).
[0058]
　In the inverse dynamics model determined in this way, the relationship between the target position q at the tip of the boom 9 and the target position p of the luggage W is derived from the target position p of the luggage W, the mass m of the luggage W, and the spring constant kf of the wire rope. It is expressed by the equation (1), and the target position q of the tip of the boom 9 is calculated by the equation (2) which is a function of the time of the luggage W.
[ 　Equation 1]

[

Equation 2] f: Wire rope tension, kf: Spring constant, m: Mass of luggage W, q: Current position or target position of the tip of boom 9, p: Current position or target position of luggage W , L: Wire rope extension amount, e: Direction vector, g: Gravity acceleration
[0059]
　The low-pass filter Lp attenuates frequencies above a predetermined frequency. The target trajectory calculation unit 31a prevents the occurrence of a singular point (rapid position change) due to the differential operation by applying the low-pass filter Lp to the target velocity signal Vd. In the present embodiment, the low-pass filter Lp uses a fourth-order low-pass filter Lp in order to correspond to the fourth derivative at the time of calculating the spring constant kf, but a low-pass filter Lp of a degree matching the desired characteristics is applied. be able to. A and b in the formula (3) are coefficients.
[0060]
[Number 3]

[0061]
　The wire rope feeding amount l (n) is calculated from the following equation (4).
　The wire rope feeding amount l (n) is defined by the distance between the current position coordinate q (n) of the boom 9 which is the tip position of the boom 9 and the current position coordinate p (n) of the luggage W which is the position of the luggage W. The rope.
[0062]
[Number 4]

[0063]
　The direction vector e (n) of the wire rope is calculated from the following equation (5).
　The wire rope direction vector e (n) is a vector of the unit length of the wire rope tension f (see equation (1)). The wire rope tension f is calculated by subtracting the gravitational acceleration from the acceleration of the luggage W calculated from the current position coordinate p (n) of the luggage W and the target position coordinate p (n + 1) of the luggage W after the lapse of the unit time t. Will be done.
[0064]
[Number 5]

[0065]
　The target position coordinate q (n + 1) of the boom 9, which is the target position of the tip of the boom 9 after the lapse of the unit time t, is calculated from the equation (6) expressing the equation (1) as a function of n. Here, α indicates the turning angle θz (n) of the boom 9.
　The target position coordinate q (n + 1) of the boom 9 is calculated from the wire rope feeding amount l (n), the target position coordinate p (n + 1) of the luggage W, and the direction vector e (n + 1) using inverse dynamics. ..
[0066]
[Number 6]

[0067]
　Next, using FIGS. 9 to 12, a control step of calculating the target trajectory signal Pd of the luggage W for generating the operation signal Md in the control device 31 and calculating the target position coordinates q (n + 1) at the tip of the boom 9. Will be described in detail.
[0068]
　As shown in FIG. 9, in step S100, the control device 31 starts the target trajectory calculation step A in the control method of the crane 1 and shifts the step to step S110 (see FIG. 10). Then, when the target trajectory calculation step A is completed, the step is shifted to step S200 (see FIG. 9).
[0069]
　In step 200, the control device 31 starts the boom position calculation step B in the control method of the crane 1 and shifts the step to step S210 (see FIG. 11). Then, when the boom position calculation step B is completed, the step is shifted to step S300 (see FIG. 9).
[0070]
　In step 300, the control device 31 starts the operation signal generation step C in the control method of the crane 1 and shifts the step to step S310 (see FIG. 12). Then, when the operation signal generation step C is completed, the step is shifted to step S100 (see FIG. 9).
[0071]
　As shown in FIG. 10, in step S110, the target trajectory calculation unit 31a of the control device 31 determines whether or not the target speed signal Vd of the luggage W has been acquired.
　As a result, when the target speed signal Vd of the luggage W is acquired, the target trajectory calculation unit 31a shifts the step to S120.
　On the other hand, when the target speed signal Vd of the luggage W has not been acquired, the target trajectory calculation unit 31a shifts the step to S110.
[0072]
　In step S120, the boom position calculation unit 31b of the control device 31 configures a set of swivel camera 7a on both the left and right sides in front of the swivel 7 as a stereo camera, photographs the luggage W, and shifts the step to step S130. Let me.
[0073]
　In step S130, the boom position calculation unit 31b calculates the current position information of the luggage W from the images taken by the set of swivel cameras 7a, and shifts the step to step S140.
[0074]
　In step S140, the target trajectory calculation unit 31a integrates the acquired target speed signal Vd of the luggage W to calculate the target position information of the luggage W, and shifts the step to step S150.
[0075]
　In step S150, the target trajectory calculation unit 31a applies the low-pass filter Lp represented by the transfer function G (s) of the equation (3) to the calculated target position information of the luggage W, and sets the target trajectory signal Pd every unit time t. The target trajectory calculation step A is completed and the step is shifted to step S200 (see FIG. 9).
[0076]
　As shown in FIG. 11, in step S210, the boom position calculation unit 31b of the control device 31 sets the acquired luggage W as an arbitrarily determined position, for example, the origin O which is the turning center of the boom 9 as the reference position O. The current position coordinate p (n) of the luggage W, which is the current position of the luggage W, is calculated from the current position information, and the step is shifted to step S220.
[0077]
　In step S220, the boom position calculation unit 31b determines the current position coordinates of the tip of the boom 9 from the acquired swivel angle θz (n) of the swivel table 7, the expansion / contraction length lb (n), and the undulation angle θx (n) of the boom 9. q (n) is calculated and the step is shifted to step S230.
[0078]
　In step S230, the boom position calculation unit 31b uses the above equation (4) from the current position coordinates p (n) of the luggage W and the current position coordinates q (n) of the boom 9 to extend the wire rope l (n). ) Is calculated, and the step is shifted to step S240.
[0079]
　In step S240, the boom position calculation unit 31b uses the current position coordinate p (n) of the luggage W as a reference, and the target position coordinate p of the luggage W, which is the target position of the luggage W after a unit time t has elapsed from the target trajectory signal Pd. (N + 1) is calculated, and the step is shifted to step S250.
[0080]
　In step S250, the boom position calculation unit 31b calculates the acceleration of the luggage W from the current position coordinates p (n) of the luggage W and the target position coordinates p (n + 1) of the luggage W, and uses the gravitational acceleration to calculate the acceleration of the luggage W. The direction vector e (n + 1) of the wire rope is calculated using (5), and the step is shifted to step S260.
[0081]
　In step S260, the boom position calculation unit 31b uses the above equation (6) from the calculated wire rope feeding amount l (n) and the wire rope direction vector e (n + 1) to obtain the target position coordinates q of the boom 9. (N + 1) is calculated, the boom position calculation step B is completed, and the step is shifted to step S300 (see FIG. 9).
[0082]
　As shown in FIG. 12, in step S310, the operation signal generation unit 31c of the control device 31 has a turning angle θz (n + 1) of the swivel table 7 after a unit time t has elapsed from the target position coordinate q (n + 1) of the boom 9. The expansion / contraction length Lb (n + 1), the undulation angle θx (n + 1), and the wire rope extension amount l (n + 1) are calculated, and the step is shifted to step S320.
[0083]
　In step S320, the operation signal generation unit 31c turns from the calculated turning angle θz (n + 1) of the turning table 7, the expansion / contraction length Lb (n + 1), the undulation angle θx (n + 1), and the wire rope feeding amount l (n + 1). The operation signal Md of the valve 23 for expansion, the valve for expansion / contraction 24, the valve for undulation 25, the valve for main 26 m or the valve for sub 26s is generated, respectively, and the operation signal generation step C is completed to shift the step to step S100 (FIG. 9).
[0084]
　The control device 31 calculates the target position coordinates q (n + 1) of the boom 9 by repeating the target trajectory calculation step A, the boom position calculation step B, and the operation signal generation step C, and after the unit time t elapses, the wire rope The wire rope direction vector e (n + 2) is calculated from the wire rope feeding amount l (n + 1), the current position coordinate p (n + 1) of the luggage W, and the target position coordinate p (n + 2) of the luggage W, and the wire rope feeding amount l (n + 2). From n + 1) and the direction vector e (n + 2) of the wire rope, the target position coordinate q (n + 2) of the boom 9 after the lapse of the unit time t is further calculated. That is, the control device 31 calculates the direction vector e (n) of the wire rope, and uses the inverse kinetics to obtain the current position coordinate p (n + 1) of the luggage W, the target position coordinate p (n + 1) of the luggage W, and the wire rope. The target position coordinates q (n + 1) of the boom 9 after the lapse of the unit time t are sequentially calculated from the direction vector e (n) of. The control device 31 controls each actuator by feedforward control that generates an operation signal Md based on the target position coordinate q (n + 1) of the boom 9.
[0085]
　Further, the control device 31 determines the distance from the reference position O on the horizontal plane to the luggage W and the distance (height) from the bottom surface of the luggage W to the ground based on the current position coordinates p (n) of the luggage W. It can be displayed on the side display device 40 or the like. That is, the control device 31 can objectively display the approximate distance from the driver's seat in the cabin 17 to the luggage W and the distance from the ground to the bottom surface of the luggage W numerically. At this time, the control device 31 emphasizes the display of the target distance or sounds an alarm when the luggage is within the range arbitrarily specified from the reference position O or below the height arbitrarily specified from the ground. Notify the operator.
[0086]
　Further, in the present embodiment, the crane 1 may have a function of detecting an obstacle from an image taken by the swivel camera 7a. When an obstacle on the route is detected by image recognition, the control device 31 controls each actuator so as to avoid contact between the luggage W and the obstacle. For example, the control device 31 controls the valve of each actuator by generating an operation signal Md so as to stop while suppressing shaking. Alternatively, the control device 31 generates a target trajectory signal Pd of the luggage W that avoids obstacles based on a predetermined condition. The control device 31 from the velocity vector calculated based on the current position coordinate p (n) of the luggage W and the target position coordinate p (n + 1) of the luggage W taken by the swivel camera 7a to the collision between the obstacle and the luggage W. It is possible to determine the margin time by estimating the time of.
[0087]
　With this configuration, the crane 1 calculates the target trajectory signal Pd based on the target speed signal Vd of the luggage W arbitrarily input from the operation terminal 32, and is not limited to the specified speed pattern. Further, the crane 1 is applied with feedforward control in which a control signal of the boom 9 is generated with reference to the cargo W and a control signal of the boom 9 is generated based on a target trajectory intended by the operator. Therefore, the crane 1 has a small response delay to the operation signal, and suppresses the swing of the load W due to the response delay. In addition, the current position coordinate p (n) of the luggage W, the direction vector e (n) of the wire rope, and the target position coordinate p (n + 1) of the luggage W measured by constructing a reverse dynamics model and using the swivel camera 7a. ) And the target position coordinates q (n + 1) of the boom 9, so that the error can be suppressed. Further, since the frequency component including the singular point generated by the differential operation when calculating the target position coordinate q (n + 1) of the boom 9 is attenuated, the control of the boom 9 is stable. Further, in the crane 1, the current position coordinates p (n) of the luggage W are numerically displayed on the terminal side display device 40 or the like so that the luggage W does not collide with the ground, the feature, the crane 1, or the like. As a result, when the crane 1 controls the actuator with the load W as a reference, the crane 1 can move along the target trajectory while suppressing the swing of the load W with high accuracy.
[0088]
　Next, the correction of the target speed signal Vd in the control device 31 of the crane device 6 will be described with reference to FIGS. 13 and 14. It is assumed that the control device 31 can acquire the current speed information of the luggage W from the image of the luggage W taken by a set of swivel cameras 7a configured as a stereo camera. It should be noted that the correction of the target speed signal Vd according to the following embodiment is used in the description as being applied in place of the vibration damping control of the unused hook in the crane 1 and the control process shown in FIGS. 1 to 12. By using the existing name, drawing number, and code, the same thing is pointed out, and in the following embodiment, the specific explanation is omitted for the same points as the already described embodiment, and the differences are mainly focused on. explain.
[0089]
　As shown in FIG. 13, the target trajectory calculation unit 31a can acquire the current speed v (n) of the luggage W from the boom position calculation unit 31b every unit time t. Further, the target trajectory calculation unit 31a can calculate the speed difference between the current speed v (n) of the acquired luggage W and the target speed signal Vd of the luggage W acquired from the operation terminal 32 for each unit time t. Further, the target trajectory calculation unit 31a can calculate a correction trajectory signal Pdc obtained by multiplying the calculated target trajectory signal Pd by a correction coefficient Gn for reducing the speed difference for each unit time t. The correction coefficient Gn indicates the gain of the target speed signal Vd. The target trajectory calculation unit 31a determines a correction coefficient Gn for multiplying the target trajectory signal Pd according to the speed difference.
[0090]
　The boom position calculation unit 31b can acquire the current speed information of the luggage W from the image of the luggage W taken by the set of swivel cameras 7a. Further, the boom position calculation unit 31b can calculate the current speed V (n) of the luggage W from the acquired current speed information of the luggage W.
[0091]
　As shown in FIG. 14, the control device 31 determines the speed difference between the current speed v (n) (dashed line in the figure) of the luggage W acquired by the target trajectory calculation unit 31a and the target speed signal Vd (solid line in the figure). The correction coefficient Gn is determined accordingly. Then, the control device 31 calculates the correction orbit signal Pdc by multiplying the already calculated target orbit signal Pd (two-dot chain line in the figure) by the correction coefficient Gn. For example, when the current velocity v (n) is larger than the target velocity signal Vd, the control device 31 multiplies the target orbit signal Pd by a correction coefficient Gn that increases the target velocity signal Vd.
[0092]
　Next, with reference to FIG. 15, the control process of calculating the correction trajectory signal Pdc of the luggage W for generating the operation signal Md in the control device 31 and calculating the target position coordinate q (n + 1) at the tip of the boom 9 will be described in detail. Describe.
[0093]
　As shown in FIG. 15, in step S120, the boom position calculation unit 31b of the control device 31 configures a set of swivel camera 7a on both the left and right sides in front of the swivel 7 as stereo cameras, and photographs the luggage W. The step is shifted to step S121.
[0094]
　In step S121, the boom position calculation unit 31b acquires the current speed information of the luggage W from the images taken by the set of swivel cameras 7a, calculates the current speed v (n) of the luggage W, and steps S122. Migrate to.
[0095]
　In step S122, the target trajectory calculation unit 31a of the control device 31 determines the correction coefficient Gn from the calculated speed difference between the current speed v (n) of the luggage W and the target speed signal Vd, and shifts the step to step S140. ..
[0096]
　Step S140 and step S150 are as described above.
[0097]
　In step S151, the target trajectory calculation unit 31a calculates the correction trajectory signal Pdc by multiplying the calculated target trajectory signal Pd by the correction coefficient Gn, ends the target trajectory calculation step A, and shifts the step to step S200 (FIG. FIG. 9).
[0098]
　With this configuration, the crane 1 measures the current speed v (n) of the luggage W using the swivel camera 7a, and targets the target based on the speed difference between the target speed signal Vd and the current speed v (n). Since the orbital signal Pd is corrected, the amount of deviation between the target orbital signal Pd and the current position p (n) of the luggage W can be reduced. At this time, since the crane 1 corrects the target trajectory signal Pd obtained by attenuating a frequency higher than a predetermined frequency, the deviation of the luggage W with respect to the current position p (n) while suppressing the shaking of the luggage W with high accuracy. The amount can be reduced.
[0099]
　Next, a calibration method of a set of swivel camera 7a configured as a stereo camera will be described with reference to FIGS. 2 and 16.
[0100]
　As shown in FIG. 2, a set of turning cameras 7b of the crane 1 is provided with a predetermined installation width L1. Further, the main hook block 10 of the crane 1 and the sub hook block 11) (not shown) are provided with a set of markers 42 for calibration at a predetermined pitch L2.
[0101]
　As shown in FIG. 16, the marker 42 is a mark that serves as a reference for calibration. The marker 42 is composed of an LED or a fluorescent paint. At the time of calibration work, the crane 1 is controlled so that the main hook block 10 is arranged in the vertical direction at the tip of the boom 9. The control device 31 of the crane device 6 has the current position coordinates q (n) of the boom 9 with the reference position O as the origin, the position where the swivel camera 7a is provided, and the wire rope feeding amount l ( From n), the distance L3 between the main hook block 10 and the swivel camera 7a is calculated. That is, the control device 31 calculates the distance L3 from the swivel camera 7a to the marker 42 by using the attitude information of the crane 1. Next, the control device 31 sets the distance from the installation width L1 of the set of turning cameras 7b, the pitch L2 of the set of markers 42 and the distance L3 to the markers 42 to the load W as the subject in the image. Calibrate so that it can be calculated from the size of W.
[0102]
　As described above, the crane 1 is configured as a stereo camera by utilizing the current position coordinates q (n) of the boom 9, the position where the swivel camera 7a is provided, and the wire rope extension amount l (n). The swivel camera 7a is automatically calibrated. With this configuration, the crane 1 accurately calculates the distance L3, which is the spatial distance from the swivel camera 7a to the main hook block 10 (luggage W), without using a measuring instrument such as a laser range finder. can do.
[0103]
　The above-described embodiment only shows a typical embodiment, and can be variously modified and implemented within a range that does not deviate from the gist of one embodiment. It goes without saying that it can be carried out in various forms, and the scope of the present invention is indicated by the description of the claims, and further, the equal meaning described in the claims, and all within the scope. Including changes.
Industrial applicability
[0104]
　The present invention can be used for cranes equipped with a monitoring device.
Code description
[0105]
　　　　1 Crane
　　　　6 Crane device
　　　　7a Swivel camera
　　　　9 Boom
　　　　O Reference position
　　　　Vd Target speed signal
　p (n) Current position coordinates of luggage W
　(n + 1) Target position coordinates
　q (n) of luggage W Current position coordinates
　q (n + 1) ) Boom target position coordinates
The scope of the claims
[Claim 1]
　A crane in which a monitoring device for monitoring the surroundings is provided in the crane device,
　an operating tool for inputting a target speed signal regarding a load moving direction and speed, a
　boom turning angle detecting means, and
　an undulation of the boom. The 　monitoring device
　includes an angle detecting means and a boom expansion / contraction length detecting means
, detects a load suspended on a wire rope, and calculates the current position of the load with respect to a reference position from the detected position of the load. ,
　the turning angle detected turning angle unit detects, from the derricking angle derricking angle detection means detects and the extendable length detection means stretchable length was detected, calculates the current position of the boom tip with respect to the reference position,
　the said target speed signal input from the operation member is converted to the target position of the load with respect to the reference position,
　the current position of the cargo, and a current position of the boom tip, to calculate the movement amount of the wire rope,
　the The direction vector of the wire rope is calculated from the current position of the
　luggage and the target position of the luggage, and the target position of the boom tip at the target position of the luggage is calculated from the feeding amount of the wire rope and the direction vector of the wire rope. To
　generate an operation signal of the actuator of the crane device based on the target position of the boom tip.
[Claim 2]
　The current speed of the luggage is calculated from the position of the luggage detected by the monitoring device, the
　target speed signal is integrated, a target orbit signal obtained by attenuating the frequency component in a predetermined frequency range is calculated, and the
　target speed signal is obtained. And the current speed, the
　correction coefficient for reducing the speed difference is multiplied by the target orbit signal to calculate the correction orbit signal, and the
　correction orbit signal is set to the target position of the luggage with respect to the reference position. The crane according to claim 1 to be converted.
[Claim 3]
　1 Alternatively, the crane according to claim 2.