Title of invention: Crane and crane control method
Technical field
[0001]
　The present invention relates to a crane and a method for controlling a crane.
Background technology
[0002]
　Conventionally, in mobile cranes and the like, cranes in which each actuator is remotely controlled have been proposed. In such a crane, the relative positional relationship between the crane and the remote control terminal changes according to the work situation. Therefore, the operator needs to operate the operating tool of the remote control terminal while always considering the relative positional relationship with the crane. Therefore, 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 can be matched to easily and easily operate the crane. Remote control terminals and cranes are known. For example, as in Patent Document 1.
[0003]
　The remote control device (remote control terminal) described in Patent Document 1 transmits a laser beam or the like having high straightness as a reference signal to the crane as a reference signal. The control device 31 on the crane side identifies the direction of the remote control device by receiving the reference signal from the remote control device, and matches the coordinate system of the crane with the coordinate system of the remote control device. As a result, the crane is operated by an operation command signal based on the load from the 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. ..
[0004]
　The remote control device transmits a speed signal regarding the operation speed and a direction signal regarding the operation direction to the crane based on the operation command signal of the operation unit. For this reason, the crane may shake due to discontinuous acceleration applied to the load 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. In addition, the crane is caused by the influence of the wire rope because the speed signal and the direction signal from the remote control device are controlled as the speed signal and the direction signal of the tip of the boom assuming that the tip of the boom is always vertically above the load. It is not possible to suppress the occurrence of misalignment and shaking of luggage.
Prior art literature
Patent documents
[0005]
Patent Document 1: Japanese Unexamined Patent Publication No. 2010-228905
Outline of the invention
Problems to be solved by the invention
[0006]
　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 when controlling the actuator with reference to the load.
Means to solve problems
[0007]
　The problem to be solved by the present invention is as described above, and next, the means for solving this problem will be described.
[0008]
　That is, the first invention is a crane that controls the actuator of the boom based on a target speed signal regarding the moving direction and speed of a load suspended from the boom by a wire rope, and detects the turning angle of the boom. A means, a means for detecting the undulation angle of the boom, a means for detecting the expansion / contraction length of the boom, and an acceleration detecting means for detecting the acceleration of a hanging tool or a load are provided, and the target speed signal is provided every predetermined unit time. Is converted to the target position of the luggage with respect to the reference position, and for each unit time, the turning angle detected by the turning angle detecting means, the undulating angle detected by the undulation angle detecting means, and the expansion and contraction detected by the expansion / contraction length detecting means. The current position of the boom tip with respect to the reference position is calculated from the length, and for each unit time, the already calculated position of the luggage before the unit time, the current position of the boom tip, and each unit time. The spring constant of the wire rope is calculated from the acceleration of the current hanger or luggage detected by the acceleration detecting means, and the current acceleration of the hanger or luggage and the spring constant of the wire rope are calculated for each unit time. A crane that calculates the target position of the boom tip at the target position of the load from the target position of the load and generates an operation signal of the actuator based on the target position of the boom tip every unit time.
[0009]
　In the second invention, the relationship between the target position of the boom tip and the target position of the luggage is expressed by the acceleration of the luggage, the weight of the luggage, the spring constant of the wire rope, and the target position of the luggage (1). ), And from the already calculated position of the luggage before the predetermined unit time, the current position of the boom tip, and the acceleration of the current hanging tool or the luggage, the equation (1) is used for each unit time. The spring constant of the wire rope is calculated, and the acceleration of the current hanging tool or the luggage, the spring constant of the wire rope, and the target position of the luggage are used in the equation (1) to obtain the luggage of the luggage for each unit time. It is a crane that calculates the target position of the boom tip at the target position.
[

　Equation 1] f: Tension of wire rope, kf: Spring constant, m: Mass of luggage, q: Current position or target position of boom tip, p: Current position or target position of luggage, g: Gravity acceleration
[0010]
　A third invention is a method for controlling a crane that controls an actuator of the boom based on a target speed signal regarding the moving direction and speed of a load suspended from a boom by a wire rope, and is every predetermined unit time. In addition, the target trajectory calculation process for converting the target speed signal into the target position of the luggage with respect to the reference position, the position of the luggage already calculated for each unit time before the predetermined unit time, and the boom tip with respect to the reference position. The spring constant of the wire rope is calculated from the current position of the wire rope and the acceleration of the current hanger or load detected by the acceleration detecting means for each unit time, and the current hanger or load of the current hanger or load is calculated for each unit time. A boom position calculation step of calculating the target position of the boom tip at the target position of the load from the acceleration, the spring constant of the wire rope, and the target position of the load, and the target position of the boom tip for each unit time. This is a crane control method including an operation signal generation step of generating an operation signal of the actuator based on the above.
Effect of the invention
[0011]
　The present invention has the following effects.
[0012]
　In the first invention and the third invention, the target position of the boom tip at the target position of the luggage is calculated from the current acceleration of the crane or the luggage, the spring constant of the wire rope, and the target position of the luggage. Therefore, while operating the crane with reference to the load, the boom is controlled so that the load moves along the target trajectory based on the suspension and the acceleration applied 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 shaking of the load.
[0013]
　In the second invention, the spring constant of the wire rope of the equation (1) is calculated by detecting the acceleration of the hanger or the load, the acceleration of the hanger or the load, the current position of the boom tip, and the load. The target position of the boom tip is calculated based on the acceleration of the load from the target position of. 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 a simple measuring device.
A brief description of the drawing
[0014]
[Fig. 1] A side view showing the overall configuration of a crane.
[Fig. 2] A block diagram showing a crane control configuration.
FIG. 3 is a plan view showing a schematic configuration of a remote control terminal.
[Fig. 4] A block diagram showing a control configuration of a remote control terminal.
[Fig. 5] Fig. 5 is a diagram showing a remote control terminal in which a suspended load moving operation tool is operated.
FIG. 6 is a block diagram showing a control configuration of a crane control device.
[Fig. 7] A diagram showing a reverse dynamics model of a crane.
FIG. 8 is a diagram showing a flowchart showing a control process of a crane control method.
FIG. 9 is a diagram showing a flowchart showing a target trajectory calculation process.
FIG. 10 is a diagram showing a flowchart showing a boom position calculation process.
FIG. 11 is a diagram showing a flowchart showing an operation signal generation process.
Mode for carrying out the invention
[0015]
　Hereinafter, a crane 1 which is a mobile crane (rough terrain crane) will be described as a work vehicle according to an embodiment of the present invention with reference to FIGS. 1 to 4. In the present embodiment, a crane (rough terrain crane) will be described as a work vehicle, but an all-terrain crane, a truck crane, a loaded truck crane, an aerial work platform, or the like may be used.
[0016]
　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.
[0017]
　The vehicle 2 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.
[0018]
　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 boom 9, a jib 9a, a main hook block 10, a sub hook block 11, an undulating hydraulic cylinder 12, a main winch 13, a main wire rope 14, a sub winch 15, a sub wire rope 16, and a cabin. 17. The control device 31 and the operation terminal 32 and the like are provided.
[0019]
　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.
[0020]
　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.
[0021]
　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.
[0022]
　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.
[0023]
　The boom camera 9b, 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.
[0024]
　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. The main hook block 10 and the sub hook block 11 are provided with an acceleration sensor 22 that detects accelerations Gx (n), Gy (n), and Gz (n) in the three axial directions. The acceleration sensor 22 can indirectly detect the accelerations Gx (n), Gy (n), and Gz (n) applied to the load W being transported. The acceleration sensor 22 is configured to be able to transmit a detected value to the control device 31 by wire or wirelessly. The acceleration sensor 22 may be installed directly on the luggage W suspended from the main hook block 10 or the sub hook block 11.
[0025]
　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.
[0026]
　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.
[0027]
　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 34 (see FIG. 3) for detecting the feeding amount l of the main wire rope 14 and the sub wire rope 16, respectively.
[0028]
　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.
[0029]
　As shown in FIG. 2, 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.
[0030]
　The control device 31 is connected to the boom camera 9b, the swivel operating tool 18, the undulating operating tool 19, the telescopic operating tool 20, the main drum operating tool 21m, and the sub-drum operating tool 21s, acquires the image i2 from the boom camera 9b, and swivels. It is possible to acquire the operating amounts of the operating tool 18, the undulating operating tool 19, the main drum operating tool 21m, and the sub-drum operating tool 21s.
[0031]
　The control device 31 can acquire the control signal from the operation terminal 32 and transmit the control information from the crane device 6, the image i1 from the swivel camera 7b, the image i2 from the boom camera 9b, and the like.
[0032]
　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.
[0033]
　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.
[0034]
　The control device 31 is connected to an acceleration sensor 22, a swivel sensor 27, a telescopic sensor 28, an orientation sensor 29, an undulation sensor 30, and a winding sensor 34, and has a swivel angle θz of the swivel base 7 and a telescopic length of the boom 9. Lb and undulation angle θx, triaxial acceleration Gx (n), Gy (n), Gz (n) of main hook block 10 or sub hook block 11, main wire rope 14 or sub wire rope 16 (hereinafter, simply “ It is possible to obtain the feeding amount l (n) and the orientation of the wire rope).
[0035]
　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.
[0036]
　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.
[0037]
　As shown in FIGS. 3 and 4, 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. 2 and 4), 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).
[0038]
　As shown in FIG. 3, 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.
[0039]
　As shown in FIGS. 3 and 4, 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.
[0040]
　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.
[0041]
　The terminal side display device 40 displays various information such as the attitude information of the crane 1 and the information of the luggage 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.
[0042]
　As shown in FIG. 4, 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.
[0043]
　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.
[0044]
　The terminal-side control device 41 is an operation acquired from each sensor of the terminal-side turning operation tool 36, the terminal-side telescopic 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. From the stick operation signal, the target speed signal Vd of the luggage W can be generated every unit time t. 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. In the present embodiment, the unit time t corresponding to the nth calculation cycle after the suspended load moving operation tool 35 is tilted is defined as the unit time t (n), and the unit time t one cycle after the nth time is the unit time t ( n + 1).
[0045]
　Next, the control of the crane device 6 by the operation terminal 32 will be described with reference to FIG.
[0046]
　As shown in FIG. 5, 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.
[0047]
　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.
[0048]
　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.
[0049]
　Next, using FIGS. 6 to 11, 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.
[0050]
　As shown in FIG. 6, 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 terminal side control device 42 of 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.
[0051]
　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 trajectory signal Pd. 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 (n). Can be applied. A and b in the formula (2) are coefficients.
[0052]
[Number 2]

[0053]
　As shown in FIG. 7, a reverse dynamics model of the crane 1 is defined. The inverse dynamics model is defined in the XYZ coordinate system, and the origin O, which is the reference position, is the turning center of the crane 1. q indicates, for example, the current position coordinate q (n), 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), and f indicates the wire rope tension f.
[0054]
　As shown in FIGS. 6 and 7, 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, 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 34, and the three axes are acquired from the acceleration sensor 22. Accelerations Gx (n), Gy (n), and Gz (n) can be obtained.
[0055]
　The boom position calculation unit 31b is 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 the acquired turning angle θz (n), expansion / contraction length lb (n), and undulation angle θx (n). ) Current position coordinates q (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 sets the load W from the calculated current position coordinates q (1) of the boom 9 and the acquired wire rope feeding amount l (1) in the stopped state (n = 1) of the crane device 6. The current position coordinate p (1) is calculated, and the current position coordinate p (1) of the baggage W and the accelerations Gx (2) and Gy (2) at the unit time t (2) after the lapse of the unit time t (n = 2). ), Gz (2) and the current position coordinates q (2) of the boom 9, the spring constant kf (2) of the wire rope can be calculated using the equation (1). That is, the boom position calculation unit 31b is based on the current position coordinates p (n-1) of the baggage W when the unit time t (n-1) has already been calculated and the unit time t (n) which is the current time. The spring constant kf (n) of the wire rope can be calculated from the accelerations Gx (n), Gy (n), Gz (n) and the current position coordinates q (n) of the boom 9 using the equation (1). ..
[0056]
　Then, the boom position calculation unit 31b includes the three-axis accelerations Gx (n), Gy (n), Gz (n) of the luggage W, the spring constant kf (n) of the wire rope, and the luggage W for each unit time t. The target position coordinate q (n + 1) of the boom 9 at the target position coordinate p (n + 1) of the luggage W is calculated from the target position coordinate p (n + 1) of the baggage W using the equation (1).
[0057]
　The operation signal generation unit 31c is a part of the control device 31 and generates the operation signal Md of each actuator from the target position coordinates q (n + 1) of the boom 9 after the lapse of the unit time t (n + 1). 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 (n + 1) 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.
[0058]
　Hereinafter, using FIGS. 8 to 11, 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 the target position coordinates q (n + 1) at the tip of the boom 9. Will be specifically described.
[0059]
　As shown in FIG. 8, 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. 9). Then, when the target trajectory calculation step A is completed, the step is shifted to step S200 (see FIG. 8).
[0060]
　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. 10). Then, when the boom position calculation step B is completed, the step is shifted to step S300 (see FIG. 8).
[0061]
　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. 11). Then, when the operation signal generation step C is completed, the step is shifted to step S100 (see FIG. 8).
[0062]
　As shown in FIG. 9, in step S110, the target trajectory calculation unit 31a of the control device 31 acquires the target speed signal Vd of the luggage W input in the form of, for example, a step function from the operation terminal 32, and steps S120. Migrate to.
[0063]
　In step S120, the target trajectory calculation unit 31a integrates the acquired target speed signal Vd of the luggage W to calculate the position information of the luggage W, and shifts the step to step S130.
[0064]
　In step S130, the target trajectory calculation unit 31a applies the low-pass filter Lp represented by the transfer function G (s) of the equation (2) to the calculated position information of the luggage W, and sets the target trajectory signal Pd every unit time t. The calculation is performed, the target trajectory calculation step A is completed, and the step is shifted to step S200 (see FIG. 8).
[0065]
　As shown in FIG. 10, in step S210, the boom position calculation unit 31b of the control device 31 acquires the three-axis accelerations Gx (n), Gy (n), and Gz (n) from the acceleration sensor 22, and performs the step. The process proceeds to step S220.
[0066]
　In step S220, the boom position calculation unit 31b determines the current position coordinates q (n) 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. n) is calculated and the step is shifted to step S230.
[0067]
　In step S230, the boom position calculation unit 31b has already calculated the current position coordinates p (n-1) of the baggage W when the unit time t (n-1) has elapsed, and the acquired accelerations Gx (n) and Gy. From (n), Gz (n) and the current position coordinates q (n) of the boom 9, the spring constant kf (n) of the wire rope is calculated using the equation (1), and the step is shifted to step S240.
[0068]
　In step S240, the boom position calculation unit 31b refers to the target position coordinate p (n) of the luggage W, which is the target position of the luggage after the lapse of a unit time t, from the target trajectory signal Pd with reference to the current position coordinate p (n) of the luggage W. n + 1) is calculated, and the step is shifted to step S250.
[0069]
　In step S250, the boom position calculation unit 31b determines the three-axis accelerations Gx (n), Gy (n), Gz (n) of the luggage W, the spring constant kf (n) of the wire rope, and the target position of the luggage W. The target position coordinate q (n + 1) of the boom 9 at the target position coordinate p (n + 1) of the luggage W is calculated from the coordinate p (n + 1), the boom position calculation step B is completed, and the step is shifted to step S300 (FIG. 8).
[0070]
　As shown in FIG. 11, 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.
[0071]
　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. 8).
[0072]
　The control device 31 repeats the target trajectory calculation step A, the boom position calculation step B, and the operation signal generation step C every unit time t, so that the luggage W calculated before the unit time t of the unit time t (n + 1) By sequentially using the current position coordinates p (n), the target position coordinates q (n + 2) of the boom 9 after the unit time t are calculated. The control device 31 controls each actuator by feedforward control that generates an operation signal Md based on the target position coordinate q (n + 2) of the boom 9.
[0073]
　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. Further, the crane 1 has constructed a reverse dynamics model, and has already calculated the three-axis accelerations Gx (n), Gy (n), and Gz (n) of the luggage W, and the current position coordinates of the luggage W before the unit time t. Since the target position coordinate q (n + 1) of the boom 9 is calculated from p (n-1) and the target position coordinate p (n + 1) of the luggage W calculated from the target trajectory signal Pd, the error of the transient state due to acceleration / deceleration or the like is generated. Does not occur. Further, since the crane 1 does not need to detect the current position coordinates of the cargo W, the acceleration sensor 22 may be provided on the cargo W or the main hook block 10 and the sub hook block 11. As a result, when controlling 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.
[0074]
　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
[0075]
　The present invention can be used for cranes and crane control methods.
Code description
[0076]
　　　　1 Crane
　　　　6 Crane device
　　　　9 Boom
　　　22 Accelerometer
　　　27 Swivel sensor
　　　28 Telescopic sensor
　　　30 Undulation sensor
　　　43 Winding sensor
　　　　O Origin (reference position)
　　　　Vd Target speed signal
　p (n) Current position coordinates of luggage
　p (n + 1) Target position coordinates of luggage
　q (n) Current position coordinates of boom
　q (n + 1) Target position coordinates of boom
The scope of the claims
[Claim 1]
　A crane that controls the actuator of the boom based on a target speed signal regarding the moving direction and speed of a load suspended from the boom by a wire rope,
　wherein the boom turning angle detecting means and
　the undulation angle of the boom. It is provided with a detecting means,
　an expansion / contraction length detecting means of the boom, and
　an acceleration detecting means for detecting the acceleration of a hanging tool or a load, and the
　target speed signal is set to a target position of the load with respect to a reference position at predetermined unit times. 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 boom with respect to the reference position is obtained every unit time. The current position of the tip is calculated, and for
　each unit time, the already calculated position of the luggage before the unit time, the current position of the boom tip, and the current position detected by the acceleration detecting means for each unit time. The spring constant of the wire rope is calculated from the acceleration of the hanger or luggage, and from the
　current acceleration of the hanger or luggage, the spring constant of the wire rope, and the target position of the luggage for each unit time.
　A crane that calculates the target position of the boom tip at the target position of the load and generates an operation signal of the actuator based on the target position of the boom tip every unit time.
[Claim 2]
　The relationship between the target position of the boom tip and the target position of the luggage is expressed by the equation (1) from the acceleration of the luggage, the weight of the luggage, the spring constant of the wire rope, and the target position of the luggage. From the calculated position of the luggage before a predetermined unit time, the current position of the boom tip, and the acceleration of the current crane or luggage, the spring constant of the wire rope is calculated for each unit time using the equation (1). Calculated from the current acceleration of the crane or luggage, the spring constant of the wire rope, and the target position of the luggage, the boom tip at the target position of the luggage is used every unit time using the equation (1). The crane according to claim 1, wherein the target position is calculated.
[

　Equation 1] f: Tension of wire rope, kf: Spring constant, m: Mass of luggage, q: Current position or target position of boom tip, p: Current position or target position of luggage, g: Gravity acceleration
[Claim 3]
　It is a control method of a crane that controls an actuator of the boom based on a target speed signal regarding the moving direction and speed of a load suspended from a boom by a wire rope, and the target speed signal is provided
　every predetermined unit time. The target trajectory calculation process for converting the
　above into the target position of the luggage with respect to the reference position, the position of the luggage already calculated for each unit time before the predetermined unit time, the current position of the boom tip with respect to the reference position, and the above. The spring constant of the wire rope is calculated from the current acceleration of the hanger or luggage detected by the acceleration detecting means for each unit time, and the current acceleration of the hanger or luggage and the wire rope are calculated for each unit time. The boom position calculation step of calculating the target position of the boom tip at the target position of the load from the spring constant of the load and the target position of the load, and the
　actuator of the actuator based on the target position of the boom tip at each unit time. A crane control method consisting of an operation signal generation process for generating an operation signal and an operation signal generation process.