Movement control method, movement manipulation apparatus, and method for manipulating movement of moving body

Abstract

In a movement control apparatus manipulation can be carried out while watching the movement of the moving body, without needing to watch one's hands, so even a novice operator can perform the manipulation easily, safely, reliably, and quickly. The apparatus can include a signal transmission cable, a casing of a manipulation remote controller disposed at one end of the cable, a rotary encoder that produces a signal corresponding to the direction of the casing, and a motor drive control circuit that is disposed on the other side of the cable and controls the movement of a moving body on the basis of a signal corresponding to the direction of the casing. The signal corresponding to the direction of the casing can be supplied from the rotary encoder, through the cable, to the motor drive control circuit. Therefore, the operator can hold down a manipulation switch without looking at his hands and thereby adjust the direction of the casing of the manipulation remote controller while looking at the movement direction of a load.

Description

TECHNICAL FIELD[0001]The presently disclosed subject matter relates to a technique for manipulating the movement of a moving body, and more particularly relates to a movement control method, movement manipulation apparatus, movement manipulation method, and so forth, with which the movement of a moving body can be manipulated easily, safely, reliably, and quickly, even by a novice operator.[0002]Definitions and interpretations of the terms used in the presently disclosed subject matter are listed below.[0003](1) “Remote” is an abbreviation for a remote controller in the sense of an apparatus for remote manipulating, remote controlling, or other such manipulations, or an abbreviation for a remote control in the sense of an apparatus for remote manipulate, remote controlling, or other such manipulations. A difference in signal transmission method (wireless versed wired) does not affect the definition or interpretation of “remote” unless otherwise specified.[0004](2) Unless otherwise s...

AI Technical Summary

Benefits of technology

[0019]According to an aspect of the presently disclosed subject matter, and apparatus can be provided to solve at least one of the above-mentioned problems and to provide a technique with which the operator of a manipulation remote need not look at his hands, and can instead manipulate the movement of a moving body while watching the movement, so that even a novice can perform the task safely, reliably, and quickly or efficiently, and more particularly, a movement control method, a movement manipulation apparatus, a movement manipulation method, and so forth that make such manipulation possible.

[0356]Consequently, when the work entails repeated back and forth movement between two points, position information for those two points, or more, can be individually stored in the microprocessor, the necessary or desired points can be called up just before the operator performs a manipulation command, and the system can easily move the crane to the specified point by sending out a manipulation command. Also, it is possible to construct a system in which multipoint registration is used to specify a registered point as a passage point, and the crane is operated while following a predetermined path.

Problems solved by technology

Such overhead cranes are conventionally manipulated by successively pressing the six buttons (east, west, north, south, up, and down) on a wired remote apparatus hanging down from the winder, but when the load is large, there is the possibility that the load hanging from the winder will come into contact with the person manipulating the wired remote apparatus hanging down form the winder, which poses safety problems.

However, with a wired type of remote apparatus, putting aside wireless types for the moment, when used for an overhead crane or the like that is used in a painting plant or the like, the push buttons on the remote apparatus can become soiled by paint and so forth, making it difficult to read the words (east, west, north, south, up, and down) written on the buttons, and since the operator is typically looking at the remote apparatus while pressing the buttons and manipulating the apparatus, he cannot watch the movement of the load being conveyed by the overhead crane, which not only makes it difficult to perform the work quickly and reliably, but also poses the risk that the operator of the remote apparatus may not notice if the load gets too close.

Furthermore, if the operator is a novice, he will not instantly be able to tell which way is east, west, north, or south, so a problem is that the work cannot be performed quickly and reliably.

Also, These problems are not unique to three-dimensional movement apparatus, and also occur with other types of movement apparatus that feature a remote apparatus.

Nor are they unique to the technological field of painting, and also occur in other technological fields in which there is the risk of soiling of the push buttons of the remote apparatus.

Using a remote apparatus to manipulate the movement of a moving body is generally not an easy task for an unskilled novice to carry out safely, reliably, and quickly or efficiently.

In this case, however, the length of the slender member, the coefficient of lateral elasticity, the bending stiffness, and other such dynamic characteristics of the material, how well the remote casing is connected, and other such factors can introduce considerable calculation error, so calculation can be difficult at times. Consequently, the means for detecting the direction of the manipulation remote casing can be realized by being basically installed at one end of the slender member, that is, on the side where the manipulation remote controller is disposed.

If the orientation of the remote casing should go beyond the detection limit of the gyro means, the moving body can no longer be moved properly by the manipulation remote, which can be dangerous.

There will be more burden on the operator if the design is such that the operator has to hold the remote casing with it facing in the direction in which the moving body is to be moved within the horizontal plane even after the direction of the remote casing is aligned with the movement direction and the manipulation switch is pressed.

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