Crane system and operating device

Abstract

A crane system includes: a crane for loading and unloading objects using a lifting device suspended by a lifting load; and a portable operating device for operating the crane. The operating device includes: an information terminal for displaying images and for inputting operating information including at least the destination of the lifting load; and a mechanical switch for indicative of starting and stopping the crane. The crane system automatically moves the lifting load to the set destination.

Description

Technical Field

[0001] This invention relates to a crane system and operating device. Background Technology

[0002] Conventionally, crane systems that operate cranes via an operating device include those described in Patent Document 1. In the crane system described in Patent Document 1, the operator operates the crane by referring to an image on a touchscreen display, thereby moving the crane's lifting device to the desired position.

[0003] Previous technical documents Patent documents Patent Document 1: Japanese Patent Application Publication No. 2012-180158 Summary of the Invention

[0004] The technical problem to be solved by the invention Here, when using a portable operating device, the operator operates the crane from outside. In this case, an emergency stop is required when the operator determines that safety is paramount. In the aforementioned crane system, the use of a touchscreen presents a problem regarding the reliability of the emergency stop.

[0005] This invention was made to solve this problem, and its purpose is to provide a crane system and motion monitoring method that can improve the reliability of emergency stops of cranes.

[0006] means for solving technical problems The crane system of the present invention comprises: a crane for loading and unloading objects using a lifting device suspended by a lifting load; and a portable operating device for operating the crane. The operating device includes: an information terminal for displaying images and for inputting operating information including at least the destination of the lifting load; and a mechanical switch for instructing the crane to start and stop. This crane system enables the lifting load to automatically move to the set destination.

[0007] The portable operating device features an image display and an information terminal capable of inputting operational information, including at least the destination of the spreader. Therefore, the operator can determine the spreader's destination while observing the image from outside the crane. The information terminal automatically moves the spreader to the set destination. Thus, the operator does not need to manually control the crane's movements when moving the spreader to the destination. The operating device also includes a mechanical switch for indicative of crane start and stop. Therefore, the operator can quickly perform an emergency stop using the mechanical switch. Furthermore, the information terminal automatically moves the spreader to the set destination. Therefore, the operator can focus on ensuring the safety of the crane's surroundings and perform an emergency stop without needing to monitor the operation. This improves the reliability of the crane's emergency stop.

[0008] Mechanical switches can be deadman switches with start-stop functions. Thus, by using a deadman switch that stops operation when the user releases their hand, the operator can quickly achieve an emergency stop.

[0009] Mechanical switches can be handle switches. In this case, if the operator releases their hand from the handle switch, an emergency stop can be initiated immediately. Thus, mechanical switches also function as disability switches.

[0010] The crane system may also include: a head-mounted display that shows an image in front of the operator; and a first camera mounted on the crane that changes its shooting range according to the movement of the head-mounted display. In this case, while wearing the head-mounted display, the operator can confirm the image captured by the first camera corresponding to that action by changing the orientation of their face.

[0011] The crane can also be equipped with a second camera mounted on the base of the lifting equipment and taking pictures below. An information terminal displays the image captured by the second camera and sets the destination based on the selected position of the image. In this case, the operator can easily set the destination of the lifting equipment based on the image captured by the second camera from above.

[0012] The information terminal can display a first selection image showing at least one of the crane's slewing angle and slewing radius, and set the destination based on the selected position in the first selection image. At this time, the operator can easily set the destination of the spreader based on the first selection image showing at least one of the slewing angle and slewing radius.

[0013] The information terminal can display a second selection image showing the height position of the spreader, and the destination can be set based on the selected position in the second selection image. At this time, the operator can easily set the destination of the spreader based on the second selection image showing the height position of the spreader.

[0014] The information terminal can display a third selection image that allows for phased selection of the crane's movement, and the crane can be moved based on the selection results in the third selection image. At this time, the operator can use the phased third selection image to fine-tune the position of the spreader.

[0015] An operating device for operating a crane that uses a lifting device suspended by a lifting load to load and unload objects, the operating device comprising: an information terminal for displaying images and being able to input operating information including at least the destination of the lifting load; and a mechanical switch for instructing the crane to start and stop, the operating device causing the lifting load to move automatically to the set destination.

[0016] The operating device according to the present invention can achieve the same effect as the crane system described above.

[0017] Invention Effects According to the present invention, a crane system and motion monitoring method are provided that can improve the reliability of emergency stops of cranes. Attached Figure Description

[0018] Figure 1 This is a block diagram illustrating the modular structure of a crane system according to an embodiment of the present invention.

[0019] Figure 2 This is a schematic diagram showing the structure of the crane system.

[0020] Figure 3 This is a schematic diagram showing the operating device.

[0021] Figure 4 This is a diagram showing an image displayed on a touchscreen.

[0022] Figure 5 This is a process diagram showing the operation of the crane system. Detailed Implementation

[0023] Hereinafter, preferred embodiments of the crane system and operating device of the present invention will be described with reference to the accompanying drawings.

[0024] Figure 1 This is a block diagram illustrating the modular structure of a crane system 100 according to an embodiment of the present invention. Figure 2 This is a schematic diagram showing the structure of the crane system 100. The crane system 100 is a system for operating the crane 20 located at the work site via the operating device 50. In this embodiment, a jib crane, which is a rotary crane, is exemplified as the crane 20. However, the type of crane 20 is not particularly limited, and it can be a gantry crane, a bridge crane, an overhead crane, etc.

[0025] like Figure 1 As shown, the crane system 100 includes a crane 20 and an operating device 50.

[0026] First, refer to Figure 2An example of the structure of the crane 20 will be described below. In this embodiment, a jib crane is exemplified as a rotating crane 20. The crane 20 is capable of traveling along a guide rail 36 provided on the ground. The crane 20 includes: a jib 31 for suspending a load; a main body 32 supporting the jib 31; a support column 34 rotatably supporting the main body 32; and a traveling section 33 supporting the support column 34 and capable of traveling along the guide rail 36. A lifting device 37 is provided at the front end of the lifting material 39 extending from the jib 31, and the load 38 is suspended by the lifting device 37. Therefore, the position of the load 38 coincides with the position of the lifting device 37.

[0027] The boom 31 and the spreader 37 rotate together around the rotation center CL at a rotation angle θ, and the radial position of the spreader 37 can be changed according to the size of the working radius R1 relative to the main body 32. The rotation radius of the rear end of the main body 32 is set as the rear rotation radius R2. Therefore, the spreader 37 can... Figure 3 The crane 37 can move within the circle (operating radius R1) indicated by the dashed line in (b). Furthermore, the position of the spreader 37 can be changed by the crane 20 traveling along the guide rail 36 at a travel speed V. Additionally, when referred to as the "turning radius," it includes both the operating radius R1 and the rear turning radius R2.

[0028] The crane 20 includes a control device 10, an upper camera unit 21 (second camera unit), a movable camera unit 22 (first camera unit), and a communication unit 23. The control device 10, the upper camera unit 21, the movable camera unit 22, and the communication unit 23 are wirelessly or wiredly connected to each other.

[0029] The control device 10 is a device for controlling the entire crane 20. The control device 10 is located in the main body 32. The control device 10 (and the information terminal described later) includes, for example, a processor, memory, storage device, communication interface, and user interface. The processor is an arithmetic unit such as a CPU (Central Processing Unit). The memory is a storage unit such as ROM (Read Only Memory) or RAM (Random Access Memory). The storage device is a storage unit (storage medium) such as an HDD (Hard Disk Drive). The communication interface is a communication device that enables data communication. The processor controls the memory, storage device, communication interface, and user interface. Figure 1As shown, the control device 10 includes a calculation unit 11 and an operation control unit 12. The calculation unit 11 performs calculations for various control processes on the crane 20. The operation control unit 12 controls each drive unit according to the action instructions. The communication unit 23 is a device for communication with the operating device 50. The communication unit 23 is provided in the traveling unit 33, but its position is not particularly limited.

[0030] like Figure 2 As shown, the upper camera unit 21 is a camera installed on the base end of the lifting arm 39 of the crane 20. In this embodiment, the upper camera unit 21 is installed at the front end of the boom 31. The upper camera unit 21 captures images from below. Thus, the upper camera unit 21 can capture images of the area near the lifting arm 37 and the area near the ground below the lifting arm 37. The upper camera unit 21 transmits the captured images to the information terminal 51 via the communication unit 23.

[0031] The movable camera unit 22 is a camera with a variable shooting range. The movable camera unit 22 is mounted on the crane 20 and its shooting range can be changed according to the movement of the head-mounted display (described later). In this embodiment, the movable camera unit 22 is located on the front side of the main body 32, but its position is not particularly limited. The movable camera unit 22 transmits the captured images to the information terminal 51 via the communication unit 23.

[0032] The operating device 50 is a portable device for operating the crane 20. The operating device 50 can be carried by the operator, allowing operation of the crane 20 from a location other than the operator's seat (e.g., on the ground). Figure 1 As shown, the operating device 50 includes an information terminal 51, a switch 52, and a head-mounted display 53.

[0033] The information terminal 51 is a terminal that displays images and can input operational information, including at least the destination of the lifting device 37. Furthermore, the information terminal 51 is a terminal capable of outputting operation command modes for moving to the set destination. Specifically, the information terminal 51 is composed of a portable PC, tablet computer, smartphone, or the like with a touchscreen. The information terminal 51 includes a communication unit 54, a calculation unit 56, an input unit 57, and a display unit 58. The communication unit 54 communicates with the communication unit 23 of the crane 20. Additionally, the communication unit 54 can also send ID information for the crane 20 to identify itself. The calculation unit 56 performs various calculations within the information terminal 51. The calculation unit 56 calculates the content displayed on the display unit 58. Furthermore, the calculation unit 56 calculates the operation content of the crane 20 based on the input from the input unit 57. The input unit 57 is the part where the operator inputs operational information. The display unit 58 is the part that displays images for operator operation. The input unit 57 and the display unit 58 are composed of a touchscreen 59 (see reference). Figure 3 ).

[0034] While observing the image displayed on the touchscreen 59, the operator inputs operation information on the touchscreen 59, thereby setting the destination of the crane 20's lifting device 37. The calculation unit 56 calculates what actions the crane 20 should perform to move the lifting device 37 to the set destination. The calculation unit 56 calculates the actions that, by combining the crane 20's travel, rotation, and the retraction of the boom 31, can move the lifting device 37 to the destination. The information terminal 51 sends the calculated action information to the crane 20 via the communication unit 54. Thus, the information terminal 51 enables the lifting device 37 to automatically move to the set destination. Further details regarding the image displayed on the touchscreen 59 and the operation information input therein will be described later.

[0035] like Figure 3 As shown, switch 52 is a mechanical switch that indicates the start and stop of crane 20. A mechanical switch is one that has a physical pressing mechanism, unlike a switch displayed on the touchscreen 59 of information terminal 51. The mechanical switch can be a disable switch with start and stop functions. A disable switch is a switch that stops operation when the user releases their hand. Switch 52 is connected to information terminal 51 via line L1. In this embodiment, a grip switch 60, which is a type of disable switch, is used as switch 52. The grip switch 60 has a handle portion 61 for the operator to hold and a button 62 for the operator to press. Button 62 is located on a portion of the side of the handle portion 61. Button 62 is positioned so that it is pressed while the operator is holding the handle portion 61. If the operator releases their hand from the handle portion 61, the pressed state of button 62 is released. If button 62 is pressed, information terminal 51 determines that the start of crane 20 has been indicated. Furthermore, if button 62 remains pressed, the information terminal 51 determines that the operation of crane 20 has been instructed to continue. If the operator releases their hand from handle 61 and button 62 is released, the information terminal 51 determines that crane 20 has been instructed to stop urgently.

[0036] By employing the grip switch 60, after the destination is set on the information terminal 51, the status of the suspended object can be continuously monitored via physical object or camera image without operating the information terminal 51, and accidental operation such as touch errors on the information terminal 51 can be prevented. In particular, when precise positioning based on inching is required near the destination, touch operation on the information terminal 51 requires confirming the button position while inputting, thus slowing down the operation and increasing the possibility of accidental operation during repeated operation. In contrast, with the grip switch 60, inching action can be performed by frequently switching the grip switch 60 on and off. Furthermore, the grip switch 60 can also have an option button. For example, the grip switch 60 can have an option button positioned where the operator can operate it with their thumb. By using such an option button, the image captured by the movable camera unit 22 can be zoomed in and out, thereby enabling better monitoring during operation.

[0037] The head-mounted display 53 is a device worn on the face by an operator to display images in front of the operator. The head-mounted display 53 displays images captured by the movable camera unit 22. Furthermore, even while wearing the head-mounted display 53, the operator can observe the image on the information terminal 51 through a gap. Here, the movable camera unit 22 changes its shooting range according to the movement of the head-mounted display 53. The head-mounted display 53 has a posture sensor 63, such as a gyroscope or accelerometer, capable of detecting the left-right orientation D1A and the up-down orientation (tilt) D2A of the operator's face. The movable camera unit 22 changes the orientation D1B and tilt D2B of the shooting range based on the detection result of the operator's face orientation. Additionally, for example, if the operator falls and the detection values ​​of the posture sensors 63, such as the gyroscope or accelerometer, exceed a predetermined range, it can be determined as an abnormality and the crane 20 can be stopped immediately. Furthermore, the information terminal 51 can be operated based on head movement. For example, one can select a button on the information terminal 51 by moving left and right or up and down, and press the button by nodding twice.

[0038] Specifically, the head-mounted display 53 is connected to the information terminal 51 via line L2. The information terminal 51 acquires the detection result of the orientation of the face based on the head-mounted display 53. The processing unit 56 of the information terminal 51 calculates the left-right orientation D1B and the up-down tilt D2B of the shooting range of the movable camera unit 22 based on the detection result of the face orientation. The information terminal 51 sends the orientation instruction information of the movable camera unit 22 to the movable camera unit 22. As a result, the movable camera unit 22 changes the shooting range to the orientation corresponding to the operator's face orientation according to the instruction information.

[0039] Next, refer to Figure 4An example of an image 70 displayed on the touchscreen 59 of the information terminal 51 will be described. However, the image displayed on the touchscreen 59 is not limited to... Figure 4 The image shown. And, Figure 4 The content shown can be omitted appropriately. For example... Figure 4 As shown, the information terminal 51 has an upper-side captured image 71, a rotation selection image 72 (first selection image), a height position selection image 73 (second selection image), an inward adjustment image 74 (third selection image), a walking adjustment image 76 (third selection image), a rotation adjustment image 77 (third selection image), and a main hoist adjustment image 78 (third selection image).

[0040] The upper-view image 71 is an image captured by the upper-view imaging unit 21. When selecting the destination of the lifting device 37, the operator selects the desired destination from the upper-view image 71 and touches that location. The information terminal 51 then sets the destination based on the selected location. The information terminal 51 sets the touched location in the upper-view image 71 as the destination.

[0041] Slewing selection image 72 is used to select the slewing angle of crane 20 (reference). Figure 2 (b) The image of θ). The slewing selection image 72 shows a schematic view of the crane 20 as viewed from above. The operator selects the desired destination from the slewing selection image 72 and touches that location. Thus, the information terminal 51 sets the destination based on the selected location in the slewing selection image 72. In the slewing selection image 72, the slewing angle and the working radius R1 (reference) can be specified. Figure 2 (b)).

[0042] The height position selection image 73 is an image used to select the height position of the spreader 37 of the crane 20. The height position selection image 73 shows a schematic view of the boom 31 of the crane 20 viewed laterally. The operator selects the desired destination from the height position selection image 73 by touching that location. The information terminal 51 then sets the destination based on the selected position in the height position selection image 73. In the height position selection image 73, the height of the spreader 37 and the working radius R1 (reference) can be specified. Figure 2 (b) Additionally, the status of the secondary winch is also shown in image 73 at the height position selection, but it is the same as that of the primary winch, so the following description is omitted.

[0043] The inward adjustment image 74 allows for phased selection of the inward amount of the boom 31 as the action amount of the crane 20. The travel adjustment image 76 allows for phased selection of the travel direction movement as the action amount of the crane 20. The slewing adjustment image 77 allows for phased selection of the slewing angle of the boom 31 as the action amount of the crane 20. The main winch adjustment image 78 allows for phased selection of the winding amount of the lifting load 39 as the action amount of the crane 20. Each adjustment image 74, 76, 77, and 78 is set to "0" at the current position, allowing for four phases of adjustment to both sides. For example, after moving the lifting load 37 using the upper side image 71, the slewing selection image 72, and the height position selection image 73, the operator can use each adjustment image 74, 76, 77, and 78 for fine-tuning.

[0044] The information terminal 51 can recognize the operator's operation commands by the operator's selection of the location on the touch image 70. Furthermore, when the switch 52 is ON, the information terminal 51 sends this information to the control device 10 of the crane 20. And when the switch 52 is OFF, the information terminal 51 sets all operation commands to 0 and sends them to the control device 10. When sending the operation command signal, the information terminal 51 also simultaneously sends its own ID information so that the control device 10 of the crane 20 can identify the source of the command. For example, the crane 20 can store the ID information for connecting the main power supply and not accept other ID information until the main power supply is turned "off".

[0045] Next, refer to Figure 5 The operating procedures for operating crane 20 using operating device 50 are explained. Figure 5 This is the process diagram for crane system 100. (Example) Figure 5 As shown, firstly, the operator activates the operating device 50 and synchronizes the crane 20 with the operating device 50 (step S10). Next, the information terminal 51 displays the following on the touchscreen 59: Figure 4 Image 70 shown (step S20).

[0046] Next, the operator confirms the content of image 70 and the head-mounted display 53, thereby determining the destination (step S30). At this time, the movable camera unit 22 changes the shooting range according to the operator's face orientation. The operator touches the destination on the touch screen 59, selecting one of the top-view image 71, the rotation selection image 72, or the height position selection image 73. The information terminal 51 then sets the touched position as the destination (step S30). The information terminal 51 calculates the speed output mode of each motion axis for moving the spreader 37 to the destination and sends the motion command to the crane 20 according to the mode. The information terminal 51 then moves the spreader 37 to the position desired by the operator (step S40). Step S40 is performed by the operator holding the handle switch 60 and pressing button 62. After the movement is completed, the information terminal 51 determines whether the operation can be performed (step S45). If the operation is determined to be performed (step S45 "No"), it becomes... Figure 5 The process shown is completed. If it is determined that the operation cannot be performed ("Yes" in step S45), the operator then performs fine adjustments to the position of the spreader 37 by operating the adjustment images 74, 76, 77, and 78 (steps S50 and S60). Here, as fine adjustments, the destination is set (step S50) and the spreader 37 is moved (step S60).

[0047] Next, the effects of the crane system 100 and the operating device 50 according to this embodiment will be explained.

[0048] The portable operating device 50 includes an information terminal 51 that displays images and allows input of operating information, including at least the destination of the spreader 37. Therefore, the operator can determine the destination of the spreader 37 while observing the image from outside the crane 20. The information terminal 51 automatically moves the spreader 37 to the set destination. Thus, the operator does not need to manually operate the crane 20 when moving the spreader 37 to the destination. The operating device 50 also includes a mechanical switch 52 that indicates the start and stop of the crane 20. Therefore, the operator can quickly perform an emergency stop by using the mechanical switch 52. Furthermore, the information terminal 51 automatically moves the spreader 37 to the set destination. Therefore, the operator can focus on ensuring the safety of the area around the crane 20 and perform an emergency stop without needing to manually operate the equipment. This improves the reliability of the emergency stop of the crane 20.

[0049] The mechanical switch 52 can be a disable switch with a start / stop function for operation. Thus, by using a disable switch that can stop operation when the hand is released, the operator can quickly perform an emergency stop by releasing the hand.

[0050] The mechanical switch 52 can be a handle switch 60. In this case, if the operator releases their hand from the handle switch 60, an emergency stop can be immediately initiated. Thus, the mechanical switch 52 also functions as a disable switch.

[0051] The crane system 100 may also include: a head-mounted display 53 that displays images in front of the operator; and a movable camera unit 22 mounted on the crane 20, which changes its shooting range according to the movement of the head-mounted display 53. In this case, while wearing the head-mounted display 53, the operator can check the image captured by the movable camera unit 22 corresponding to that action by changing the orientation of their face.

[0052] The crane 20 may also include an upper imaging unit 21 located at the base end of the lifting device 39 and capable of capturing images from below. The information terminal 51 displays the images captured by the upper imaging unit 21 and sets the destination based on the selected position of the captured images. At this time, the operator can easily set the destination of the lifting device 37 based on the images captured by the upper imaging unit 21.

[0053] The information terminal 51 can display a slewing selection image 72 that selects at least one of the slewing angle and slewing radius of the crane 20, and set the destination based on the selected position in the slewing selection image 72. At this time, the operator can easily set the destination of the spreader 37 based on the slewing selection image 72 with the slewing angle selected.

[0054] The information terminal 51 can display a height position selection image 73 for selecting the height position of the spreader 37, and set the destination based on the selected position in the height position selection image 73. At this time, the operator can easily set the destination of the spreader 37 based on the height position selection image 73.

[0055] The information terminal 51 can display various adjustment images 74, 76, 77, and 78 that allow for phased selection of the crane 20's movement amount, and can move the crane based on the selection results in each adjustment image 74, 76, 77, and 78. At this time, the operator can use the phased adjustment images 74, 76, 77, and 78 to fine-tune the position of the spreader 37.

[0056] The operating device 50 is an operating device for a crane that uses a lifting device 37 suspended by a lifting material 39 to load and unload objects. It has: an information terminal 51 that displays images and can input operating information including at least the destination of the lifting device 37; and a mechanical switch 52 that indicates the start and stop of the crane 20. The operating device 50 causes the lifting device 37 to move automatically to the set destination.

[0057] The operating device 50 according to this embodiment can achieve the same effect as the crane system 100 described above.

[0058] The present invention is not limited to the embodiments described above.

[0059] For example, in the above embodiment, a grip switch is used as a mechanical switch. This mechanical switch can be replaced with different types of switches depending on the actual situation or purpose of use. For example, a game controller can also be used, which has a variety of switches and mechanisms such as more compact and simple push-button switches, joysticks, and vibrators. Through various inputs, crane operation inputs can be made, or when the crane generates an alarm, the vibration of the switch can notify the operator of a dangerous situation. In addition, as in the above embodiment, the switch and the information terminal are configured as separate units connected by a line, so they can be installed on an existing information terminal, and the operator can start and stop the crane simply by using the switch without holding the information terminal (for example, when it is in a pocket). This effect can be achieved even when using the various types of switches mentioned above.

[0060] The head-mounted display can also be omitted.

[0061] Symbol Explanation 20-Crane, 21-Upper camera (second camera), 22-Modible camera (first camera), 50-Operating device, 51-Information terminal, 52-Switch, 53-Head-mounted display, 72-Slewing selection image (first selection image), 73-Height position selection image (second selection image), 74-Inward adjustment image (third selection image), 76-Travel adjustment image (third selection image), 77-Slewing adjustment image (third selection image), 78-Main winch adjustment image (third selection image), 100-Crane system.

Claims

1. A crane system comprising: A crane is a device that uses lifting equipment suspended by lifting materials to load and unload objects; and Portable operating device for operating the crane; The operating device has: The information terminal displays images and allows input of operational information, including at least the destination of the spreading device; and A mechanical switch indicates the start and stop of the crane. The crane system enables the spreader to move automatically to the set destination.

2. The crane system according to claim 1, wherein, The mechanical switch is a disable switch with start and stop functions.

3. The crane system according to claim 2, wherein, The mechanical switch is a grip switch.

4. The crane system according to claim 1, further comprising: Head-mounted displays show images in front of the operator; and The first camera unit is mounted on the crane and changes its shooting range according to the movement of the head-mounted display.

5. The crane system according to claim 1, wherein, The crane also includes a second camera, which is located at the base end of the lifting material and captures images from below. The information terminal displays the captured image taken by the second camera unit and sets the destination based on the selected location of the captured image.

6. The crane system according to claim 1, wherein, The information terminal displays a first selection image that selects at least one of the crane's slewing angle and slewing radius, and sets the destination based on the selected position in the first selection image.

7. The crane system according to claim 1, wherein, The information terminal displays a second selection image for selecting the height position of the spreader, and sets the destination based on the selected position in the second selection image.

8. The crane system according to claim 1, wherein, The information terminal displays a third selection image that allows for phased selection of the crane's movement amount, and the crane is moved according to the selection result in the third selection image.

9. An operating device for operating a crane that uses a lifting device suspended by a lifting stock to load and unload objects, said operating device comprising: The information terminal displays images and allows input of operational information, including at least the destination of the spreading device; and A mechanical switch indicates the start and stop of the crane. The operating device enables the lifting device to automatically move to the set destination.

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