Control instruction device for work machine

Abstract

To provide a control instruction device for a working machine capable of optimizing a detection area according to the operation of the working machine and outputting a control instruction at an appropriate timing.SOLUTION: A control instruction device 100 includes a detection region setting unit 31 that sets detection regions A1 and A2 around an operation unit of a crane 1 or a suspended load O moved by the crane 1, and a control instruction outputting unit 32 that outputs a predetermined control instruction to a control device 18 of the crane 1 when the detection regions A1 and A2 come into contact with an obstacle or enter a regulation area, and includes a detection region automatic adjusting unit 33 that automatically adjusts sizes of the detection regions A1 and A2 in an operation direction according to an operation direction and an operation speed of the crane 1.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present disclosure relates to a control and instruction device for a work machine. [Background technology]

[0002] Patent Document 1 discloses a collision prevention device for a crane. This collision prevention device calculates the relative speed between the crane and an object that may come into contact with the crane, and outputs a stop command to the crane according to this relative speed.

[0003] In addition, a control instruction device has been proposed that sets a detection area around the operating part of the crane or the suspended load, and outputs a predetermined control instruction (such as an alert, deceleration, or stop) to the crane when the detection area comes into contact with an obstacle or enters a restricted area. With such a control instruction device, the safety and productivity of crane work can be improved by having the manager set the detection area appropriately. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 6513544 Summary of the Invention [Problem to be solved by the invention]

[0005] However, in the past, the detection area of ​​the control instruction device was set at the discretion of the administrator, so the set detection area may not be compatible with real-time crane operation, and the timing of outputting control instructions may be inappropriate.

[0006] Therefore, an object of the present disclosure is to provide a control instruction device for a work machine that can optimize a detection area in accordance with the operation of the work machine and output control instructions at appropriate timing. [Means for solving the problem]

[0007] In one aspect, the following solution is provided. a detection area setting means for setting a detection area around a moving part of the work machine or an object moved by the work machine; a control instruction output means for outputting a predetermined control instruction to the work machine when the detection area comes into contact with an obstacle or enters a restricted area, The present invention is characterized by comprising an automatic detection area adjustment means for automatically adjusting the size of the detection area in the movement direction in accordance with the movement direction and movement speed of the work machine. [Effects of the Invention]

[0008] According to the present disclosure, it is possible to optimize the detection area in accordance with the operation of the work machine and output control instructions at appropriate timing. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a schematic overall configuration diagram of a crane to which a control instruction device according to an embodiment of the present invention is applied; [Figure 2] FIG. 2 is a block diagram showing the configuration of a control instruction device and a crane. [Figure 3] FIG. 2 is an explanatory diagram illustrating an example of a hardware configuration of a control instruction device. [Figure 4] 1A and 1B are diagrams showing an example of a set detection area, in which FIG. 1A is a plan view of the set detection area, and FIG. 1B is a perspective view of the set detection area. [Figure 5] 1A and 1B are diagrams showing an example of automatic adjustment of the detection area, in which (a) is a plan view showing automatic adjustment of the detection area during a right-swing operation, and (b) is a perspective view showing automatic adjustment of the detection area during a hoisting-down operation. [Figure 6] FIG. 1 is a diagram illustrating an example of a digital twin. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, the embodiments will be described in detail with reference to the accompanying drawings. Note that the dimensional ratios in the drawings are merely examples and are not limiting. Furthermore, shapes and the like in the drawings may be partially exaggerated for the sake of explanation. Furthermore, in the drawings, for ease of viewing, reference symbols may be assigned only to some of the parts that exist with the same attribute.

[0011] [crane] FIG. 1 is a schematic overall configuration diagram of a crane 1 to which a control instruction device 100 according to an embodiment of the present invention is applied. As shown in Figure 1, the crane 1 of this embodiment is an example of a work machine to which the control and instruction device 100 is applied, and is a fixed tower crane installed at a building construction site or the like. The crane 1 includes a mast 4 fixed to a foundation 3 and extending in the vertical direction, a rotating body 5 supported rotatably on the upper part of the mast 4, a jib 6 supported on the rotating body 5 so that it can be raised and lowered, and a load support part 2 suspended from the tip of the jib 6. The mast 4 may also be fixed to the building.

[0012] The rotating body 5 is rotatably supported on the upper part of the mast 4 via a rotating device 7. The rotating body 5 is rotatable about an axis extending in the vertical direction. The rotating body 5 may also be supported on the mast 4 so as to be movable up and down in the vertical direction.

[0013] The rotating body 5 is provided with a hoisting winch 8 that enables the jib 6 to be raised and lowered, a lifting winch 9 that enables the load support part 2 to be raised and lowered, and a support frame 10 that stands upright from the rotating body 5.

[0014] A hoisting wire rope 11 is wound around the hoisting winch 8. The hoisting wire rope 11 extends from the hoisting winch 8 via a support frame 10 to the jib 6 and is connected to the tip of the jib 6. By driving the hoisting winch 8, the hoisting wire rope 11 is wound or let out, allowing the jib 6 to be raised or lowered with the base end as a fulcrum.

[0015] A lifting wire rope 12 is wound around the lifting winch 9. The lifting wire rope 12 extends downward from the tip of the jib 6, via the lifting winch 9, support frame 10, and the tip of the jib 6. A load support part 2 is connected to the tip of the lifting wire rope 12. By driving the lifting winch 9, the lifting wire rope 12 is wound or let out, allowing the load support part 2 to move up and down in the vertical direction. The load support part 2 is not particularly limited as long as it is capable of supporting the load O, and may be, for example, a hook block or a bucket.

[0016] FIG. 2 is a block diagram showing the configuration of the control instruction device 100 and the crane 1. 2, the crane 1 is provided with various sensors that acquire various state quantities of the crane 1. In this embodiment, the crane 1 has a rotation angle encoder 13 that acquires the rotation angle of the rotating body 5, a hoisting angle encoder 14 that acquires the hoisting angle of the jib 6, and a lifting position encoder 15 that acquires the lifting position of the load support part 2.

[0017] The slewing angle encoder 13 obtains the slewing angle of the slewing body 5 from the rotation speed of the slewing device 7. This makes it possible to obtain the slewing angle of the jib 6. The hoisting angle encoder 14 obtains the hoisting angle of the jib 6 from the rotation speed of the hoisting winch 8. The lifting position encoder 15 obtains the lifting position of the load support part 2 from the rotation speed of the lifting winch 9.

[0018] Because crane 1 is a fixed tower crane, its installation position (latitude, longitude, altitude) is specified. The height of mast 4 and the length of jib 6 are also specified. Therefore, by acquiring a predetermined reference position of crane 1 (for example, the center position of the rotation axis at the top of mast 4) and various state quantities of crane 1, the position (latitude, longitude, altitude) of the tip of jib 6 at that time can be specified.

[0019] In this embodiment, the various state quantities of the crane 1 are acquired from information from the slewing angle encoder 13, the hoisting angle encoder 14, and the lifting position encoder 15. However, this is not limiting, and the various state quantities of the crane 1 can be acquired by various methods. For example, the various state quantities of the crane 1 may be acquired from an external sensor such as a Global Navigation Satellite System (GNSS) or an inclination sensor. As the GNSS, for example, a Real Time Kinematic (RTK)-GNSS capable of highly accurate position detection can be used. Furthermore, as the inclination sensor, for example, an Inertial Measurement Unit (IMU) can be used.

[0020] In addition, lidar sensors 16 and cameras 17 are installed at various locations on the crane 1 (for example, the tip of the jib 6 and the rotating body 5) to detect objects (hereinafter referred to as obstacles) such as surrounding buildings, buildings under construction, and construction machinery that may hinder the operation of the crane 1, as well as suspended loads O.

[0021] 1 and 2, the crane 1 is equipped with a control device 18 that controls the operation of the crane 1. The control device 18 controls the operation of the crane 1 based on a manual operation signal from an operator in a control room (not shown) of the rotating body 5, a remote operation signal from a remote controller, an automatic operation signal from an automatic operation system, a control instruction from a control instruction device 100, and the like. The operation of the crane 1 includes the rotation operation (left rotation operation and right rotation operation) of the rotating body 5, the raising and lowering operation (raising operation and lowering operation) of the jib 6, and the raising and lowering operation (hoisting operation and lowering operation) of the load support part 2.

[0022] The control device 18 also holds the attitude information, operation direction information, operation speed information, lifting load information, and sensor information (detection information from the lidar sensor 16 and images captured by the camera 17) of the crane 1. This information is provided to the control instruction device 100 in real time. The attitude information, operation direction information, and operation speed information of the crane 1 are generated based on detection signals from, for example, the slewing angle encoder 13, the hoisting angle encoder 14, and the lifting position encoder 15.

[0023] [Control and indication device] The control instruction device 100 sets a detection area around the operating parts of the crane 1 and the suspended load O, and when the detection area comes into contact with an obstacle or enters a restricted area, outputs a predetermined control instruction (control instruction such as an alert, deceleration, or stop) to the crane 1. First, an example of the hardware configuration of the control instruction device 100 will be described with reference to FIG. 3.

[0024] FIG. 3 is an explanatory diagram showing an example of the hardware configuration of the control instruction device 100. As shown in FIG. As shown in Figure 3, the control instruction device 100 is a device that performs calculations such as a computer, and is equipped with a CPU 41, a RAM 42, a ROM 43, a display unit 44, a communication unit 45, and a sound unit 46, which are connected so as to be accessible via a bus 47.

[0025] A CPU (Central Processing Unit) 41 is a central processing unit that loads a program stored in a ROM 43 into a RAM 42 and controls various controls and arithmetic processes in accordance with the program.

[0026] The RAM (Random Access Memory) 42 is a volatile memory that temporarily stores various data, calculation results by the CPU 41, and the like.

[0027] The ROM (Read Only Memory) 43 is a non-volatile memory that stores programs and the like (for example, applications corresponding to the control instruction device 100 of this embodiment).

[0028] The display unit 44 is a touch panel display device that can handle various setting inputs. In addition to its display function, the display unit 44 also functions as an input unit for various inputs. Note that the control instruction device 100 may also include an input unit separate from the display unit 44.

[0029] The communication unit 45 is a communication interface for controlling communication with an external device (such as the control device 18 of the crane 1), and is, for example, a network interface or a wireless interface.

[0030] The sound unit 46 outputs sounds such as alerts.

[0031] The control instruction device 100 includes a detection area setting unit 31, a control instruction output unit 32, and an automatic detection area adjustment unit 33 as functional components realized by the cooperation of hardware and software.

[0032] FIG. 4 is a diagram showing an example of the set detection areas A1 and A2, where (a) is a plan view of the set detection areas A1 and A2, and (b) is a perspective view of the set detection areas A1 and A2. The detection area setting unit 31 sets detection areas A1 and A2 around the operating parts of the crane 1 and the load O moved by the crane 1. The detection areas A1 and A2 include a deceleration detection area A2, which is an area for decelerating the operation of the crane 1, and a stop detection area A1, which is set inside the deceleration detection area A2 and is an area for stopping the operation of the crane 1. Note that, for ease of explanation and understanding, FIG. 4 shows the detection areas A1 and A2 set around the load O, but in actual operation, detection areas are also set around the rotating body 5 and the jib 6.

[0033] The detection areas A1 and A2 may be set manually by an administrator, or may be set automatically based on shape recognition of the load O. For example, after recognizing the shape of the load O based on an image from the camera 17, a rectangular or cylindrical load area A0 is set that extends from the periphery of the load O to the tip of the jib 6. Then, a stop detection area A1 is set around the load area A0, covering the load area A0 with a predetermined gap therebetween. Furthermore, a deceleration detection area A2 is set around the stop detection area A1, covering the stop detection area A1 with a predetermined gap therebetween.

[0034] The control instruction output unit 32 outputs a predetermined control instruction to the control device 18 of the crane 1 when the detection areas A1 and A2 come into contact with an obstacle or enter a restricted area. For example, the control instruction output unit 32 recognizes the current positions of the detection areas A1 and A2 based on the attitude information of the crane 1 acquired from the control device 18, while recognizing the position of the obstacle based on sensor information acquired from the control device 18. The control instruction output unit 32 then determines that the detection areas A1 and A2 have come into contact with an obstacle when the positions of the detection areas A1 and A2 interfere with the positions of the previously acquired restricted area information. The restricted area information may include, for example, current building area information identified from design information and construction schedule information of the building under construction, arbitrarily set virtual restricted range information, etc.

[0035] The predetermined control instruction is an instruction to issue an alert, an instruction to decelerate the current operation, or an instruction to stop the current operation. When the deceleration detection area A2 comes into contact with an obstacle or enters a restricted area, the control instruction output unit 32 outputs a control instruction to decelerate the current operation to the control device 18 of the crane 1. Furthermore, when the stop detection area A1 comes into contact with an obstacle or enters a restricted area, the control instruction output unit 32 outputs a control instruction to stop the current operation to the control device 18 of the crane 1. This enables the crane 1 to avoid contact with an obstacle or entry into a restricted area in two stages: deceleration and stop, when it is about to come into contact with an obstacle or enter into a restricted area during operation. Note that in this embodiment, an alert is issued on the control instruction device 100 side, and the instruction to issue an alert to the control device 18 of the crane 1 is omitted.

[0036] Figure 5 shows an example of automatic adjustment of the detection areas A1 and A2, where (a) is a plan view showing the automatic adjustment of the detection areas A1 and A2 during a right-turning operation, and (b) is a perspective view showing the automatic adjustment of the detection areas A1 and A2 during a hoisting-down operation. The detection area automatic adjustment unit 33 automatically adjusts the size of the detection areas A1 and A2 in the movement direction in accordance with the movement direction and movement speed of the crane 1. For example, as shown in FIG. 5(a), during a right-swinging movement of the crane 1, the faster the movement speed, the larger the size of the detection areas A1 and A2 (including the lifting area A0) in the movement direction (the side surface on the right-swinging side) (expands in the forward direction). Also, as shown in FIG. 5(b), during a lowering movement of the crane 1, the faster the movement speed, the larger the size of the detection areas A1 and A2 (including the lifting area A0) in the movement direction (the bottom surface).

[0037] Such automatic detection area adjustment unit 33 makes it possible to optimize the detection areas A1 and A2 according to the operation of the crane 1, output control instructions at appropriate times, and issue alerts. As a result, not only is safety and productivity improved, but the administrator is also spared the trouble of having to change the settings of the detection areas A1 and A2 according to the situation.

[0038] Although the embodiments have been described in detail above, the present invention is not limited to the specific embodiments, and various modifications and changes are possible within the scope of the claims. In addition, it is also possible to combine all or a plurality of components of the above-described embodiments.

[0039] For example, although the embodiment has been described with reference to a control instruction device applied to a crane, the control instruction device of the present invention can also be applied to work machines other than cranes (for example, construction machines such as hydraulic excavators).

[0040] Furthermore, it is desirable to appropriately display the optimally changing detection area as an image (either 2D or 3D) synchronized with the site environment and crane operation so that it is easy for the operator to visually recognize. For example, as shown in Figure 6, a crane model and a BIM (Building Information Modeling) model are generated in virtual space based on sensor information from a crane that exists in real space and BIM information from a building under construction. Then, by displaying the optimally changing detection area (omitted from Figure 6) in virtual space, the operator can easily recognize the detection area.

[0041] Furthermore, the planar shape of the detection area reflects an optimal shape such as a rectangle or a circle when the shape and posture of the load can be recognized, but when the shape and posture of the load cannot be recognized, a circle is preferable in consideration of the rotation of the load, and when the jib is rotating, it can be optimized to an ellipse or the like. Furthermore, the planar shape of the detection area around the jib can be optimized to a fan shape or the like in consideration of the difference in movement distance between the jib tip side and the jib base side.

[0042] The present invention includes the following embodiments.

[0043] [1] A detection area setting means for setting a detection area around a moving part of a work machine or an object moved by the work machine; a control instruction output means for outputting a predetermined control instruction to the work machine when the detection area comes into contact with an obstacle or enters a restricted area, A control and instruction device for a work machine, comprising: an automatic detection area adjustment means for automatically adjusting the size of the detection area in the movement direction in accordance with the movement direction and movement speed of the work machine.

[0044] [2] The control instruction device for a work machine described in [1], wherein the predetermined control instruction is an instruction to issue an alert, an instruction to slow down the operation, or an instruction to stop the operation.

[0045] [3] The detection area includes a deceleration detection area and a stop detection area set inside the deceleration detection area, the control instruction output means outputs a deceleration control instruction to the work machine when the deceleration detection area comes into contact with an obstacle or enters a restricted area, and outputs a stop control instruction to the work machine when the stop detection area comes into contact with an obstacle or enters a restricted area, The control and instruction device for a work machine described in [1] or [2], wherein the automatic detection area adjustment means automatically adjusts the size of the deceleration detection area and the stop detection area in the operating direction according to the operating direction and operating speed of the work machine.

[0046] [4] The work machine is a crane equipped with a rotating body, a jib supported on the rotating body so as to be able to be raised and lowered, and a liftable load support part suspended from the tip of the jib, The control and instruction device for a work machine described in any one of [1] to [3], wherein the operations include a rotation operation of the rotating body, a raising and lowering operation of the jib, and a lifting and lowering operation of the load support part. [Explanation of symbols]

[0047] 1 Crane (working machine) 2 Hanging load support part 3 Basics 4 Mast 5 Rotating body 6 Jib 7 Swivel 8. Drilling winch 9 Lifting winch 10 Support Frame 11 Drilling wire rope 12 Lifting wire rope 13 Turning angle encoder 14 Descent angle encoder 15 Elevation position encoder 16 Lidar sensors 17 Camera 18 Control Device 31 Detection area setting unit (detection area setting means) 32 control instruction output unit (control instruction output means) 33 Automatic detection area adjustment unit (automatic detection area adjustment means) 41 CPU 42 RAM 43 ROM 44 Display section 45 Communications Department 46 Sound Section 47 Bus 100 Control and indication device A0 Lifting area A1 Stop detection area A2 Detection area for deceleration O Hanging load (object)

Claims

1. a detection area setting means for setting a detection area around a moving part of the work machine or an object moved by the work machine; a control instruction output means for outputting a predetermined control instruction to the work machine when the detection area comes into contact with an obstacle or enters a restricted area, A control and instruction device for a work machine, comprising: an automatic detection area adjustment means for automatically adjusting the size of the detection area in the movement direction in accordance with the movement direction and movement speed of the work machine.

2. The control instruction device for a work machine according to claim 1 , wherein the predetermined control instruction is an instruction to issue an alert, an instruction to decelerate the operation, or an instruction to stop the operation.

3. the detection area includes a deceleration detection area and a stop detection area set inside the deceleration detection area, the control instruction output means outputs a deceleration control instruction to the work machine when the deceleration detection area comes into contact with an obstacle or enters a restricted area, and outputs a stop control instruction to the work machine when the stop detection area comes into contact with an obstacle or enters a restricted area, 2. A control and instruction device for a work machine according to claim 1, wherein the automatic detection area adjustment means automatically adjusts the size of the deceleration detection area and the stop detection area in the movement direction in accordance with the movement direction and movement speed of the work machine.

4. the work machine is a crane including a rotating body, a jib supported on the rotating body so as to be able to rise and fall, and a liftable load support part suspended from the tip of the jib, 4. The control and instruction device for a work machine according to claim 1, wherein the operations include a rotation operation of the rotating body, a raising and lowering operation of the jib, and a lifting and lowering operation of the load support section.

Images