Working machinery
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Applications
- Current Assignee / Owner
- SUMITOMO HEAVY IND LTD
- Filing Date
- 2024-12-04
- Publication Date
- 2026-06-16
Smart Images
Figure 2026097532000001_ABST
Abstract
Description
Technical Field
[0001] The present disclosure relates to a working machine.
Background Art
[0002] Patent Document 1 discloses an operation support system for a working machine (crane) that supports a landing operation for landing a suspended load (suspended body) held at the lower end of a wire rope on a target position (landing target surface). This working machine provides operation support by allowing an operator to recognize the target position by superimposing the target position for landing the suspended load on the image information captured by a camera.
[0003] However, even if the target position for landing the suspended load is shown in the image information, the target position cannot be recognized when there is a blind spot of the camera or the like. That is, when moving the suspended load to an arbitrary target position in operation support, the information may be insufficient only with the image information of the camera.
Prior Art Documents
Patent Documents
[0004]
Patent Document 1
Summary of the Invention
Problems to be Solved by the Invention
[0005] The present disclosure provides a working machine capable of satisfactorily moving the lower end of a rope to a target position.
Means for Solving the Problems
[0006] According to one aspect of the present disclosure, a work machine is provided that includes a rope having a lower end capable of holding a suspended load, and a suspension fulcrum that suspends the rope and is configured to be movable, the work machine being provided with a suspension fulcrum positioning device provided on the suspension fulcrum for acquiring position information of the suspension fulcrum, and moving the suspension fulcrum based on the position of the suspension fulcrum acquired by the suspension fulcrum positioning device and a set target position. [Effects of the Invention]
[0007] According to one embodiment, the lower end of the rope can be moved to the target position effectively. [Brief explanation of the drawing]
[0008] [Figure 1] This is a side view showing an example of a crane according to the embodiment. [Figure 2] This is a block diagram schematically showing an example of the configuration of a crane according to the embodiment. [Figure 3] This is a perspective view showing the target position to which the crane and its suspension point will move. [Figure 4] Figure 4(A) is a side view showing an example of the installation of a suspended pivot point positioning device. Figure 4(B) is a front view showing an example of the installation of a suspended pivot point positioning device. [Figure 5] This is a front view showing an example of the installation of a wire lower end positioning device. [Figure 6] This flowchart shows an example of a processing procedure for registering a target position in the simplified operation mode of the controller according to the embodiment. [Figure 7] This diagram illustrates the screen of the simplified operation mode displayed by the display control unit. [Figure 8] This flowchart illustrates the process by which the controller controls the movement of the boom in simplified operation mode. [Figure 9] Figure 9(A) is a schematic plan view illustrating an example of the operation to move the suspension support point to the target position. Figure 9(B) is a schematic plan view illustrating an example of the operation to recognize the swing of the boom hook. [Figure 10] This is a schematic diagram showing an example configuration of a remote control system for a crane, based on a modified example. [Modes for carrying out the invention]
[0009] Hereinafter, embodiments for carrying out this disclosure will be described with reference to the drawings. In each drawing, the same reference numerals are used for the same components, and redundant descriptions may be omitted. The embodiments described below are illustrative and not limiting to the invention, and not all features or combinations thereof described in the embodiments are necessarily essential to the invention.
[0010] <Overall configuration of Crane 100> As an example of a work machine according to the embodiment of this disclosure, a mobile crane 100 shown in Figure 1 will be described. Figure 1 is a side view showing an example of the crane 100 according to the embodiment. In the following, the front-rear direction, left-right direction, and up-down direction of the crane 100 will be described along the front-rear direction, left-right direction, and up-down direction as seen from the perspective of the person riding in the crane 100 (hereinafter also referred to as the operator).
[0011] The crane 100 according to this embodiment is a so-called mobile crawler crane. This crane 100 includes a self-propelled crawler-type lower traveling body 1, an upper rotating body 3 that is rotatably mounted on the lower traveling body 1, and an attachment AT that is pivotably mounted on the front side of the upper rotating body 3.
[0012] The lower traveling body 1 includes, for example, a pair of left and right crawlers 1L and 1R. The lower traveling body 1 moves the crane 100 by hydraulically driving each crawler with a left-side travel hydraulic motor 1ML and a right-side travel hydraulic motor 1MR (see Figure 2).
[0013] The upper rotating body 3 rotates relative to the lower traveling body 1 when the rotating mechanism 2 is hydraulically driven by the rotating hydraulic motor 2M (see Figure 2).
[0014] The upper slewing body 3 has a cab 4 where an operator sits to operate the crane 100 at an adjacent position on the right side of the attachment AT. Further, the upper slewing body 3 has a counterweight 5 for balancing the weights of the attachment AT and the suspended load at the rear side.
[0015] The attachment AT suspends and transports the suspended load. The attachment AT is constituted by a boom 6 including a lower boom 61 connected to the boom attachment part of the upper slewing body 3 so as to be able to move up and down, an intermediate boom 62 connected to the tip of the lower boom 61, and an upper boom 63 connected to the tip of the intermediate boom 62. The boom 6 is formed by assembling a plurality of frames and thus has sufficient rigidity.
[0016] The boom 6 can change the length of the attachment AT by increasing or decreasing a plurality of intermediate booms 62 that can be connected to each other. Further, the attachment AT has a backstop 64 for restricting the backward rotation of the boom 6 at the rear side of the tip of the lower boom 61.
[0017] Furthermore, the crane 100 includes a pendant rope 66, an upper spreader 67, a lower spreader 68, a boom hoisting wire rope 69, a gantry 71, and a gantry lifting cylinder 72.
[0018] One end of the pendant rope 66 is connected to the rear side of the tip of the upper boom 63. The other end of the pendant rope 66 is connected to the upper spreader 67. The upper spreader 67 connects the pendant rope 66 and the boom hoisting wire rope 69. The boom hoisting wire rope 69 is wound around a boom hoisting winch 31 provided on the upper slewing body 3 and is wound up or unwound based on the drive of the boom hoisting winch 31.
[0019] The lower spreader 68 is attached to the tip of a gantry 71 provided on the upper slewing body 3 so as to be able to move up and down. The gantry lifting cylinder 72 is provided on the upper slewing body 3 and raises and lowers the gantry 71.
[0020] For example, the crane 100 raises the gantry 71 using the gantry lifting cylinder 72 while winding up the boom luffing wire rope 69 using the boom luffing winch 31. This causes the crane 100 to pull the pendant rope 66 via the upper spreader 67, rotating the boom 6 backward and upward. Conversely, the crane 100 can rotate the boom 6 forward and downward by unwinding the boom luffing wire rope 69 using the boom luffing winch 31.
[0021] The crane 100 is equipped with a boom hook 81, a wire rope 82 (rope), and a hook overwinding prevention device 83 for holding the suspended load. The boom hook 81 is suspended from the wire rope 82 via a hook bracket 811. In other words, the boom hook 81 constitutes the lower end of the wire rope 82. The hook bracket 811 has a pulley (not shown) inside through which the wire rope 82 is passed.
[0022] One end of the wire rope 82 is fixed to a fixing part provided at the tip of the boom 6. This wire rope 82 extends downward to the hook bracket 811 of the boom hook 81, then folds back from the hook bracket 811 and extends upward. Furthermore, the wire rope 82 is stretched over a point sheave 651 (support part) provided at the tip of the boom 6 and extends to the rear side of the boom 6, and is wound around the front winch 32 provided on the upper slewing body 3 from the rear side of the tip of the boom 6. In addition, a hook overwinding prevention device 83 is provided on the wire rope 82 and defines the upper limit of the boom hook 81.
[0023] The crane 100 can raise the boom hook 81 and lift a load by winding up the wire rope 82 with the front winch 32. Conversely, the crane 100 can lower the boom hook 81 and lower a load by unwinding the wire rope 82 with the front winch 32.
[0024] Next, the configuration of the drive system and control system of the crane 100 will be explained with reference to Figure 2. Figure 2 is a schematic block diagram showing an example of the configuration of the crane 100 according to this embodiment.
[0025] <Hydraulic drive system> The hydraulic drive system of the crane 100 according to this embodiment includes hydraulic actuators HA that hydraulically drive the lower traveling body 1 (left and right crawlers), the upper slewing body 3, and the attachment AT, respectively. These hydraulic actuators HA include travel hydraulic motors 1ML, 1MR, slewing hydraulic motor 2M, boom luffing hydraulic motor 31M, and front winch hydraulic motor 32M, etc.
[0026] The slewing hydraulic motor 2M is an actuator for slewing the upper slewing body 3 relative to the lower traveling body 1. The boom luffing hydraulic motor 31M is an actuator for operating the boom luffing winch 31. The front winch hydraulic motor 32M is an actuator for operating the front winch 32.
[0027] Furthermore, the hydraulic drive system of the crane 100 includes an engine 11, a main pump 14, a pilot pump 15, a control valve unit 17, and a regulator 18.
[0028] Engine 11 is the prime mover and the main power source in the hydraulic drive system. Engine 11 is, for example, a diesel engine that uses light oil as fuel. Engine 11 is mounted, for example, at the rear of the upper slewing body 3. Under the control of the controller 30, which will be described later, engine 11 rotates at a constant speed at a preset target rotational speed and drives the main pump 14 and the pilot pump 15. However, the crane 100 is not limited to using engine 11 as the main power source; an electric motor may also be used. In other words, the crane 100 may be an electric crane. The electric crane may be a battery type that supplies power to the electric motor from an onboard battery, or a wired type that supplies power to the electric motor via a wire from an external power source.
[0029] The main pump 14 supplies hydraulic fluid to the control valve unit 17 through a high-pressure hydraulic line. The main pump 14 is mounted at the rear of the upper slewing body 3, for example, similar to the engine 11. The main pump 14 is, for example, a variable displacement hydraulic pump, and under the control of the controller 30, the piston stroke length is adjusted by adjusting the tilt angle of the swash plate by the regulator 18, thereby controlling the discharge flow rate (discharge pressure) of the hydraulic fluid.
[0030] The control valve unit 17 is a hydraulic control device that controls the hydraulic actuator HA in response to the operator's operation of the operating device 38, the content of remote operation, or operation commands related to the automatic operation function output from the controller 30. The control valve unit 17 is mounted, for example, in the center of the upper slewing body 3. The control valve unit 17 is connected to the main pump 14 via a high-pressure hydraulic line and selectively supplies hydraulic fluid supplied from the main pump 14 to each hydraulic actuator in response to the operator's operation or operation commands output from the controller 30. Specifically, the control valve unit 17 includes a plurality of control valves (e.g., directional control valves) that control the flow rate and direction of the hydraulic fluid supplied from the main pump 14 to each hydraulic actuator HA.
[0031] <Operation system> The operating system of the crane 100 includes a pilot pump 15, a controller 30, a proportional valve 29, an operating device 38, and an operating sensor 39.
[0032] The pilot pump 15 supplies pilot pressure to various hydraulic devices via the pilot line 25. The pilot pump 15 is mounted, for example, at the rear of the upper slewing body 3, similar to the engine 11. The pilot pump 15 is, for example, a fixed-displacement hydraulic pump. The pilot pump 15 may be omitted. In this case, the relatively high-pressure hydraulic fluid discharged from the main pump 14 is reduced in pressure by a predetermined pressure reducing valve, and the resulting relatively low-pressure hydraulic fluid is supplied to the various hydraulic devices as pilot pressure.
[0033] The control device 38 is located near the cockpit of the cabin 4 and is used by the operator to perform various operations on the crane 100. The control device 38 includes pedal and lever devices for operating each hydraulic actuator HA.
[0034] For example, the operating device 38 is electrically operated. The operating sensor 39 detects the direction and amount of operation of the operating device 38 by the operator and outputs an operating signal corresponding to each operated actuator to the controller 30.
[0035] The controller 30 then outputs a control command to the proportional valve 29 that corresponds to the content of the operation signal, that is, a control signal corresponding to the operation of the operating device 38. As a result, the proportional valve 29 inputs a pilot pressure corresponding to the operation of the operating device 38 to the control valve unit 17, and the control valve unit 17 can drive each hydraulic actuator HA according to the operation of the operating device 38. Note that the control valve (directional control valve) that drives each hydraulic actuator built into the control valve unit 17 may be of the electromagnetic solenoid type. In this case, the operation signal output from the operating device 38 may be directly input to the control valve unit 17 (electromagnetic solenoid type control valve).
[0036] A proportional valve 29 is provided for each hydraulic actuator HA that is operated by the operating device 38. The proportional valve 29 is located in the pipeline connecting the pilot pump 15 and the pilot port of the control valve in the control valve unit 17, and is configured to change the flow area of the pipeline. The proportional valve 29 operates in accordance with the control command output by the controller 30. Therefore, the controller 30 can supply the hydraulic fluid discharged by the pilot pump 15 to the control valve of each hydraulic actuator HA provided in the control valve unit 17 via the proportional valve 29, independently of the operator's operation of the operating device 38.
[0037] <User Interface System> The user interface system of the crane 100 includes an operating device 38, an operating sensor 39, a display device D1, and an input device D2.
[0038] The display device D1 outputs various information to the operator of the crane 100 inside the cabin 4. The display device D1 is installed in a location easily visible to the operator seated inside the cabin 4 and is a device for outputting various information in a visual manner, such as a liquid crystal display or an organic EL (electroluminescence) display.
[0039] The input device D2 is located within close proximity to the operator seated in the cabin 4 and receives various inputs from the operator. The input signals received by the input device D2 are taken up by the controller 30. For example, the input device D2 may include a touch panel mounted on the display device, a touch pad installed around the display device, a button switch, a lever, a toggle, a knob switch provided on the operating device 38 (lever device), etc. Alternatively, the input device D2 may be a voice input device that receives voice input from the operator. A voice input device may include, for example, a microphone. Or, the input device D2 may be a gesture input device that receives gesture input from the operator. A gesture input device may include, for example, an imaging device (indoor camera) installed in the cabin 4.
[0040] <Communications System> The communication system of the crane 100 includes a communication device T1 capable of communicating with external devices. The communication device T1 is connected to a communication line and communicates with devices provided separately from the crane 100. Examples of devices provided separately from the crane 100 include portable communication terminals carried by workers at the work site. The communication device T1 may also include a mobile communication module compliant with standards such as 4G (4th Generation) or 5G (5th Generation). For example, the communication device T1 may also include a satellite communication module, a Wi-Fi® communication module, or a Bluetooth® communication module.
[0041] <Control System> The control system of the crane 100 includes, for example, a slewing sensor S1, a boom luffing sensor S2, a length sensor S3, an upper slewing body positioning device PS, a storage device ST, and a controller 30.
[0042] The rotation sensor S1 outputs information regarding the rotation of the upper rotating body 3. The rotation sensor S1 detects, for example, the rotational angular velocity of the upper rotating body 3 relative to the lower traveling body 1. Furthermore, the rotation sensor S1 detects the rotation angle. The rotation sensor S1 may be, for example, a gyro sensor, resolver, rotary encoder, or IMU (Inertial Measurement Unit). The detection signal corresponding to the rotation angle or rotational angular velocity of the upper rotating body 3 detected by the rotation sensor S1 is input to the controller 30.
[0043] The boom luffing sensor S2 outputs information regarding the luffing of the boom 6. The boom luffing sensor S2 detects, for example, the luffing angle (tilt angle) of the boom 6. The boom luffing sensor S2 may be, for example, a gyro sensor or an IMU. The detection signal corresponding to the luffing angle of the boom 6 from the boom luffing sensor S2 is input to the controller 30.
[0044] The length sensor S3 outputs information regarding the length of the wire rope 82 used to suspend the load with the boom hook 81. For example, the length sensor S3 detects the length of the wire rope 82 being unwound from the front winch 32.
[0045] The upper slewing body positioning device PS measures the position of the upper slewing body 3. The upper slewing body positioning device PS is, for example, a GNSS (Global Navigation Satellite System) positioning device and detects the position and orientation of the upper slewing body 3. The detection signals corresponding to the position and orientation of the upper slewing body 3 are received by the controller 30. The function of detecting the orientation of the upper slewing body 3 may be realized by an orientation sensor attached to the upper slewing body 3. The upper slewing body positioning device PS measures the current position of the crane 100 in a set reference coordinate system.
[0046] A reference coordinate system is, for example, the World Geodetic System, which can determine a location on Earth. The World Geodetic System is a three-dimensional orthogonal XYZ coordinate system with its origin at the Earth's center of mass, the X-axis pointing towards the intersection of the Greenwich Meridian and the equator, the Y-axis pointing towards 90 degrees east longitude, and the Z-axis pointing towards the North Pole.
[0047] The storage device ST is, for example, a read / write non-volatile storage medium. This storage device ST can be, for example, an SSD (Solid State Drive) or an HDD (Hard Disk Drive).
[0048] The controller 30 controls the operation of each drive unit provided on the crane 100. The functions of the controller 30 may be realized by any hardware, or any combination of hardware and software. For example, the controller 30 is mainly composed of a computer including a CPU (Central Processing Unit), memory devices such as RAM (Random Access Memory), non-volatile auxiliary storage devices such as ROM (Read Only Memory), and various input / output interface devices. The controller 30 realizes various functions by loading programs installed in the auxiliary storage device into the memory device and executing them on the CPU.
[0049] For example, the controller 30 controls the operation of the hydraulic actuator HA of the crane 100 based on the operation of the operating device 38, with the proportional valve 29 as the control target. The controller 30 may also provide operation support to assist in transporting the suspended load to the target position on the ground surface of the crane 100 (for example, a two-dimensional plane of XY coordinates). Operation support for the crane 100 may include fully automatic operation that controls the operation of the entire crane 100, semi-automatic operation that controls some of the operations of the crane 100, and a guidance function that displays the operation of the crane 100 on the display device D1 (or outputs it from the speaker).
[0050] As an example, the crane operator 100 controls the hoisting and lowering of the suspended load, while the controller 30 automatically controls the slewing and luffing movements of the crane 100 in a semi-automatic operation. In other words, the controller 30 controls only the slewing of the upper slewing body 3 and the luffing of the boom 6 to move the boom hook 81 to the target position in two-dimensional coordinates. In this semi-automatic operation, the controller 30 controls the slewing speed of the upper slewing body 3 and the luffing speed of the boom 6 to suppress the swaying of the suspended load. Furthermore, in fully automatic operation, the controller 30 controls the slewing of the upper slewing body 3 and the luffing of the boom 6, as well as the hoisting and lowering of the wire rope 82.
[0051] In the semi-automatic operation described above, the controller 30 outputs current to the proportional valve 29, applying an appropriate pilot pressure to the control valve unit 17. This allows the crane 100 to automatically control the slewing hydraulic motor 2M and the boom luffing hydraulic motor 31M. To perform this automatic control, the controller 30 internally constructs an acquisition unit 301, an operation reception unit 302, a display control unit 303, a registration unit 304, a position recognition unit 305, a trajectory generation unit 306, and a control unit 307 under the execution of a program by the CPU.
[0052] The acquisition unit 301 acquires detection results from various sensors installed on the crane 100. For example, the acquisition unit 301 acquires an operation signal from the operation sensor 39 that indicates an operation to the operating device 38 operated by the operator. The acquisition unit 301 also acquires information on the rotational velocity and rotational angle of the upper rotating body 3 from the rotation sensor S1, information on the luffing of the boom 6 (e.g., luffing angle) from the boom luffing sensor S2, and information on the length of the wire rope 82 from the length sensor S3.
[0053] Furthermore, the acquisition unit 301 calculates the height of the suspended load from the length of the wire rope 82 and the luffing angle of the boom 6. Alternatively, the controller 30 may acquire imaging information of the suspended load using an imaging device (not shown) of the crane 100 and calculate the height of the suspended load from this imaging information.
[0054] The operation reception unit 302 receives operations from the operator via one or more of the input device D2 and the operation device 38. For example, the operation reception unit 302 receives a press of a predetermined button on the operation device 38 in order to switch to the simplified operation mode, which is a mode for performing semi-automatic operation. The "simplified operation mode" is an operation mode for transporting the suspended load to a pre-registered target position when an input operation of the slewing operation lever of the operation device 38 is received.
[0055] The display control unit 303 performs control for displaying information on the display device D1. For example, when the display control unit 303 receives an operation to switch to the simplified operation mode, it displays the simplified operation mode screen.
[0056] In the simplified operation mode, the registration unit 304 registers the target position used for transporting the suspended load in the storage device ST. The target position is stored in the storage device ST by the controller 30 acquiring position information transmitted from, for example, a target position detector TS set at the target position. The target position detector TS may be, for example, a GNSS positioning device. In this case, the target position detected by the target position detector TS is a two-dimensional coordinate in the World Geodetic System. The target position may also be detected in three-dimensional coordinates including height information by performing altitude measurement using a pressure sensor. When storing the target position, the registration unit 304 may convert the position information so that the target position is placed in a crane coordinate system based on the upper slewing body 3 of the crane 100.
[0057] The position recognition unit 305 recognizes the current position of the tip of the boom 6 and / or the current position of the boom hook 81. The tip of the boom 6 is provided with a point sheave 651 from which a wire rope 82 is suspended, and a sheave bracket 650 (bracket) that pivotally supports the point sheave 651 (see Figure 1). In other words, the tip of the boom 6 is the suspension pivot point 6S from which the wire rope 82 is suspended vertically downward from the point sheave 651 and which moves integrally with the boom 6.
[0058] To determine the current position of the suspension support point 6S (the tip of the boom 6), the crane 100 according to this embodiment is equipped with a suspension support point positioning device 652 at the tip of the boom 6. Based on the position information of the suspension support point positioning device 652 acquired via the acquisition unit 301, the position recognition unit 305 can recognize the position of the suspension support point 6S, which is the position from which the wire rope 82 is suspended.
[0059] Furthermore, the current position of the boom hook 81 is the position of the boom hook 81, which is the lower end of the wire rope 82, and basically coincides with the current position of the tip of the boom 6 in a plan view. However, the current position of the boom hook 81 may deviate from the current position of the suspension support point 6S due to external disturbances such as movement and vibration of the boom 6, wind, swaying of the boom hook 81, mechanical deflection of the crane 100, or tilting of the overall posture of the crane 100. For this reason, the crane 100 according to this embodiment is also equipped with a wire lower end positioning device 812 on the hook bracket 811 of the boom hook 81. The position recognition unit 305 can recognize the position of the boom hook 81 based on the position information of the wire lower end positioning device 812 acquired via the acquisition unit 301. The configurations of these suspension support point positioning device 652 and wire lower end positioning device 812 will be described in detail later.
[0060] The trajectory generation unit 306 generates a target trajectory for automatically transporting the boom hook 81 and the suspended load from the current position of the suspension support 6S to the target position, in a two-dimensional or three-dimensional coordinate system representing the ground contact surface (horizontal plane) of the crane 100. A well-known method can be used for generating the target trajectory. For example, the trajectory generation unit 306 generates the target trajectory based on the difference in the slewing angle between the current position of the tip of the boom 6 and the target position, and the difference between the current elevation angle of the boom 6 and the elevation angle when the boom hook 81 reaches the target position.
[0061] The control unit 307 performs rotational control of the upper slewing body 3 and luffing control of the boom 6 of the crane 100 based on the target trajectory generated by the trajectory generation unit 306. For example, by linking the rotational control and luffing control, the control unit 307 moves the suspension support part 6S so that it moves from its current position to the target position along the target trajectory in a two-dimensional or three-dimensional coordinate system based on the crane 100.
[0062] <Regarding the control of the suspension support point 6S> The following describes the operation and control of moving the suspension fulcrum 6S, which is the tip of the boom 6, to the target position TP using the crane 100, with reference to Figure 3. Figure 3 is a perspective view showing the crane 100 and the target position TP to which the suspension fulcrum 6S moves. In Figure 3, an example is shown in which the boom hook 81 is moved to the load at the target position TP in order to perform the operation of suspending a load from the boom hook 81. Therefore, the boom hook 81 is empty of a load. However, it goes without saying that even when the crane 100 is transporting a load suspended from the boom hook 81, it can set the destination of the load to the target position TP and perform automatic transport.
[0063] The boom hook 81 of the crane 100 is basically suspended vertically downward from a point sheave 651 provided on the suspension pivot 6S. Therefore, when moving the boom hook 81 to the target position TP, it is sufficient to move the suspension pivot 6S so that it aligns with the target position TP in a plan view. For this reason, the controller 30 of the crane 100 according to this embodiment automatically generates a target trajectory from the current position of the suspension pivot 6S to the target position TP in a plan view, and moves the suspension pivot 6S along this target trajectory.
[0064] When performing this control, it is important that the controller 30 accurately recognizes the position information of the target position TP and the position information of the suspension support section 6S. Therefore, as described above, the crane 100 according to this embodiment is equipped with a suspension support section positioning device 652 at the tip of the boom 6 for positioning the suspension support section 6S. Furthermore, the crane 100 is also equipped with a wire end positioning device 812 at the hook bracket 811 of the boom hook 81, which is the lower end of the wire rope 82, for positioning the lower end of the wire rope 82. The suspension support section positioning device 652 and the wire end positioning device 812 utilize GNSS (Global Navigation Satellite System) positioning devices and can determine positions in the World Geodetic System.
[0065] Figure 4(A) is a side view showing an example of the installation of the suspension pivot positioning device 652. Figure 4(B) is a front view showing an example of the installation of the suspension pivot positioning device 652. As shown in Figure 4(A), the suspension pivot positioning device 652 is fixed to the sheave bracket 650 at the tip of the boom 6. The sheave bracket 650 is provided on each of the widthwise sides of the point sheave 651 from which the wire rope 82 is suspended, and holds the point sheave 651 so that it can rotate. The suspension pivot positioning device 652 is installed on the sheave bracket 650 on the vertically upper side of the wire rope 82 that is suspended from the point sheave 651.
[0066] Furthermore, as shown in Figure 4(B), the suspension pivot positioning device 652 is installed so as to protrude (separate) from one side of the pair of sheave brackets 650. The suspension pivot positioning device 652, which is a GNSS positioning device, can receive signals from multiple satellites. In this case, the position information determined by the suspension pivot positioning device 652 will be different from the actual position where the wire rope 82 is suspended. Therefore, the suspension pivot positioning device 652 or the controller 30 can accurately recognize the actual position information of the wire rope 82 by taking into account the amount and direction of protrusion from the wire rope 82 with respect to the position information determined by the suspension pivot positioning device 652.
[0067] The suspended pivot positioning device 652, fixed to the tip of the boom 6, includes a positioning body 652a and an antenna 652b that receives signals from each satellite above the positioning body 652a. The suspended pivot positioning device 652 also includes a weight 652c and a support bar 652d that supports the suspended pivot positioning device 652, located vertically below the positioning body 652a and the antenna 652b.
[0068] The positioning unit 652a calculates position information based on the signals from each satellite received by the antenna 652b. The positioning unit 652a is connected to the controller 30 for information communication and transmits the calculated position information to the controller 30.
[0069] The antenna 652b is formed in a disc shape. To enable high-precision position detection, the size (diameter) of the antenna 652b is set to, for example, approximately 100 mm to 300 mm. In addition, the antenna 652b is open above it with no components installed, allowing it to stably receive signals from each satellite. The positioning unit 652a and the antenna 652b are positioned so as to protrude from the sheave bracket 650 by the support bar 652d, thereby avoiding contact with the sheave bracket 650.
[0070] The support bar 652d rotatably supports the positioning unit 652a and antenna 652b around its axis. The counterweight 652c is heavier than the positioning unit 652a and antenna 652b and, when attached to the support bar 652d, is permanently positioned vertically downwards. As a result, the positioning unit 652a and antenna 652b are always positioned to face upwards, regardless of the elevation or elevation of the boom 6, enabling accurate acquisition of positional information using signals from each satellite.
[0071] Figure 5 is a front view showing an example of the installation of the wire lower end positioning device 812. As shown in Figure 5, the wire lower end positioning device 812 is installed on the hook bracket 811 of the boom hook 81. In the crane 100 according to this embodiment, a pair of wire lower end positioning devices 812 are installed on both sides in the width direction of the hook bracket 811 in order to obtain stability of the boom hook 81's posture.
[0072] The two (a pair) wire lower end positioning devices 812 are positioned to protrude symmetrically and at equal intervals from the hook bracket 811. The pair of wire lower end positioning devices 812 suppress changes in the center of gravity of the boom hook 81. Therefore, even when the wire lower end positioning devices 812 are installed, the boom hook 81 is less likely to rotate or exhibit other such behavior. In addition, each wire lower end positioning device 812 is equipped with a positioning body 812a and an antenna 812b, similar to the positioning body 652a and antenna 652b of the suspension pivot positioning device 652.
[0073] The controller 30 (or one of the wire lower end positioning devices 812) simultaneously acquires positional information from a pair of wire lower end positioning devices 812 and calculates the midpoint between the pair of positional information, thereby recognizing this midpoint as the current position of the boom hook 81. This enables the controller 30 to accurately recognize the positional information of the boom hook 81.
[0074] Furthermore, as described above, a target positioning device TPS is also set at the target position TP, as shown in Figure 3, to determine the position information of the target position TP. For example, when moving the boom hook 81 to a suspended load at the target position, the worker near the suspended load carries the target positioning device TPS and sets the TPS on the suspended load, thereby transmitting the position information of the target position TP to the controller 30. Alternatively, the crane 100 may use the worker holding the target positioning device TPS as the target position TP and move the suspension support section 6S and the boom hook 81 directly above the worker.
[0075] Furthermore, when the load is held by the boom hook 81 and transported, the target positioning device TPS is set in advance at the destination of the load (for example, a platform on which the load will be placed). This allows the crane 100 to move the suspension pivot 6S according to the position information determined by the target positioning device TPS and lower the load to the target position TP. Alternatively, the crane 100 may use the worker holding the target positioning device TPS as the target position TP and move the suspension pivot 6S and the load directly above the worker. When transporting the load to the target position TP, the target position TP may be set to a position slightly offset from the position information of the target positioning device TPS, and the load may be transported from there. This makes it possible to prevent contact between the transported load and the target positioning device TPS (or the worker).
[0076] As described above, the controller 30 acquires position information measured by each positioning device and recognizes its respective position, thereby accurately moving the suspension support point 6S (the tip of the boom 6) directly above the target position TP. In this process, the controller 30 can estimate the state of the suspension support point 6S and the lower end of the wire rope 82 (boom hook 81) by repeatedly applying Kalman filtering to the position information of the suspension support point 6S and the position information of the lower end of the wire rope 82 (boom hook 81) that has been acquired continuously. For example, the controller 30 can smooth out each position information that is continuous in time. This makes it possible to obtain position information with high accuracy by eliminating the effects of external disturbances such as movement and vibration of the boom 6, wind, swinging of the boom hook 81, mechanical deflection of the crane 100, and tilting of the overall posture of the crane 100. Furthermore, the controller 30 can monitor in real time whether the target position TP is moving due to external forces, etc., by repeatedly applying Kalman filtering to the position information of the target position TP.
[0077] For example, in recognizing positional information, the controller 30 forms a three-dimensional coordinate system with the pivot center of the crane 100 as the reference point (zero point), and converts the position of the suspension support point 6S and the target position TP into this three-dimensional coordinate system. As a result, the controller 30 can accurately recognize the relative positions of the suspension support point 6S and the target position TP with respect to the upper slewing body 3.
[0078] Furthermore, the position of the lower end of the wire rope 82 (boom hook 81) should be converted to a three-dimensional or two-dimensional coordinate system with the suspension support point 6S as the reference point (zero point) (see the dashed arrows X'Y'Z' in Figure 3). This allows the controller 30 to easily recognize the swing of the boom hook 81 relative to the suspension support point 6S (including the swaying of the suspended load).
[0079] <Control of semi-autonomous driving> Figure 6 is a flowchart showing an example of a processing procedure for registering a target position in the simplified operation mode of the controller 30 according to the embodiment. When setting a target position TP to move the suspension support part 6S at the tip of the boom 6, the controller 30 executes, for example, the flowchart shown in Figure 6.
[0080] Specifically, the display control unit 303 first controls the display of the simplified operation mode screen on the display device D1 (S101).
[0081] Figure 7 is an example of the screen in the simplified operation mode displayed by the display control unit 303. The screen in the simplified operation mode displays, for example, a display area 1410, a first target button 1401, a second target button 1402, a third target button 1403, a setting button 1404, and a two-point setting button 1405.
[0082] Display area 1410 shows a coordinate system that represents the working range of the crane 100 in two dimensions. Reference position 1411 indicates the pivot center of the crane 100.
[0083] The triangular shape 1412 and the circular icon 1413 indicate the current state of the boom 6. Specifically, the triangular shape 1412 shows the length of the boom 6 based on its current orientation and elevation, while the circular icon 1413 indicates the suspension point at the tip of the boom. The length of the triangular shape 1412 from the reference position 1411 to the circular icon 1413 becomes shorter as the boom 6 rises and longer as the boom 6 is lowered.
[0084] Circle 1450 is the circle that indicates the longest distance that the tip of boom 6 can reach. Circles 1451 and 1452 are circles that indicate predetermined distances.
[0085] The first target button 1401, the second target button 1402, and the third target button 1403 are buttons for acquiring position information from the target position positioning device TPS of the target position TP and placing it in a coordinate system (two-dimensional coordinates in Figure 7) based on the crane 100. In other words, in this embodiment, three target positions corresponding to the first target button 1401, the second target button 1402, and the third target button 1403 can be registered. In the display area 1410, the registered target position TP is indicated by an X icon 1414.
[0086] For example, when the operator presses and holds the first target button 1401, the acquisition unit 301 acquires the location information of the target position TP from the target position positioning device TPS. The registration unit 304 converts the target position TP into two-dimensional or three-dimensional coordinates based on the crane 100 and registers the location information, and also displays an X icon 1414 in the display area 1410.
[0087] In assisting the operation of the crane 100, the controller 30 presses one of the first target button 1401, the second target button 1402, or the third target button 1403 to read the registered target position TP and moves the suspension support part 6S to this target position TP. However, the target position TP of the suspension support part 6S does not have to be the final destination. For example, after moving the suspension support part 6S to the first target position, it may be moved again to the second target position.
[0088] Additionally, the setting button 1404 is a button provided for making various settings. The two-point setting button 1405 is a button used when the boom hook 81 of the crane 100 moves between two positions.
[0089] Returning to Figure 6, the operation reception unit 302 determines whether or not it has received a registration operation by long-pressing the first target button 1401, the second target button 1402, or the third target button 1403 (S102). If it determines that it has not received a registration operation (S102: NO), it terminates without performing any further processing.
[0090] On the other hand, if the operation reception unit 302 determines that it has received a registration operation by pressing and holding the first target button 1401, the second target button 1402, or the third target button 1403 (S102: YES), the acquisition unit 301 acquires the position information measured by the target position positioning device TPS of the target position TP as described above (S103).
[0091] The registration unit 304 stores the identified location information in the storage device ST in association with the long-pressed target button (first target button 1401, second target button 1402, or third target button 1403) (S104). At this time, the display control unit 303 displays the acquired target location TP on the display device D1. For example, the display control unit 303 displays the target location TP in relation to the boom 6 in the display area 1410, which is a coordinate system based on the crane 100. In addition, the color of the target button for which location information has been registered may be different from the color of the target button for which location information has not been registered. This allows the operator to recognize the target button for which location information has been registered when referring to the screen in the simplified operation mode. The controller 30 can register the location information of the target location TP by performing the above control.
[0092] The method for registering the target position is not limited to the above, and various methods can be used. For example, before the operation assistance is provided, the operator may manually operate the upper slewing body 3 and boom 6 so that the suspension support section 6S is vertically aligned with the target position TP, and then press the target button at that position to register the current position of the suspension support section 6S as the target position TP. In this way, even when registering the target position TP, the position determined by the suspension support section positioning device 652 can be used to accurately set the target position TP when the crane 100 is actually moving.
[0093] Next, the process of controlling the movement of the boom 6 using the simplified operation mode will be explained with reference to Figure 8. Figure 8 is a flowchart illustrating the procedure by which the controller 30 controls the movement of the boom 6 in the simplified operation mode.
[0094] The display control unit 303 of the controller 30 controls the display of the simplified operation mode screen on the display device D1 (S111).
[0095] Next, the operation reception unit 302 determines whether or not it has received an operation to read location information by pressing the target button (S112). If it determines that it has not received an operation to read location information by pressing the target button (S112: NO), the process ends.
[0096] On the other hand, if the operation reception unit 302 determines that it has received a request to read position information (S112: YES), the acquisition unit 301 acquires information on the current position of the suspension support section 6S from the suspension support section positioning device 652 provided at the tip of the boom 6 (S113). When the display control unit 303 acquires the current position of the suspension support section 6S, it is preferable to perform a calibration process to align the coordinate system of the crane 100 with the current position of the suspension support section 6S.
[0097] Next, when position information corresponding to the target button pressed by the operator is read from the storage device ST, the trajectory generation unit 306 generates a target trajectory for the suspension pivot 6S based on the current position of the suspension pivot 6S and the target position TP (S114).
[0098] The display control unit 303 then displays the current position, target position TP, and target trajectory of the suspension support unit 6S in the display area 1410 (S115). This allows the operator to confirm the trajectory of the suspension support unit 6S as it moves under semi-automatic operation by the controller 30. Therefore, the operator can visually check the area around the crane 100 before semi-automatic operation begins to confirm whether the boom hook 81, etc., will come into contact with any obstacles when the suspension support unit 6S moves along the target trajectory.
[0099] Subsequently, the operation reception unit 302 determines whether or not it has received a rotation operation from the rotation operation lever included in the operation device 38 (S116). If the operation reception unit 302 determines that it has received a rotation operation from the rotation operation lever (S116: YES), the process proceeds to S117.
[0100] The control unit 307 controls the drive of either or both of the slewing hydraulic motor 2M and the boom luffing hydraulic motor 31M so that the suspension support section 6S moves along the target trajectory (S117). Then, based on the acceptance of a slewing operation, the control unit 307 moves the suspension support section 6S to the target position TP. At this time, the control unit 307 may control the system to maintain the height position of the suspended load by simultaneously performing slewing control to slewing the upper slewing body 3 at a constant slewing speed and luffing control to luff the boom 6 at a constant luffing speed. Alternatively, the control unit 307 may control the speed to change at a rate below the preset maximum slewing speed and maximum luffing speed, depending on the amount of inclination of the boom 6.
[0101] Figure 9(A) is a schematic plan view illustrating an example of the operation to move the suspension support point 6S to the target position TP. Figure 9(B) is a schematic plan view illustrating an example of the operation to recognize the swing of the boom hook 81. As shown in Figure 9(A), the crane 100 controls the rotation of the upper slewing body 3 and the luffing of the boom 6 to displace the XY position of the suspension support point 6S so that the position HP of the suspension support point 6S coincides vertically with the target position TP.
[0102] Then, when the boom 6 moves, the controller 30 acquires position information from the suspension support point positioning device 652 and the wire rope lower end positioning device 812, and performs slewing control and luffing control while recognizing the position of the suspension support point 6S and the position of the lower end of the wire rope 82 (S118). In other words, by providing real-time feedback of the position HP of the suspension support point 6S and the position of the lower end of the wire rope 82, the crane 100 can easily move the suspension support point 6S along a target trajectory.
[0103] Here, the discrepancy between the position of the lower end of the wire rope 82 and the position of the suspension support point 6S indicates the swaying of the boom hook 81 (or load swaying if it is holding a suspended load) when the boom 6 moves. By recognizing the swaying of the lower end of the wire rope 82 (boom hook 81, suspended load) relative to the suspension support point 6S, the crane 100 can perform control to suppress this swaying of the lower end of the wire rope 82 (hereinafter also referred to as sway suppression control).
[0104] For example, the controller 30 monitors the relative position of the boom hook 81 with respect to the suspension support point 6S, and when the position (sway) of the boom hook 81 exceeds a threshold, it performs control to suppress the sway of the boom hook 81. Examples of control to suppress the sway of the boom hook 81 include reducing the movement speed (rotation speed or luffing speed) of the boom 6, or finely adjusting the movement path of the tip of the boom 6 (suspension support point 6S) in the direction of the sway. Alternatively, as a control to suppress the sway, it is also possible to reduce the sway by controlling the movement speed of the boom 6 so that the lower end of the wire rope 82 follows the suspension support point 6S.
[0105] Furthermore, while the control system is moving the suspension pivot point 6S to the target position, the operator may monitor whether the boom hook 81 or the suspended load is in contact with an obstacle, and may perform a hoisting or lowering operation if it appears that contact with an obstacle is imminent. The control unit 307 adjusts the height of the boom hook 81 or the suspended load by hoisting or lowering in response to the operation, thereby avoiding contact with obstacles.
[0106] Furthermore, while rotation control and elevation control are being performed, the display control unit 303 changes the display within the display area 1410 of the simplified operation mode screen in accordance with the rotation control and elevation control. For example, the display control unit 303 may change the orientation and length of the triangular shape 1412 and the circular icon 1413 in accordance with the movement of the crane 100. Alternatively, the display control unit 303 may not change the orientation of the triangular shape 1412, but may change the length of the triangular shape 1412, the target position TP, and the target trajectory in accordance with the movement of the crane 100.
[0107] Returning to Figure 8, if the control unit 307 determines that it has not received a slewing operation via the slewing operation lever (S116: NO), it does not control the drive of the slewing hydraulic motor 2M and the boom luffing hydraulic motor 31M. Also, if the acceptance of slewing operations stops before the suspension support part 6S moves to the target position TP, the control unit 307 stops the slewing control of the upper slewing body 3 and the luffing control of the boom 6. This allows the operator to stop semi-automatic operation if they recognize an obstacle or the like at the destination of the boom hook 81 and the suspended load by visual inspection, etc.
[0108] The control unit 307 then determines whether the suspension pivot 6S has reached the target position TP on the target trajectory (S119). If it determines that the target position has not been reached (S119: NO), it returns to S116 and performs the same processing again.
[0109] On the other hand, if the control unit 307 determines that the suspension pivot point 6S has reached the target position TP of the target trajectory (S119: YES), it controls the stopping of the slewing hydraulic motor 2M and the boom luffing hydraulic motor 31M.
[0110] In this case, the controller 30 may recognize the sway of the lower end of the wire rope 82 based on the position information of the suspension support point positioning device 652 and the position information of the wire lower end positioning device 812, and perform control to suppress the sway (S120). As shown in Figure 9(B), when the boom hook 81 is swaying, the position information of the lower end of the wire rope 82 is in a state of repeatedly moving back and forth with the position HP of the suspension support point 6S as the base point. Based on this change in position information, the controller 30 can accurately recognize the sway of the lower end of the wire rope 82 (boom hook 81).
[0111] For example, the position recognition unit 305 of the controller 30 calculates the difference between the position information of the suspension support point 6S and the position information of the lower end of the wire rope 82 in two-dimensional coordinates (XY plane) or three-dimensional coordinates. This difference corresponds to the length of the sway of the lower end of the wire rope 82. Therefore, by determining whether this difference is greater than or equal to a predetermined threshold, it is possible to recognize whether the sway of the lower end of the wire rope 82 is large or not.
[0112] When the lower end of the wire rope 82 is swinging significantly during a stop, the controller 30 may control the boom hook 81 by stopping its descent and putting it into standby mode, or by suppressing the swing of the boom hook 81 in the same way as when the boom 6 is moving. For example, by forcibly stopping the lowering operation of the front winch 32, the descent of the swinging boom hook 81 and the suspended load can be stopped, preventing contact with surrounding objects. Other methods of suppressing the swing include moving the boom 6 in the direction of the swing or performing a hoisting operation of the wire rope 82. By shortening the wire rope 82 suspended from the point sheave 651 through the hoisting operation, the swing of the boom hook 81 can be suppressed. For example, when performing a hoisting operation, the controller 30 may display information about the position and swing of the boom hook 81 on the display device D1, etc., and / or provide guidance to prompt the operator to perform the hoisting operation. The hoisting operation of the wire rope 82 may be automatically controlled by the controller 30.
[0113] When the swaying of the lower end of the wire rope 82 subsides, the lower end of the wire rope 82 (boom hook 81), located vertically below the suspension support point 6S, will align with the target position TP. This allows the crane operator 100 to lower the wire rope 82 to the target position TP. The operator can then easily hook the load onto the boom hook 81, which has descended to the target position TP, or detach the load from the boom hook 81.
[0114] Furthermore, the controller 30 can determine whether or not the boom hook 81 is rotating based on position information from each of the pair of wire lower end positioning devices 812. For example, the controller 30 recognizes whether or not the boom hook 81 is rotating, as well as the rotation speed of the boom hook 81, based on the time-series change in the direction from the position of one of the pair of wire lower end positioning devices 812 to the position of the other. Then, if the rotation speed of the boom hook 81 is greater than or equal to a predetermined rotation speed, the controller 30 performs control related to the movement of the suspension support part 6S. The control related to the movement of the suspension support part 6S is a control to suppress rotation and may be the same as the control to suppress the swing of the boom hook 81 described above. The predetermined rotation speed is a speed determined according to the embodiment.
[0115] Furthermore, after reaching the target position but before lowering the boom hook 81 or the suspended load, the target position TP (target positioning device TPS) may be moved. This prevents the boom hook 81 or the suspended load from coming into contact with the target positioning device TPS or the worker. In this case, while the target position TP is being recognized, the lowering operation of the boom hook 81 or the suspended load may be forcibly stopped.
[0116] Furthermore, even when the wire rope 82 is not swaying, the position of the suspension support point 6S HP and the position of the boom hook 81 may shift due to the structural deflection of the boom 6, wind (external force), or tilting of the crane 100 itself. For this reason, the controller 30 may control the movement of the boom 6 based on the position of the suspension support point 6S (the tip of the boom 6) until just before the target position TP, and then control the movement of the boom 6 based on the position of the lower end of the wire rope 82 near the target position TP. This allows the position of the lower end of the wire rope 82 to be smoothly aligned with the target position TP. If the controller 30 detects that the lower end of the wire rope 82 is swaying significantly near the target position TP, it may choose to continue the control that aligns the boom 6 to the target position TP based on the position of the suspension support point 6S.
[0117] As described above, the crane 100 according to this embodiment can accurately detect the position of the suspension pivot 6S using the suspension pivot positioning device 652 installed on the suspension pivot 6S, and move the suspension pivot 6S directly above the target position TP. As a result, compared to cases where the suspension pivot 6S, the lower end of the wire rope 82, the target position, etc. are recognized using an imaging device or LiDAR, the crane 100 can measure position information on a regular basis and with high accuracy, and can perform automatic control effectively.
[0118] Furthermore, the position of the suspension point 6S of the crane 100 can also be calculated from the information on the length of the boom 6 and the detection results of other sensors of the crane 100 (slewing sensor S1, boom luffing sensor S2). However, if an error occurs in the sensor for a long boom 6, the error in the position of the suspension point 6S located at the tip may be 10 cm or more. In contrast, the positioning error of the suspension point positioning device 652, which is a GNSS positioning device, can be suppressed to about a few centimeters. Therefore, the suspension point positioning device 652 can significantly improve the detection accuracy of the position of the suspension point 6S compared to other positioning methods.
[0119] The working machine (crane 100) according to this disclosure is not limited to the above-described embodiment and can take various modifications. For example, the crane 100 may be equipped with an imaging device for imaging the boom hook 81 or the suspended load, and may be configured to recognize the position of the boom hook 81 or the suspended load using the position of the lower end of the wire rope 82 by the wire lower end positioning device 812 and the imaging information from the imaging device. The imaging device may be provided in the cabin 4 or at the tip of the boom 6.
[0120] Furthermore, the suspension pivot positioning device 652 installed at the tip of the boom 6 is not limited to using a GNSS positioning sensor. For example, the suspension pivot positioning device 652 may use an inertial measurement unit (IMU) that measures three-dimensional inertial motion. In this case, the controller 30 can register the initial position of the suspension pivot 6S at the tip of the boom 6 and track (accumulate) the position of the suspension pivot 6S by continuously acquiring measurement information from the IMU when the boom 6 moves.
[0121] Furthermore, the device for determining the position of the lower end of the wire rope 82 is not limited to the wire rope lower end positioning device 812. For example, the crane 100 may recognize the position of the lower end of the wire rope 82 by imaging only the boom hook 81 and the suspended load. Alternatively, the crane 100 may be equipped with LiDAR, a distance sensor, and other object recognition sensors, and recognize the position of the lower end of the wire rope 82 based on the detection information from these sensors.
[0122] Furthermore, the device used to determine the target position TP is not limited to a target positioning device (TPS). For example, the crane 100 may recognize the target position TP using an imaging device, LiDAR, distance sensor, or other object recognition sensor, or a combination thereof. Alternatively, the crane 100 may recognize the position of the target position TP using an external device (imaging device, LiDAR, distance sensor, or other object recognition sensor) located outside the crane 100, and receive the position of the target position TP from this external device.
[0123] Furthermore, the crane 100 is not limited to accepting operation assistance requests only when a slewing operation is performed using the slewing operation lever (S116 in Figure 8). For example, the crane 100 may install an operation assistance start button on the input device D2, etc., and start moving the boom 6 (including slewing control and luffing control) based on the ON operation of the start button. Conversely, if the start button is turned OFF, the crane 100 will determine that the operation assistance has stopped and stop moving the boom 6. This allows the operator to start and stop the operation assistance at any time. Alternatively, the crane 100 may use a brake switch provided on the slewing operation lever and start moving the boom 6 based on the OFF operation of the brake switch, which disengages the brake (transitions to an operational state). In this case, when the brake switch is turned ON, the crane 100 will determine that the operation assistance has stopped and stop moving the boom 6.
[0124] Furthermore, the work equipment is not limited to cranes applied to construction sites, but may also be cranes installed in ports, etc. (low-floor type, gantry type, tower type). Also, the work equipment is not limited to mobile cranes, but may also be fixed cranes. Alternatively, the work equipment may be an overhead crane or bridge crane with a movable part suspended above a runway. Furthermore, the work equipment may be a crane-equipped truck or an excavator with a crane function that applies a wire rope to the excavator attachment.
[0125] <Variation> Figure 10 is a schematic diagram showing an example of the configuration of the remote control system SYS for the crane 100 according to a modified example. As shown in Figure 10, the remote control system SYS is configured such that the crane 100, which is equipped with a remote control room RC, and the remote control room RC are connected to each other via a communication line NW so that they can communicate with each other.
[0126] The crane 100 transmits the detection results from various sensors installed on the crane 100 to the remote control room RC using a communication device T1 installed on the crane 100. Furthermore, the crane 100 transmits image information captured by an imaging device (not shown) to the remote control room RC.
[0127] The remote control room RC is equipped with a display device D1E, an operating device 42, an operating sensor 43, an operating seat DS, a remote controller 40, and a communication device T2.
[0128] The remote controller 40 includes an acquisition unit 301, an operation reception unit 302, a display control unit 303, a registration unit 304, a position recognition unit 305, a trajectory generation unit 306, and a control unit 307, which were provided in the controller 30 of the above-described embodiment. The control unit 307 generates control commands for controlling the crane 100 and transmits the generated control commands to the crane 100 using the communication device T2.
[0129] Therefore, the remote controller 40 can achieve semi-automatic control of the crane 100 using a simplified operation mode. Specifically, the remote controller 40 receives position information from the crane 100 indicating each position for moving the boom 6, and registers this position information in the storage device of the remote controller 40. This position information includes the position of the suspension support 6S, the position of the lower end of the wire rope 82, and the target position TP. The remote controller 40 can use the position information as a basis for automatically controlling the upper slewing body 3 and the boom 6. The trajectory generation unit 306 can generate a target trajectory based on position information. The display device D1E, under the control of the remote controller 40, displays the registered position information and target trajectory in a display area that represents the working space of the crane 100 in two-dimensional coordinates.
[0130] Furthermore, when a slewing operation is performed by the operating device 42, the remote controller 40 transmits commands to the crane 100 for slewing control of the upper slewing body 3 and luffing control of the front attachment 7, so that the boom 6 moves to the target position TP along the target trajectory. As a result, the crane 100 moves the boom 6 and boom hook 81 (the lower end of the wire rope 82) to the target position TP.
[0131] In this way, by operating from the remote control room (RC), the crane 100 can be controlled even from a remote location. Therefore, even when the work site is in a remote location, it becomes easier to secure operators for the crane 100.
[0132] The technical concept and effects of this disclosure, as described in the embodiments above, are described below.
[0133] A first aspect of the present disclosure is a working machine (crane 100) including a rope (wire rope 82) having a lower end (boom hook 81) capable of holding a suspended load, and a movable suspension fulcrum 6S from which the wire rope 82 is suspended, the crane 100 being equipped with a suspension fulcrum positioning device 652 provided on the suspension fulcrum 6S for acquiring position information of the suspension fulcrum 6S, and moving the suspension fulcrum 6S based on the position of the suspension fulcrum 6S acquired by the suspension fulcrum positioning device 652 and a set target position TP.
[0134] As described above, the work machine (crane 100) can obtain positional information with greater accuracy than positioning using an imaging device or LiDAR by determining the position of the suspension pivot point 6S using the suspension pivot point positioning device 652 provided on the suspension pivot point 6S. As a result, the work machine can appropriately move the suspension pivot point 6S to the set target position TP, and the lower end of the wire rope 82 suspended from the suspension pivot point 6S can follow (move) to the target position well. Therefore, the work machine can perform operations such as transporting suspended loads smoothly and with accuracy.
[0135] Furthermore, a wire rope lower end positioning device 812 is provided at the lower end (boom hook 81) of the rope (wire rope 82) to acquire positional information of the lower end of the wire rope 82. This allows the work machine (crane 100) to recognize the position of the lower end of the wire rope 82 with greater accuracy than when using an imaging device or LiDAR to recognize the lower end of the wire rope 82. For example, the work machine can better recognize the swaying (load sway) of the lower end of the wire rope relative to the suspension support point 6S.
[0136] Furthermore, the wire lower end positioning device 812 is installed in pairs, sandwiching the lower end of the rope (wire rope 82) at its center. This allows the working machine (crane 100) to stabilize the center of gravity of the lower end of the wire rope 82 (boom hook 81), and the wire lower end positioning device 812 can suppress phenomena such as the boom hook 81 rotating.
[0137] Furthermore, the system includes a controller 30 that controls the movement of the suspension pivot point 6S. The controller 30 controls the swaying of the lower end of the wire rope 82 based on the position of the suspension pivot point 6S acquired by the suspension pivot point positioning device 652 and the position of the lower end of the rope (wire rope 82) (boom hook 81) acquired by the wire lower end positioning device 812. As a result, the working machine (crane 100) can stabilize the lower end of the wire rope 82 and move the lower end of the wire rope 82 smoothly and accurately.
[0138] Furthermore, the system includes a controller 30 that controls the movement of the suspension pivot point 6S. Based on multiple positions of the lower end of the rope (wire rope 82) acquired by a pair of wire lower end positioning devices 812, the controller controls the movement of the suspension pivot point 6S. This allows the work machine (crane 100) to accurately monitor the rotation and swaying of the lower end of the wire rope 82 and effectively perform control to suppress these movements.
[0139] Furthermore, the suspension support section 6S includes a support section (point sheave 651) for suspending a rope (wire rope 82) and a bracket (sheave bracket 650) for holding the point sheave 651. The suspension support section positioning device 652 is fixed protruding from the sheave bracket 650. When acquiring position information for the suspension support section 6S, the position information for the suspension support section 6S is calculated by taking into account the amount and direction of protrusion from the position determined by the suspension support section positioning device 652. As a result, the work machine (crane 100) can stably receive signals from each satellite from the protruding suspension support section positioning device 652, and can determine the position of the suspension support section 6S with even greater accuracy.
[0140] Furthermore, the suspended pivot positioning device 652 is a GNSS positioning device having an antenna 652b capable of receiving satellite signals, and comprises a support body (support bar 652d) that movably supports the antenna 652b, and a weight 652c provided vertically below the antenna 652b, which directs the surface of the antenna 652b vertically upward. As a result, the work machine (crane 100) can stably direct the antenna 652b of the suspended pivot positioning device 652 vertically upward to receive satellite signals, thereby improving the accuracy of positioning.
[0141] Furthermore, the system acquires positional information of the target position transmitted from the target position positioning device TPS located at the target position TP, and moves the suspension support point 6S so that its position overlaps vertically with the acquired target position. As a result, the work machine can recognize the position of the target position TP with greater accuracy than when using an imaging device or LiDAR to recognize the target position TP, and can accurately move the suspension support point 6S to overlap with this target position TP.
[0142] The working machines according to the embodiments disclosed herein are illustrative in all respects and not restrictive. The embodiments can be modified and improved in various ways without departing from the scope and spirit of the appended claims. The features described in the above embodiments can be otherwise configured and combined in a non-consistent manner.
[0143] In the embodiment, a crawler crane that performs both movement and slewing was used as an example, but the work machine is not limited to this, and can be applied to any mechanical device (including human power) having a slewing body that can lift a load using power that does not involve human power and transport the load in a substantially horizontal manner. For example, other mobile cranes with a slewing body (cranes that have a built-in prime mover and can be moved to an unspecified location) include truck cranes, wheel cranes, railway cranes, and floating cranes. The mechanical device may also be a fixed crane with a slewing body. Alternatively, the work machine is not limited to a crane, but may also be a derrick. [Explanation of Symbols]
[0144] 6S Suspension pivot point 30 controllers 81 Boom Hook 82 Wire Rope 100 Cranes 650 Sheave Bracket 651 Point Sheave 652 Suspension pivot point positioning device 812 Wire lower end positioning device TP target position TPS (Target Positioning System)
Claims
1. A rope having a lower end capable of holding a suspended load, A work machine including a suspension point that is movable and from which the aforementioned rope is suspended, The suspension support point is provided with a suspension support point positioning device that acquires positional information of the suspension support point, The suspension pivot point is moved based on the position of the suspension pivot point acquired by the suspension pivot point positioning device and the set target position. A type of machinery used for industrial work.
2. A wire lower end positioning device is provided at the lower end of the rope to acquire positional information of the lower end of the rope. The work machine according to claim 1.
3. The wire lower end positioning device is provided in pairs, sandwiched between the lower ends of the rope. The working machine according to claim 2.
4. The system includes a controller that controls the movement of the aforementioned suspension support point, The controller performs control to suppress the swaying of the lower end of the rope based on the position of the suspension pivot point acquired by the suspension pivot point positioning device and the position of the lower end of the rope acquired by the wire lower end positioning device. The working machine according to claim 2.
5. The system includes a controller that controls the movement of the aforementioned suspension support point, Based on multiple positions of the lower end of the rope, obtained by a pair of wire lower end positioning devices, the movement of the suspension pivot point is controlled. The work machine according to claim 3.
6. The suspension support portion comprises a support portion for suspending the rope and a bracket for holding the support portion. The aforementioned suspension pivot positioning device is fixed protruding from the bracket, When acquiring the position information of the suspension support point, the position information of the suspension support point is calculated by taking into account the amount of protrusion and the direction of protrusion from the position determined by the suspension support point positioning device. A working machine according to any one of claims 1 to 5.
7. The aforementioned suspension pivot positioning device is a GNSS positioning device having an antenna capable of receiving satellite signals. A support body that movably supports the aforementioned antenna, The antenna comprises a weight positioned vertically below the aforementioned antenna, which causes the surface of the antenna to face vertically upward. The work machine according to claim 6.
8. The position information of the target position is obtained from the target positioning device placed at the target position, The suspension support point is moved so that its position coincides with the acquired target position in the vertical direction. A working machine according to any one of claims 1 to 5.