Operation monitoring system

Abstract

To provide an operation monitoring system capable of performing the monitoring appropriately in accordance with an operation state of a crane.SOLUTION: An operation monitoring system 100 includes a region setting unit 52 for setting an interference region having a possibility of the interference with a crane and a monitoring unit 53 monitoring the operation of the crane by using the interference region set by the region setting unit 52. Accordingly, the monitoring unit 53 can monitor whether or not the crane interferes with the other crane or an obstacle based on the interference region having a possibility of the interference with the crane. The region setting unit 52 can adjust the interference region according to the operation of the crane so that the interference region can be set within an appropriate range according to the operation of the crane.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present disclosure relates to an operation monitoring system.

Background Art

[0002] Patent Document 1 describes an operation monitoring system that monitors the operations of a plurality of cranes present at a site. This operation monitoring system monitors the operations of each crane by monitoring how close obstacles, other cranes, etc. are to the crane.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Here, the crane performs various operations according to the situation. Also, depending on the situation at the site, the cranes may work while approaching each other. In the above-described operation monitoring system, there is a problem that appropriate monitoring cannot be performed according to the operation state of the crane.

[0005] An object of the present disclosure is to provide an operation monitoring system that can perform appropriate monitoring according to the operation state of a crane.

Means for Solving the Problems

[0006] An operation monitoring system according to one aspect of the present disclosure is an operation monitoring system that monitors the operation of a crane, and includes: an area setting unit that sets an interference area that may interfere with the crane for the crane and adjusts the interference area according to the operation of the crane; and a monitoring unit that monitors the operation of the crane using the interference area set by the area setting unit.

[0007] The operation monitoring system includes an area setting unit that sets an interference area where there is a possibility of interference with the crane, and a monitoring unit that monitors the operation of the crane using the interference area set by the area setting unit. As a result, the monitoring unit can monitor whether the crane interferes with other cranes or obstacles based on the interference area where there is a possibility of interference with the crane. Here, the area setting unit can adjust the interference area according to the operation of the crane. Therefore, the interference area is set within an appropriate range according to the operation of the crane. From the above, appropriate monitoring can be performed according to the operating state of the crane.

[0008] The area setting unit may adjust the interference area based on the moving speed of the crane. Thereby, the area setting unit can set an interference area within an appropriate range according to the moving speed of the crane.

[0009] The area setting unit may make the interference area for the moving direction of the crane larger than the interference area for the direction opposite to the moving direction. Since the moving direction of the crane has a high possibility of interference, the interference area is set large. In contrast, since the opposite side has a low possibility of interference, it is set so that the interference area does not become unnecessarily large.

[0010] The crane is a jib crane, and the area setting unit may also set an interference area for the upper wire of the jib crane. Since the upper wire of the jib crane is likely to be a blind spot from the cab, by setting an interference area for the wire, interference between the wire and other cranes or obstacles can be avoided.

[0011] The crane is a gantry crane, and the area setting unit may also set an interference area for the legs of the gantry crane. Thereby, interference between the legs and other cranes or obstacles can be avoided.

[0012] An operation monitoring system for monitoring the operation of a crane according to an aspect of the present disclosure, comprising: an area setting unit that sets an interference area that may interfere with the crane for the crane; and a monitoring unit that monitors the operation of the crane using the interference area set by the area setting unit, wherein the crane is a jib crane, and the area setting unit sets an interference area for the wire on the upper side of the jib crane.

[0013] Since the wire on the upper side of the jib crane is likely to be a blind spot from the cab, by setting an interference area for the wire, interference between the wire and other cranes or obstacles can be avoided. From the above, appropriate monitoring can be performed according to the operating state of the crane.

Advantages of the Invention

[0014] According to the present disclosure, from the above, appropriate monitoring can be performed according to the operating state of the crane.

Brief Description of the Drawings

[0015]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Mode for Carrying Out the Invention

[0016] Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings. In the description of the drawings, the same or corresponding elements are denoted by the same reference numerals, and redundant descriptions will be omitted as appropriate. Also, the drawings may be drawn with some parts simplified or exaggerated for ease of explanation, and the dimensional ratios and the like are not limited to those described in the drawings.

[0017] FIG. 1 is a schematic configuration diagram showing an operation monitoring system 100 according to an embodiment of the present invention. FIG. 2 is a block configuration diagram of the operation monitoring system 100 shown in FIG. 1. As shown in FIG. 1, the operation monitoring system 100 includes a central monitoring unit 50 and a plurality of cranes. The operation monitoring system 100 is a system that monitors the operations of each crane at a site such as a shipyard where a plurality of cranes are present. The operation monitoring system 100 monitors so that the cranes do not interfere with each other during operation. In the present embodiment, as an example of the crane, a jib crane 10 and a gantry crane 20 are exemplified.

[0018] The jib crane 10 includes a jib 11 for suspending a suspended load, a main body 12 that supports the jib 11, a column 13 that rotatably supports the main body 12, and a traveling unit 14 that supports the column 13 and is capable of traveling along a rail. A slewing bearing 15 is disposed between the column 13 and the main body 12. The main body 12 has a driver's cab 12a, a machine room 12b, a center post 12c, and a back stay 12d. The driver's cab 12a is provided at a position adjacent to the vicinity of the base of the jib 11 at the front side of the main body 12. A wire 16 extends above the jib 11. The wire 16 extends downward from the tip of the jib 11, and a sling 17 is provided at the tip of the wire 16. Among the wires 16, the portion extending from the tip of the jib 11 above the jib 11 to the upper part of the center post 12c may be referred to as an upper wire 16a, and the portion extending from the upper part of the center post 12c to the machine room 12b may be referred to as a rear wire 16b. The upper wire 16a is likely to be a blind spot because it is located above the driver's cab 12a. The main body 12 can raise and lower the jib 11 and can rotate around the column 13 via the slewing bearing 15 together with the jib 11.

[0019] The gantry crane 20 includes legs 21 and 22 that are disposed on both end sides in the width direction and extend in the vertical direction, a traveling unit 23 provided at the lower ends of the legs 21 and 22, a girder 24 that connects the upper ends of the legs 21 and 22, and a sub trolley 25 and a main trolley 26 that traverse along the girder 24 and suspend a sling. The sub trolley 25 traverses so as to pass under the main trolley 26. The main trolley 26 is provided with a driver's cab 27 that protrudes in the traveling direction. The main trolley 26 has, for example, two slings, and the sub trolley 25 has one sling. When suspending a large structure, a total of these three slings are used.

[0020] Here, since it is difficult to check the areas that are blind spots for the driver, for example, the following operations have a high possibility of interference between the jib crane 10 and the gantry crane 20. For example, as shown in FIG. 7(a), when the jib crane 10 is moving backward, if the driver is distracted by the suspended load in the front, the upper wire 16a in the blind spot may interfere with the girder 24 of the gantry crane 20. Alternatively, when the jib crane 10 is raising the jib 11 under the gantry crane 20, the upper wire 16a in the blind spot may interfere with the girder 24 of the gantry crane 20. Also, as shown in FIG. 7(b), when the gantry crane 20 is present behind the jib crane 10, if the driver is distracted by the suspended load and the jib 11 is rotating, there is a possibility of interference with the girder 24 above the jib crane 10. Such interference, as shown in FIG. 7(b), is likely to occur when the jib crane 10 rotates to the side opposite to the driver's cab 12a because the jib 11 blocks the view of the driver and makes it difficult to see the girder 24 and the legs 21 of the gantry crane 20. Note that the interference as shown in FIG. 7 is not limited to occurring only during one operation of a single jib crane 10, and interference may also occur when the jib crane 10 and the gantry crane 20 move simultaneously. Also, the jib crane 10 may interfere with the gantry crane 20 due to the combination of traveling, turning, and lifting operations. The operation monitoring system 100 of the present embodiment monitors the operations of the jib crane 10 and the gantry crane 20 so that such interference does not occur.

[0021] Next, with reference to FIG. 2, the block configuration of the operation monitoring system 100 will be described. As shown in FIG. 2, the operation monitoring system 100 includes a central monitoring unit 50, a jib crane arithmetic unit 60 provided in the jib crane 10, and a gantry crane arithmetic unit 70 provided in the gantry crane 20. Note that FIG. 2 shows only the jib crane arithmetic unit 60 for one jib crane 10 and the gantry crane arithmetic unit 70 for one gantry crane 20. However, if there are more jib cranes 10 and gantry cranes 20, their arithmetic units are also included in the operation monitoring system 100.

[0022] The jib crane arithmetic unit 60 includes an information transmission / reception unit 61, a crane-to-crane distance arithmetic unit 62, and an information acquisition unit 63. The information transmission / reception unit 61 transmits and receives various information between the central monitoring unit 50 and other cranes. The crane-to-crane distance arithmetic unit 62 calculates the distance between the jib crane 10 and other cranes. For example, as shown in FIG. 5, the crane-to-crane distance arithmetic unit 62 calculates the distance PL1 of the jib crane 10 from an arbitrary origin position OP based on the information acquired by the information acquisition unit 63. Further, the crane-to-crane distance arithmetic unit 62 acquires the distance PL2 from the origin position OP of another crane existing near the jib crane 10, here the gantry crane 20. The crane-to-crane distance arithmetic unit 62 may acquire the distance PL2 from the gantry crane arithmetic unit 70, or may acquire the distance PL2 by calculation. Thereby, the crane-to-crane distance arithmetic unit 62 acquires the crane-to-crane distance PL3 from the distances PL1 and PL2. Note that the crane-to-crane distance arithmetic unit 62 may acquire the crane-to-crane distance PL3 from the central monitoring unit 50. The information acquisition unit 63 is composed of sensors and the like that acquire various information. The information acquisition unit 63 acquires, for example, the operating state and position information of the jib crane 10. The operation information is information including the type of operation (traveling, slewing, hoisting), the direction of various operations, the speed of various operations, and the like.

[0023] The gantry crane arithmetic unit 70 includes an information transmission / reception unit 71, a crane-to-crane distance arithmetic unit 72, and an information acquisition unit 73. The information transmission / reception unit 71, the crane-to-crane distance arithmetic unit 72, and the information acquisition unit 73 of the gantry crane arithmetic unit 70 have functions of the same purport as the information transmission / reception unit 61, the crane-to-crane distance arithmetic unit 62, and the information acquisition unit 63 of the jib crane arithmetic unit 60.

[0024] The central monitoring unit 50 is a part having a function of monitoring the operations of each crane existing in the facility. The central monitoring unit 50 may be constituted by the cloud, or may be constituted by an arithmetic unit provided at a position different from the crane. The central monitoring unit 50 includes an information transmission / reception unit 51, a region setting unit 52, and a monitoring unit 53.

[0025] The information transmission / reception unit 51 transmits and receives various types of information to and from the jib crane 10 and the gantry crane 20. The information transmission / reception unit 51 acquires operation information and position information from the jib crane 10 and the gantry crane 20.

[0026] The area setting unit 52 sets interference areas that may interfere with the jib crane 10 and the gantry crane 20 for the jib crane 10 and the gantry crane 20. The interference areas are areas virtually set around the jib crane 10 and the gantry crane 20. The area setting unit 52 acquires 3D data of the jib crane 10 and the gantry crane 20, and sets each interference area for the 3D data. Note that the 3D data of each crane may be the data already created at the time of crane design.

[0027] Also, the area setting unit 52 adjusts the interference areas according to the operations of the jib crane 10 and the gantry crane 20. The area setting unit 52 adjusts the interference areas according to the types of operations of the jib crane 10 and the gantry crane 20, the speeds of various operations, and the directions of various operations. The area setting unit 52 adjusts, according to the operations, where to set the interference areas for each crane, in which direction to set the interference areas, and what size of interference areas to set. The area setting unit 52 may adjust the size of the interference areas according to the speed of the operations. For example, the area setting unit 52 may make the interference areas larger as the speed of the operations is higher. The area setting unit 52 may make the interference areas in the moving direction of the crane larger than the interference areas in the direction opposite to the moving direction. That is, in the moving direction of the crane, since the possibility of interfering with the crane is high, it is necessary to set a larger interference area. On the other hand, in the direction opposite to the moving direction of the crane, since the possibility of interfering with the crane is low, the interference areas may be set smaller. Further, on the side opposite to the moving direction, as a result of setting according to the speed, the interference areas may be on the opposite side (negative). Alternatively, the interference areas may be zero or a predetermined fixed value. As a result of such settings, the interference areas on the moving direction side become larger than those on the opposite side.

[0028] Next, with reference to FIG. 3, an example of the interference region set around the jib crane 10 will be described. The region setting unit 52 sets an interference region CE1 as shown in FIG. 3 with respect to the jib crane 10. FIG. 3(a) is a schematic side view showing the interference region CE1 when the jib crane 10 raises the jib 11. As shown in FIG. 3(a), the region setting unit 52 sets the interference region CE1 around the jib 11 and around the main body 12. Further, the upper part of the wire 16 is also a blind spot and is a part that is likely to interfere with the gantry crane 20. Therefore, the region setting unit 52 also sets the interference region CE1 with respect to the upper wire 16 of the jib crane 10, that is, the upper wire 16a. Since the region setting unit 52 is performing an operation of raising the jib 11 upward, a large interference region CE1 is set upward. On the other hand, since the lower side of the jib 11 is in the direction opposite to the raising direction, the region setting unit 52 sets a small interference region CE1 on the lower side of the jib 11. The rear wire 16b is arranged between the back stay 12d and the center post 12c. Therefore, if the region setting unit 52 sets the interference region CE1 around the back stay 12d, it is not necessary to set the interference region CE1 around the rear wire 16b.

[0029] FIG. 3(b) is a schematic front view showing the interference region CE1 when the jib crane 10 raises the jib 11 and travels in one direction. In FIG. 3(b), the jib crane 10 is in a state where the upper slewing body is rotated 90 degrees from the state of FIG. 3(a). As shown in FIG. 3(b), the region setting unit 52 sets an interference region CE1 with a size L1 above the tip of the jib 11. The region setting unit 52 sets an interference region CE1 with a size L2 in the moving direction with respect to the jib 11 and the main body 12. The region setting unit 52 sets a small interference region CE1 in the direction opposite to the moving direction. When the jib 11 and the main body 12 rotate, an interference region CE1 with the same principle as the traveling movement is set.

[0030] The area setting unit 52 may adjust the interference areas CE1 and CE2 in real time according to the operating state of the crane at each time. For example, when the operating speed of the crane changes, the area setting unit 52 adjusts the sizes of the interference areas CE1 and CE2 according to the new operating speed.

[0031] Next, with reference to FIG. 4, an example of the interference area set around the gantry crane 20 will be described. FIG. 4(a) is a schematic side view showing the interference area CE2 when the gantry crane 20 travels and moves to one side, and FIG. 4(b) is a schematic plan view. As shown in FIGS. 4(a) and 4(b), the area setting unit 52 sets an interference area CE2 with a size L3 in the moving direction for the girder 24. The area setting unit 52 sets a small interference area CE2 in the direction opposite to the moving direction. Further, the area setting unit 52 also sets an interference area CE2 for the legs 21 and 22 of the gantry crane 20. As shown in FIG. 4(a), since the leg 21 extends straight downward, an interference area CE2a corresponding to the shape is set for the leg 21. Further, since the leg 22 extends so as to spread downward, an interference area CE2b corresponding to the shape is set for the leg 22. In setting the interference area CE2, the setting for some structures of the gantry crane 20, such as the driver's cab 27, may be omitted.

[0032] The monitoring unit 53 monitors the operations of the jib crane 10 and the gantry crane 20 using the interference area set by the area setting unit 52. When the monitoring unit 53 determines that there is a possibility of contact between the cranes, it provides driving support to avoid interference. The monitoring unit 53 performs monitoring based on the positional relationship between the cranes and the interference area set for the cranes. When the jib crane 10 is operating and the gantry crane 20 is stopped, the monitoring unit 53 performs monitoring based on the positional relationship between the interference area CE1 set for the jib crane 10 and the gantry crane 20. When the gantry crane 20 enters the interference area CE1 of the jib crane 10 or when the gantry crane 20 approaches the interference area CE1 by a predetermined distance, the monitoring unit 53 provides driving support. When the jib crane 10 is stopped and the gantry crane 20 is operating, the monitoring unit 53 performs monitoring based on the positional relationship between the interference area CE2 set for the gantry crane 20 and the jib crane 10. When the jib crane 10 enters the interference area CE2 of the gantry crane 20 or when the jib crane 10 approaches the interference area CE2 by a predetermined distance, the monitoring unit 53 provides driving support. When the jib crane 10 is operating and the gantry crane 20 is also operating, the monitoring unit 53 performs monitoring based on the positional relationship between the interference area CE1 set for the jib crane 10 and the interference area CE2 set for the gantry crane 20. When the interference area CE2 of the gantry crane 20 enters the interference area CE1 of the jib crane 10 or when the interference area CE2 of the gantry crane 20 approaches the interference area CE1 by a predetermined distance, the monitoring unit 53 provides driving support.

[0033] A specific example of the processing content of the monitoring unit 53 will be described with reference to FIG. 5. FIG. 5 is a schematic side view showing a state when the gantry crane 20 and the jib crane 10 are traveling and moving closer to each other. As shown in FIG. 5, the monitoring unit 53 monitors the operations of the respective cranes based on the distance between the cranes PL3, the interference region CE1 set for the jib crane 10, and the interference region CE2 set for the gantry crane 20. In the example shown in FIG. 5, the monitoring unit 53 obtains the interference avoidance distance L4 as the shortest distance between the interference region CE1 of the jib crane 10 and the interference region CE2 of the gantry crane 20. When the interference avoidance distance L4 falls below a predetermined threshold value, the monitoring unit 53 provides operation support to the crane. As the operation support, for example, warnings, deceleration, stop commands, etc. are performed. The monitoring unit 53 may set the threshold value step by step and perform operation support step by step in the order of "warning, deceleration, stop command". Note that the monitoring unit 53 may set a plurality of levels of threshold values for the interference avoidance distance L4 between the interference regions CE1 and CE2, or may set the sizes of the interference regions CE1 and CE2 step by step according to the intensity of the operation support. In this case, when the interference regions CE1 and CE2 come into contact, operation support at a level corresponding to the step may be performed.

[0034] FIG. 6 is a diagram showing the relationship between the traveling speed of the jib crane 10, the traveling speed of the gantry crane 20, and the stopping distance. For example, the traveling speed of the jib crane 10 is set in four steps, and the distance from the state of traveling at each speed until braking is started and stopped is the stopping distance L j 1 to L j 4. Therefore, the region setting unit 52 can set the stopping distances L j 1 to L j 4 as the size L2 of the interference region CE1. The traveling speed of the gantry crane 20 is set in five steps, and the distance from the state of traveling at each speed until braking is started and stopped is the stopping distance L g 1 to L g 5. Therefore, the region setting unit 52 can set the stopping distances L g 1 to L g5 can be set as the size L3 of the interference area CE2. Also, after both cranes have finished stopping from the traveling state, a threshold value is set for the interference avoidance distance L4 so that a margin can be ensured between the two cranes. Note that Fig. 6 is a diagram showing the relationship between the traveling speed and the stopping distance. However, when the turning speed and the lifting speed are variable, settings similar to those in Fig. 6 may be made for these speeds as well.

[0035] Next, the operation and effects of the operation monitoring system 100 according to the present embodiment will be described.

[0036] The operation monitoring system 100 includes an area setting unit 52 that sets an interference area where there is a possibility of interference with the crane, and a monitoring unit 53 that monitors the operation of the crane using the interference area set by the area setting unit 52. Thereby, the monitoring unit 53 can monitor whether the crane interferes with other cranes or obstacles based on the interference area where there is a possibility of interference with the crane. Here, the area setting unit 52 can adjust the interference area according to the operation of the crane. Therefore, the interference area is set within an appropriate range according to the operation of the crane. From the above, appropriate monitoring can be performed according to the operating state of the crane.

[0037] The area setting unit 52 may adjust the interference area based on the moving speed of the crane. Thereby, the area setting unit 52 can set an interference area within an appropriate range according to the moving speed of the crane.

[0038] The area setting unit 52 may make the interference area in the moving direction of the crane larger than the interference area in the direction opposite to the moving direction. Since the moving direction of the crane has a high possibility of interference, the interference area is set large. On the contrary, since the possibility of interference on the opposite side is low, it is set so that the interference area does not become unnecessarily large.

[0039] The crane is a jib crane 10, and the area setting unit 52 may also set an interference area for the upper wire 16a. Since the upper wire 16a is likely to be a blind spot from the cab, by setting an interference area for the upper wire 16a, interference between the upper wire 16a and other cranes or obstacles can be avoided.

[0040] The crane is a gantry crane 20, and the area setting unit 52 may also set an interference area for the legs 21, 22 of the gantry crane 20. Thereby, interference between the legs 21, 22 and other cranes or obstacles can be avoided.

[0041] The operation monitoring system 100 is an operation monitoring system 100 that monitors the operation of a crane, and includes an area setting unit 52 that sets an interference area that may interfere with the crane, and a monitoring unit 53 that monitors the operation of the crane using the interference area set by the area setting unit 52. The crane is a jib crane 10, and the area setting unit 52 also sets an interference area for the upper wire 16 of the jib crane 10.

[0042] Since the upper wire 16a is likely to be a blind spot from the cab, by setting an interference area for the upper wire 16a, interference between the wire and other cranes or obstacles can be avoided. From the above, appropriate monitoring can be performed according to the operating state of the crane.

[0043] The present invention is not limited to the above-described embodiments.

[0044] For example, there are no particular limitations on how the interference area is set, and the interference areas of the jib crane 10 and the gantry crane 20 are not limited.

[0045] In the above-described embodiment, the operation monitoring system 100 has a central monitoring unit 50 configured by a cloud, a central computing device, etc., but the computing device possessed by each crane may include an area setting unit 52 and a monitoring unit 53.

Explanation of Reference Numerals

[0046] 10… Jib crane, 20… Gantry crane, 52… Area setting unit, 53… Monitoring unit, 100… Operation monitoring system.

Claims

An operation monitoring system for monitoring the operation of a crane including a first crane which is a gantry crane and a second crane which is a jib crane and is operable under the first crane, comprising: a region setting unit that sets an interference region that may interfere with the crane and adjusts the interference region according to the operation of the crane; a monitoring unit that monitors the operation of the crane using the interference region set by the region setting unit; a crane-to-crane distance calculation unit provided on the first crane, wherein the crane-to-crane distance calculation unit calculates the distance of the first crane from an arbitrary origin position based on information acquired by a sensor provided on the first crane, and acquires the distance between the first crane and the second crane based on the information acquired by the sensor provided on the first crane and the information acquired by calculation; an operation monitoring system.

2. The operation monitoring system according to claim 1, wherein the region setting unit adjusts the interference region based on the moving speed of the crane.

3. The operation monitoring system according to claim 1 or 2, wherein the region setting unit makes the interference region in the moving direction of the crane larger than the interference region in the direction opposite to the moving direction.

4. The operation monitoring system according to claim 1, wherein the region setting unit also sets the interference region for the wire above the second crane.

5. The operation monitoring system according to claim 1, wherein the region setting unit also sets the interference region for the legs of the first crane.

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