Crane equipment

Abstract

To provide a crane device which utilizes a time from the occurrence of an earthquake until the arrival of actual earthquake tremors to encourage workers to respond to an earthquake and further safely handle a suspended load.SOLUTION: A crane device includes: receiving means for receiving earthquake information; a control processing unit for receiving the earthquake information and executing alarm control processing and fall prevention control processing; alarm means controlled by the control processing unit and notifying the surrounding area of the fact that an earthquake is about to arrive by sound generating means by executing the alarm control processing; means controlled by the control processing unit and moving the crane to a position appropriate for executing fall prevention measures depending on a current crane position by executing fall prevention processing; and means for executing the fall prevention measures.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to a crane apparatus, and more particularly to a crane apparatus linked with an earthquake notification system. [Background technology]

[0002] There have been cases where crane equipment installed in factories, etc. has fallen due to shaking caused by earthquakes. For this reason, it is necessary to take appropriate measures to prevent cranes from falling when an earthquake occurs.

[0003] However, earthquakes are difficult to predict, and it is not possible to carry out work on site taking into account the shaking caused by earthquakes in advance. For this reason, practical methods for minimizing the adverse effects of earthquakes on cranes include automatically switching the control of the crane equipment to earthquake-resistant control when an earthquake is detected, and activating safety devices when a power outage occurs during an earthquake.

[0004] For example, Japanese Patent Application Laid-Open No. 2009-113925 (Patent Document 1) discloses a crane apparatus that includes a crane body, an earthquake detection unit that has an electromagnet attached to the crane girder and detects the occurrence of an earthquake, a crane position detection unit and a current supply unit that supplies current to the electromagnet, and a central control unit that controls the earthquake detection unit, crane position detection unit, and current supply unit so that current is supplied to the electromagnet when the earthquake detection unit detects an earthquake.

[0005] According to this crane device, when an earthquake is detected, an operation signal is output from the control unit and a current is supplied to the electromagnet, preventing the crane from floating up and shaking horizontally.

[0006] Furthermore, for example, Patent Publication No. 2021-24706 (Patent Document 2) discloses a safety device equipped with an electromagnetic brake having a pair of left and right claw portions that face the underside of the rail head in close proximity, and a brake shoe that presses against the top surface of the rail with spring force to brake it and releases it with electromagnetic force.

[0007] According to this safety device, in the event of a power outage during an earthquake, the electromagnetic brake is activated and the brake shoe on the top of the rail and the claw on the underside of the rail head grip the rail, preventing the crane from falling. [Prior art documents] [Patent documents]

[0008] [Patent Document 1] Japanese Patent Application Laid-Open No. 2009-113925 [Patent Document 2] Patent Publication No. 2021-24706 Summary of the Invention [Problem to be solved by the invention]

[0009] The crane apparatus described in Patent Document 1 detects the occurrence of an earthquake using a seismometer or accelerometer installed on the crane apparatus, or an earthquake information signal input from outside, and switches the control of the crane apparatus to control that corresponds to the earthquake.

[0010] However, the crane apparatus described in Patent Document 1 simply switches the control of the crane apparatus to control that responds to earthquakes, and does not take into consideration notifying workers working in factories that an earthquake has occurred. In particular, no specific measures are provided for encouraging workers to respond to the earthquake (such as stopping work and issuing warnings to evacuate) during the time between the point where the earthquake occurred and the actual arrival of the earthquake shaking.

[0011] Therefore, there is a demand for concrete countermeasures, including encouraging workers to respond to earthquakes by utilizing the time it takes for the actual earthquake shaking to reach the area from the point where the earthquake occurs.

[0012] Furthermore, the crane described in Patent Document 1 cannot supply current to the electromagnet if a power outage occurs during large shaking caused by an earthquake, and therefore cannot prevent the crane from floating up or shaking horizontally.

[0013] The safety device described in Patent Document 2 is based on the assumption that a power outage will occur due to an earthquake, and if there is no power outage, the electromagnetic brake will not operate and will not function as a safety device.

[0014] Also, looking at cases of cranes falling due to earthquakes, there have been cases where the crane fell from the girder along with the rails. This is caused by the hook bolts that secure the girder to the rails being unable to withstand the excessive load generated by the force of the crane shaking during an earthquake and deforming, causing the girder to loosen. This loosening of the fastening can cause the rails to fall off the girder, causing the crane to fall along with the rails. As this shows, even if a crane is secured to the rails alone, it can still fall along with the rails, so this does not prove to be an effective measure to prevent falls due to an earthquake.

[0015] An object of the present invention is to provide a crane device that can encourage workers to respond to an earthquake by utilizing the time it takes for the actual earthquake shaking to reach the worker from the point where the earthquake occurs and can also take measures to prevent the crane from falling. [Means for solving the problem]

[0016] The present invention provides, as one aspect of a crane apparatus, a crane apparatus comprising a hoisting motor that hoists a crane hook on which a load is attached, a travel motor that moves the hoisting motor back and forth and / or left and right, and a control device that controls the operation of the hoisting motor and the travel motor, wherein the control device comprises a receiving means for receiving earthquake information, a control processing unit that executes an alarm process and a fall prevention process in accordance with the earthquake information received by the receiving means, an alarm means that is controlled by the control processing unit and that, as the alarm process, notifies the surrounding area of ​​the crane apparatus of an impending earthquake using a sound generating means or a display means, and an operation control unit that is controlled by the control processing unit and that prevents the crane from falling by executing the fall prevention process. [Effects of the Invention]

[0017] According to the present invention, it is possible to provide a crane device that can utilize the time between the occurrence of an earthquake and the arrival of actual earthquake shaking to encourage workers to respond to the earthquake and also take measures to prevent the crane from falling. [Brief explanation of the drawings]

[0018] [Figure 1] FIG. 1 is a perspective view showing an example of the overall configuration of a crane apparatus. [Figure 2] FIG. 2 is a diagram illustrating an example of the configuration of a fall prevention device. [Figure 3] FIG. 3 is a configuration diagram showing an example of the overall configuration of a control system for a crane apparatus. [Figure 4] FIG. 4 is a block diagram showing an example of the configuration of a control system for a crane apparatus. [Figure 5] FIG. 5 is a perspective view showing an example of an operable range of the fall prevention device. [Figure 6] FIG. 6 is a flowchart showing an example of a processing flow of the control system shown in FIG. [Figure 7] FIG. 7 is a flowchart showing a safety processing flow after the stopping operation processing shown in FIG. DETAILED DESCRIPTION OF THE INVENTION

[0019] Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings. However, the present invention is not limited to the following embodiment, and various modifications and application examples within the technical concept of the present invention are also included within its scope.

[0020] 1 and 2 show an example of the overall configuration of a crane apparatus and a fall prevention device, and FIG. 3 shows an example of the overall configuration of a control system for a crane apparatus.

[0021] A crane device is roughly equipped with a hoisting motor that hoists and lowers a crane hook on which a load is attached, a moving motor that moves the hoisting motor back and forth and / or left and right, and a control device that controls the operation of the hoisting motor and the moving motor. The specific configuration is as follows.

[0022] 1, a crane apparatus 100 includes a crane hook 1, a wire rope 2, a hoisting induction motor 3, a hoisting drum 4, a traverse induction motor 5, traverse wheels 6, a traverse girder 7, a traveling induction motor 8, traveling wheels 9, a traveling girder 10a, traveling rails 10b, hook bolts 10c, a hoisting / traverse inverter control device 11, an operation input device 12 suspended from a cable, and a traveling inverter control device 13. In addition, the hoisting induction motor 3, the traverse induction motor 5, and the traveling induction motor 8 each have an induction motor brake 14 (see FIG. 3) built in.

[0023] Here, the hoisting induction motor 3 raises and lowers the load hung from the crane hook 1 in the direction of gravity. The traverse induction motor 5 and the travel induction motor 8 are movement motors that move the hoisting induction motor 3 in the forward and backward directions and / or the left and right directions.

[0024] The crane apparatus 100 moves a load attached to a crane hook 1 in the direction of gravity (indicated by the Y direction, -Y arrow), i.e., up and down, by using a hoist drum 4 rotated by a hoist induction motor 3 to wind up and down a wire rope 2. Furthermore, a traverse induction motor 5 rotates traverse wheels 6, causing the load to move left and right (indicated by the X direction, -X arrow) along a traverse girder 7. Furthermore, a travel induction motor 8 rotates traveling wheels 9, causing the load to move forward and backward (indicated by the Z direction, -Z arrow) along a traveling rail 10b.

[0025] FIG. 2 shows an example of a fall prevention device. The fall prevention device includes a fall prevention induction motor 27 and a fall prevention claw 28 mounted on a traveling carriage 29 that moves in the Z direction along a traveling rail 10b. As a fall prevention process, the fall prevention induction motor 27 drives the fall prevention claw 28, engaging it with the traveling girder 10a on which the traveling rail 10b is mounted. This allows the fall prevention claw 28 and the traveling girder 10a to suppress the crane's horizontal sway (x direction) and lift (y direction), preventing excessive load from being applied to the hook bolt 10c. This prevents deformation of the hook bolt 10c, preventing the traveling rail 10b from falling off the traveling girder 10a. Furthermore, the traveling rail 10b, the traveling induction motor 8, the traveling wheels 9, and other components installed on the traveling girder 10a are prevented from falling off the traveling girder 10a.

[0026] As shown in Fig. 3, the hoisting / traversing inverter control device 11 incorporates a hoisting / traversing inverter control unit 15, a hoisting inverter 16, and a traversing inverter 17. The fall prevention / traveling inverter control device 13 incorporates a fall prevention / traveling inverter control unit 18, a travelling inverter 19, and a fall prevention inverter 26. The hoisting / traversing inverter control unit 15 and the fall prevention / traveling inverter control unit 18 are connected by a communication line 20. As shown in Fig. 1, the hoisting / traversing inverter control device 11 and the fall prevention / traveling inverter control device 13 are shown as physically separate devices, but they may also be one device. Furthermore, they may also operate functionally as one device.

[0027] The hoisting induction motor 3 and the traverse induction motor 5 are controlled by a hoisting / traverse inverter control unit 15 stored in the hoisting / traverse inverter control device 11. That is, when the operator inputs a predetermined instruction from the operation input device 12, the hoisting / traverse inverter control unit 15 controls the hoisting inverter 16 and the traverse inverter 17, and therefore provides control information necessary for control to the hoisting inverter 16 and the traverse inverter 17. An encoder 21 is attached to the hoisting induction motor 3, and rotation information of the hoisting induction motor 3 is input to the hoisting / traverse inverter control unit 15.

[0028] The hoisting inverter 16 and the traverse inverter 17 apply the required frequency, voltage, and current to the hoisting induction motor 3 and the traverse induction motor 5. The hoisting / traverse inverter control unit 15 also controls the release of the induction motor brake 14. The hoisting inverter 16 controls the hoisting induction motor 3 to move the load attached to the crane hook 1 in the Y direction without dropping. The traverse inverter 17 also controls the traverse induction motor 5 to move the traverse wheels 6 in the X direction along the traverse girder 7.

[0029] When the operator inputs a predetermined command from the operation input device 12, the fall prevention / travel inverter control unit 18 controls the travel inverter 19. The travel inverter 19 applies the required frequency, voltage, and current to the travel induction motor 8. The fall prevention / travel inverter control unit 18 controls the release of the induction motor brake 14, thereby moving the travel wheels 9 in the Z direction along the travel rails 10b.

[0030] Furthermore, the hoisting / traversing inverter control device 11 is provided with a communication unit 22. This communication unit 22 is connected to the hoisting / traversing inverter control unit 15 by a communication line 23. The communication unit 22 is connected by wireless communication to a cloud network (hereinafter referred to as the cloud) 24 made up of a server equipped with a calculation function. This cloud 24 is also connected by wireless communication to an emergency earthquake notification system 25 equipped with a communication unit.

[0031] Therefore, the communication unit 22 and the emergency earthquake notification system 25 are set in an environment in which they can communicate with each other via the cloud 24. Of course, it goes without saying that they may also be connected to each other via a wired connection so that they can communicate with each other.

[0032] The cloud 24 equipped with a server is installed, for example, at a manufacturer or maintenance company of the crane apparatus 100. The emergency earthquake notification system 25 can use the "Earthquake Early Warning System" operated by the Japan Meteorological Agency. This emergency earthquake notification system is designed to issue "forecasts" and "warnings."

[0033] For example, a "forecast" is issued when the maximum seismic intensity is predicted to be 3 or greater, or a magnitude of 3.5 or greater, and an "alert" is issued when shaking of the maximum seismic intensity of 5 or greater is predicted. Based on this "forecast" and "alert," the control state of the crane apparatus 100 can be changed. In addition, with an earthquake, "initial tremors" caused by P waves are observed first, followed by "main tremors" caused by S waves.

[0034] Therefore, there is a time lag between the issuance of a quick warning due to the initial tremor and the arrival of the subsequent main tremor. This time lag can be utilized to execute control of the crane apparatus 100 in response to an earthquake.

[0035] Next, a description will be given of the configuration of a control system for the crane apparatus 100 linked with the emergency earthquake notification system 25 of the embodiment. Fig. 4 shows a schematic configuration of the control system according to the present embodiment.

[0036] In this embodiment, the hoisting / traversing inverter control device 11 and the fall prevention / traveling inverter control device 13 are collectively described as a single control device 50 as the control device.

[0037] The control device 50 is equipped with a control processing unit 30, which has the function of executing control processing for the crane device when an earthquake occurs. As is well known, this is executed by a microcomputer that operates according to a control program. The control processing unit 30 corresponds to the hoisting / traversing inverter control unit 15 and the fall prevention / traveling inverter control unit 18 in FIG. 3. Various information is input to the control processing unit 30 from various sensors. As information related to this embodiment, for example, video information of the area where the fall prevention claws 28 of the fall prevention device are located is input to the control processing unit 30 from a camera video acquisition unit 33.

[0038] To activate the fall prevention device, as shown in FIG. 5, it is necessary to avoid any obstacles, such as the hook bolt 10c, that would prevent the fall prevention claw 28 from engaging with the traveling girder 10a. The camera image acquisition unit 33 acquires image data of the area where the fall prevention claw 28 engages with the traveling girder 10a. Image data of the area where the fall prevention claw 28 is located is acquired by the camera image acquisition unit 33. This image data is obtained from a camera (not shown). In this embodiment, the camera is installed on the traverse girder 7, but it can also be obtained from image data from a camera located away from the crane device. Essentially, it is sufficient to obtain image data of the area where the fall prevention claw 28 is located. The load of the load attached to the crane hook 1 may be acquired from the load information acquisition unit 32 as information input to the control processing unit 30. The control that the communication unit 22 controls when it receives an earthquake early warning can be changed depending on the load of the load attached to the crane hook 1.

[0039] Furthermore, earthquake information (for example, an emergency earthquake alert) relating to an earthquake is input to the control processing unit 30 from the communication unit 22. The earthquake information is sent from the emergency earthquake notification system 25 via the cloud 24.

[0040] As mentioned above, the emergency earthquake notification system 25 uses the "Earthquake Early Warning System" operated by the Japan Meteorological Agency, and sends out "forecasts" and "warnings" according to the intensity of the earthquake. Also, while "forecasts" are issued about 2 to 3 seconds after an earthquake is detected, "warnings" are issued about 5 to 10 seconds later, so there are cases where "forecasts" and "warnings" are issued in chronological order.

[0041] As part of the alarm processing, the control processing unit 30 uses sound generation means to notify those around the crane apparatus that an earthquake is coming. To this end, the control processing unit 30 transmits alarm information to the alarm control unit 34 to issue a "forecast" and an "alert." The alarm control unit 34 has the function of notifying sound generation means such as a speaker of the occurrence of an earthquake, its intensity, evacuation requests, evacuation methods, etc. by audio announcement. The alarm control unit 34 may also notify display means such as a patrol sign of the occurrence of an earthquake, its intensity, evacuation requests, evacuation methods, etc. by displaying colors.

[0042] By providing the crane device 100 with an alarm control unit 34, sound generating means, and display means, workers can smoothly take evacuation action based on earthquake information without having to carry an information terminal such as a smartphone.

[0043] The control processing unit 30 also has a control function of causing the operation control unit 35 to stop the crane, perform fall prevention processing, etc. The operation control unit 35 corresponds to the hoisting / traversing inverter control unit 15 and the fall prevention / traveling inverter control unit 18 in Fig. 3 .

[0044] For example, when the control processing unit 30 receives a "forecast" from the communication unit 22, it has the function of controlling the alarm control unit 34 to issue an alarm, and when it receives an "alarm," it has the function of controlling the alarm control unit 34 to issue an alarm and also controlling the operation control unit 35 to stop the crane equipment 100 and prevent it from falling.

[0045] As described above, the control processing unit 30 executes the alarm processing and the fall prevention processing in accordance with the earthquake information received by the communication unit 22. In addition, the control content of the crane apparatus 100 is selected in advance according to the earthquake's strength using the "Earthquake Early Warning System" operated by the Japan Meteorological Agency, so it becomes possible to execute appropriate control of the crane apparatus in response to an earthquake.

[0046] Next, a specific processing flow when an earthquake occurs in such a control device 50 will be described. Fig. 6 shows the processing flow of the control processing unit 30 when an Earthquake Early Warning is received. This control is started by a time interrupt at predetermined intervals, and when an Earthquake Early Warning is received, control corresponding to the earthquake is executed.

[0047] <Step S11> In step S11, the control processing unit 30 determines whether or not an Earthquake Early Warning has been received from the communication unit 22. If an Earthquake Early Warning has not been received (NO), the process goes to END and waits for the next activation timing. On the other hand, if it is determined that an Earthquake Early Warning has been received, the process proceeds to step S12.

[0048] <Step S12> In step S12, the control processing unit 30 determines whether the earthquake level in the Earthquake Early Warning is an "alert." This "alert" corresponds to the earthquake intensity set in the Earthquake Early Warning (alert). If the control processing unit 30 determines that the content of the Earthquake Early Warning is not an "alert" (NO), it proceeds to step S13. In other words, if it is not an "alert," the control processing unit 30 determines it to be a "forecast," and determines that it is the earthquake intensity set in the Earthquake Early Warning (forecast). On the other hand, if the control processing unit 30 determines it to be an "alert," it proceeds to step S14.

[0049] <Step S13> Since the control processing unit 30 determines in step S12 that the earthquake level is "forecast," it predicts in step S13 that an earthquake of moderate intensity will occur. In this case, the safety of the workers is given priority and an alert process is executed. In this case, the control processing unit 30 controls the alert control unit 34 to sound a buzzer using a sound generating means or the like and to issue a voice announcement to notify the user that an earthquake of moderate intensity is coming.

[0050] An example of a voice announcement might be, "An earthquake of magnitude 3 has occurred. Please evacuate to the nearest safe place. There is a risk of further earthquakes of greater intensity." This allows workers to quickly take action to ensure their own safety, such as taking shelter under the nearest desk. Once the alarm processing is complete, the system exits to the end and waits for the next activation timing to arrive.

[0051] <Step S14> In step S12, the control processing unit 30 determines that the earthquake level is "alert," and therefore in step S14, it predicts that a powerful earthquake will arrive soon. Therefore, the safety of the workers is given priority and an alert process is executed. In this case, the control processing unit 30 controls the alert control unit 34 to sound a buzzer using the sound generating means and to issue a voice announcement to notify the user that a powerful earthquake is approaching.

[0052] In other words, when the control processing unit 30 determines that the earthquake intensity is an "alarm" (above a first predetermined intensity), it does not execute the stopping operation process of the crane apparatus, which will be described later, but causes the alarm control unit 34 to execute the alarm control process. This allows the sound generating means to quickly call attention.

[0053] The voice announcement may be, for example, "An earthquake of magnitude 6 has occurred. Please evacuate to the nearest safe place immediately." This allows the worker to quickly take action to evacuate to a safe place and ensure their own safety. When the alarm processing is completed, the process proceeds to step S15. When a patrol sign is used as the alarm means, the display is controlled so that, for example, red is displayed in the case of an "alert" and yellow is displayed in the case of a "forecast."

[0054] <Step S15> In step S15, the control processing unit 30 determines that there is a risk that a main tremor with a high seismic intensity will arrive after the initial tremor. Therefore, the control processing unit 30 makes the operation control unit 35 of the crane apparatus 100 execute a stop operation process by utilizing the time difference between the initial tremor and the arrival of the main tremor.

[0055] In this case, the operations of the hoisting induction motor 3, the traverse induction motor 5, and the travel induction motor 8 are stopped. This makes it possible to stop the crane device 100 before the main power arrives. Details of the safety processing after this stopping operation processing are shown in Figure 7. When the stopping operation processing is completed, the process exits to the end and waits for the arrival of the next start timing.

[0056] That is, when the earthquake intensity is determined to be "alarm" (first predetermined intensity), the alarm control process is executed to call attention by the alarm means, and subsequently safety process is executed.

[0057] Next, the safety processing after the stop processing will be explained with reference to Fig. 7. This safety processing is not executed until the stop operation processing shown in Fig. 6 is completed. If the safety processing is executed before the stop operation processing is completed, the crane apparatus 100 may move in a manner not intended by the operator. To avoid this, the safety processing is executed after the stop operation processing is completed.

[0058] <Step S21> In step S21, the control processing unit 30 determines whether the stopping operation in response to the Earthquake Early Warning has been completed. The reason for this is that, as described above, if safety processing is executed before the stopping operation processing is complete, the crane may move in an unintended manner by the operator. Therefore, if it is determined that the stopping operation processing is not complete, it exits to END and waits for the arrival of the next start timing. On the other hand, if it is determined that the stopping operation processing is complete, it proceeds to step S22.

[0059] <Step S22> In step S22, the control processing unit 30 determines whether or not it is OK to activate the fall prevention claws 28. This determination is made using image information of the area where the fall prevention claws 28 are located, acquired by the camera image acquisition unit 33. If the fall prevention claws 28 are not within the operable range, for example, as shown in FIG. 5, there is a hook bolt 10c or the like, and the fall prevention claws 28 cannot be engaged with the traveling girder 10a.

[0060] If it is determined from the image information that the fall prevention claws 28 are not within the operable range, the process proceeds to step S23. On the other hand, if it is determined from the image information that the fall prevention claws 28 are within the operable range, the process proceeds to step S24.

[0061] <Step S23> In step S22, the control processing unit 30 determines that the fall prevention claws 28 are not within the operable range, and therefore in step S23, the operation control unit 35 is controlled to move the crane apparatus 100 to a range in which the fall prevention claws 28 are operable. Using the image information, the crane apparatus 100 is moved to the operable range of the nearest fall prevention claws 28. When the movement is complete, the process proceeds to step S22.

[0062] <Step S24> In step S22, the control processing unit 30 determines that the fall prevention claws 28 are within an operable range, so in step S24, the fall prevention induction motor 27 is operated to hook the fall prevention claws 28 onto the traveling girder 10a and execute safety processing. After executing safety processing, the fall prevention claws 28 exit the end and wait for the next activation timing. In other words, even if a power outage occurs during large shaking caused by an earthquake that corresponds to an "alert" in the Earthquake Early Warning, effective fall prevention measures will continue. Note that the fall prevention processing refers to the processing from the stop operation processing in step 15 in FIG. 6 to the safety processing in step 24 in FIG. 7.

[0063] By carrying out the above-mentioned safety processing, the system is automatically maintained in an appropriate state even when workers have evacuated, so that workers can be prevented from being exposed to danger due to earthquake shaking.

[0064] As described above, according to this embodiment, it is possible to provide a crane apparatus that uses the time between the reception of an emergency earthquake alert due to an earthquake and the arrival of the shaking caused by the earthquake to encourage workers to respond to the earthquake and also to perform procedures to prevent the crane from falling.

[0065] The present invention is not limited to the above-described embodiments, but includes various modifications. The above-described embodiments have been described in detail to clearly explain the present invention, and the present invention is not necessarily limited to those including all of the described configurations. Furthermore, it is possible to replace part of the configuration of one embodiment with the configuration of another embodiment, and it is also possible to add the configuration of another embodiment to the configuration of one embodiment. It is also possible to add, delete, or replace other configurations with respect to the configuration of each embodiment. [Explanation of symbols]

[0066] 1:Crane hook, 2: wire rope, 3: Hoisting induction motor, 4: Hoisting drum, 5: Traverse induction motor, 6: Traverse wheels, 7: Girder for traversing, 8: Travel induction motor, 9: Traveling wheels, 10a: Running girder, 10b: running rails, 10c: Hook bolt, 11: Hoisting and traversing inverter control device, 12: operation input device, 13: Travel inverter device, 14: Brake for induction motor, 15: Hoisting and traversing inverter control unit, 16: Hoisting inverter, 17: Traverse inverter, 18: Travel inverter control unit, 19: Driving inverter, 20: communication line, 21: Encoder, 22: Communications Department, 23: communication line, 24: Cloud, 25: Emergency earthquake notification system, 26: Fall prevention inverter, 27: Fall prevention induction motor, 28: Fall prevention claw part, 30: control processing unit, 31: Location information acquisition unit, 32: Load information acquisition section, 33: Camera image acquisition unit, 34: Alarm control unit, 35: Operation control unit.

Claims

1. A crane apparatus including a hoisting motor that hoists a crane hook on which a load is hung, a moving motor that moves the hoisting motor back and forth and / or left and right, and a control device that controls the operation of the hoisting motor and the moving motor, The control device receiving means for receiving earthquake information; a control processing unit that controls an alarm process and a fall prevention process in response to the earthquake information received by the receiving means; an alarm issuing means controlled by the control processing unit, which notifies the surroundings of the crane apparatus of an impending earthquake by a sound generating means or a display means as the alarm issuing process; an operation control unit that is controlled by the control processing unit and that prevents the crane from falling by executing a fall prevention process; A fall prevention means is provided on a traveling carriage that travels on the traveling rail of the crane device and engages with a traveling girder that carries the traveling rail; and a drive means that drives the fall prevention means. An image acquisition unit that acquires an image of the vicinity where the fall prevention means engages with the traveling girder, The operation control unit As the fall prevention treatment, The drive means is controlled so as to engage the fall prevention means with the traveling girder, The control processing unit Based on the image from the image acquisition unit, it is determined whether the fall prevention means can engage with the traveling girder, and if it cannot engage, the operation control unit is controlled to move the crane device. A crane apparatus characterized by:

2. In the crane apparatus described in claim 1, The control processing unit When it is determined that the earthquake intensity of the earthquake information received by the receiving means is equal to or greater than a second predetermined intensity that is smaller than a first predetermined intensity and is less than the first predetermined intensity, the fall prevention process is not executed, and the alarm issuing means executes the alarm issuing process. A crane apparatus characterized by:

3. In the crane apparatus described in claim 2, The control processing unit When it is determined that the earthquake intensity of the earthquake information received by the receiving means is equal to or greater than the first predetermined intensity, the alarm issuing process is executed to alert the worker by the alarm issuing means or the display means, and the fall prevention process is executed. A crane apparatus characterized by:

4. In the crane apparatus described in claim 3, The earthquake information received by the receiving means is an Earthquake Early Warning obtained from a system operated by the Japan Meteorological Agency, and the first predetermined intensity corresponds to a warning of the Earthquake Early Warning, and the second predetermined intensity corresponds to a forecast of the Earthquake Early Warning. A crane apparatus characterized by:

5. In the crane apparatus described in claim 4, The control processing unit When the earthquake information received by the receiving means is equal to or greater than the first predetermined intensity, the operation control unit is controlled to stop the operation of the hoisting motor and the moving motor; The operation control unit controls the drive means so that the fall prevention means engages with the traveling girder as a safety process after stopping the operations of the hoisting motor and the traveling motor. A crane apparatus characterized by:

6. In the crane apparatus described in claim 1, When it is determined that the crane is outside an operable range of a fall prevention device, the control processing unit moves the crane into an operable range of the fall prevention device as a fall prevention process. A crane apparatus characterized by:

7. In the crane apparatus according to claim 6, The control processing unit As a fall prevention process, when it is determined that the fall prevention device is within an operable range, the fall prevention means is hooked onto the traveling girder. A crane apparatus characterized by:

8. In the crane apparatus according to claim 7, The control processing unit The fall prevention process is carried out before the "main shock" caused by the S-wave of the earthquake arrives. A crane apparatus characterized by:

Images