Crane control system

Abstract

To provide a crane control system capable of preventing a crane from moving to an upper side of a vertical shaft opening part while a person enters the inside of a vertical shaft so sa to improve safety.SOLUTION: A crane control system includes a drive control unit 31 for driving and stopping a driving source 14, an operation unit 4 having a vertical shaft forward movement button 410, a present position detection unit 32 for detecting a present position of a crane 1, a vertical shaft opening part outside position setting unit 33 for setting a position between a loading position A and an unloading position B as a vertical shaft opening part outside position C at which the crane is stopped, and an operation support control unit 34 for transmitting a drive signal to the drive control unit 31 when the vertical shaft forward movement button 410 is turned on, determining whether the present position reaches the vertical shaft opening part outside position C, and transmitting a stop signal to the drive control unit 31 when it is determined that the present position reaches the vertical shaft opening part outside position C.SELECTED DRAWING: Figure 5

Description

Technical Field

[0001] The present invention relates to a crane control system for controlling a crane that lifts a material and transports the material to a loading / unloading position.

Background Art

[0002] In factories, construction sites, etc., materials are transported using a crane. For example, in shield construction for constructing a tunnel underground, it is necessary to transport materials such as lining segments accumulated at a material accumulation location on the ground to a shaft, lower them to the bottom of the shaft, and further transfer them from the bottom of the shaft toward the tunnel tip. For heavy materials such as lining segments, the materials were lifted by a crane, transported from the material accumulation location to the shaft, and then lowered to the loading / unloading position at the bottom of the shaft.

[0003] As a technique for transporting materials by a crane, for example, in Patent Document 1, a segment is gripped by a segment grab of a ceiling crane installed across a starting shaft, and the segment grab is lifted by automatic operation, the ceiling crane is run, and the segment is transported from the segment accumulation location above the starting shaft, and then the segment grab is lowered to lift and lower the segment to a carrier waiting at the bottom of the starting shaft. A lining segment transport system is disclosed.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In the lining segment transport system described in Patent Document 1 above, the overhead crane is moved at high speed to the top of the shaft and the segment grab is lowered to match the lowering position in the shaft. As a result, there are cases where a person is inside the shaft, the crane moves above the shaft opening, and a person is positioned under the suspended load.

[0006] The problem that this invention aims to solve is to provide a crane control system that prevents the crane from moving above the shaft opening while a person is inside the shaft, thereby enhancing safety. [Means for solving the problem]

[0007] The invention according to claim 1 of the present application is a crane control system for a crane that transports materials from a loading position outside the shaft opening to a loading position inside the shaft by driving a drive source, comprising: a drive control unit that receives a drive signal and drives the drive source, and receives a stop signal and stops the drive source; an operation unit having a shaft forward movement button; a current position detection unit that detects the current position of the crane; a shaft opening outside position setting unit that sets a position outside the shaft opening, between the loading position and the loading position, as the shaft opening outside position where the crane is stopped; and an operation support control unit that transmits the drive signal to the drive control unit when the shaft forward movement button is in the ON state, determines whether the current position has reached the shaft opening outside position, and transmits the stop signal to the drive control unit when it is determined that the current position has reached the shaft opening outside position.

[0008] The invention according to claim 2 of this application is a crane control system according to claim 1, characterized in that the driving support control unit transmits a stop signal to the drive control unit in response to the shaft forward movement button being switched to the off state, even before the current position reaches the position outside the shaft opening.

[0009] The invention according to claim 3 of the present application is a crane control system according to claim 1 or 2, further comprising a load unloading position setting unit for setting the load unloading position in the shaft, the operation unit further having a shaft lower load unloading button, and the operation support control unit transmits the drive signal to the drive control unit when the shaft lower load unloading button is in the ON position, and determines whether the current position has reached the load unloading position, and transmits the stop signal to the drive control unit when it is determined that the current position has reached the load unloading position.

[0010] The invention according to claim 4 of this application is a crane control system according to claim 3, characterized in that the shaft front movement button and the shaft bottom load lowering button are not located adjacent to each other.

[0011] The invention according to claim 5 of this application is a crane control system according to claim 3 or 4, characterized in that the driving support control unit transmits a stop signal to the drive control unit in response to the shaft lowering button being switched to the off state, even if the current position has not yet reached the unloading position.

[0012] The invention according to claim 6 of the present application is a crane control system according to any one of claims 3 to 5, further comprising a shaft monitoring unit that transmits a non-evacuation signal to the operation support control unit indicating that no person has evacuated from the shaft, wherein when the operation support control unit receives the non-evacuation signal transmitted from the shaft monitoring unit, it does not transmit the drive signal to the drive control unit even if the shaft lowering load button is in the ON position.

[0013] The invention according to claim 7 of the present application is a crane control system according to any one of claims 1 to 6, characterized in that the drive control unit further comprises a signal reception setting unit that sets the drive control unit to either a state in which it can receive signals from the driving support control unit or a state in which it cannot receive signals.

[0014] The invention according to claim 8 of the present application is a crane control system according to claim 7, wherein the operating unit further has a manual operation button that transmits a manual operation signal for moving the crane by manual operation, and the drive control unit controls the drive source based on the manual operation signal when the signal reception setting unit is set to a state in which it is unable to receive the drive signal from the operation support control unit. [Effects of the Invention]

[0015] According to the present invention, the crane automatically moves to a position outside the shaft opening just before the unloading location and stops, giving the crane operator an opportunity to check the safety of the area below the shaft opening. Therefore, the operator can perform a safety check and then resume the crane's movement. This prevents the crane from moving over the lower shaft opening while people are standing near the unloading location inside the shaft, thereby increasing safety. Furthermore, since the operator can concentrate on driving the crane while it is moving to just before the shaft opening, the burden of operation is reduced.

[0016] In addition, the operation support control unit sends a stop signal to the drive control unit when the shaft forward movement button is switched to the off position, even before the current position reaches the outside of the shaft opening. Therefore, even while the crane is moving to the outside of the shaft opening, the operator can stop the crane at any time by switching the shaft forward movement button to the off position.

[0017] In addition, the system further includes a loading position setting unit for setting the loading position within the shaft, and the operation unit further has a loading button for lowering the load in the shaft. When the loading button for lowering the load in the shaft is pressed, the operation support control unit sends a drive signal to the drive control unit and determines whether the current position has reached the loading position. If it determines that the current position has reached the loading position, it sends a stop signal to the drive control unit, so that the crane automatically moves to the loading position and stops, thereby reducing the burden on the operator's work.

[0018] In addition, since the shaft forward movement button and the shaft downward load release button are not located adjacent to each other, the operator must release the shaft forward movement button, confirm the location of the shaft downward load release button, and then press the shaft downward load release button. This prevents the operator from pressing the shaft forward movement button and the shaft downward load release button consecutively due to familiarity. This promotes checking for safety inside the shaft.

[0019] In addition, the driver assistance control unit sends a stop signal to the drive control unit when the shaft lowering load button is switched to the off position, even before the current position reaches the unloading position. Therefore, even while the crane is moving towards the unloading position, the operator can stop the crane at any time by switching the shaft lowering load button to the off position.

[0020] In addition, the system further includes a shaft monitoring unit that transmits a non-evacuation signal to the operation support control unit indicating that no one has evacuated from the shaft. When the operation support control unit receives the non-evacuation signal transmitted from the shaft monitoring unit, it does not transmit the drive signal to the drive control unit, even if the shaft lowering load button is in the ON position. This prevents the operator from accidentally moving the crane above the shaft opening even if someone is inside the shaft.

[0021] In addition, the drive control unit further includes a signal reception setting unit that can either accept signals from the driver assistance control unit or reject them, thereby enabling the automatic operation to be canceled.

[0022] In addition, the control unit further has a manual operation button that emits a manual operation signal for moving the crane by manual operation, and the drive control unit controls the drive source based on the manual operation signal when the signal reception setting unit is set to a state where it cannot receive drive signals from the operation support control unit, so that manual operation based on normal manual operation signals can be performed. [Brief explanation of the drawing]

[0023] [Figure 1] It is a perspective view showing an example of the schematic structure of a crane according to an embodiment of the present invention. [Figure 2] It is a diagram showing an example of an operation unit according to an embodiment of the present invention. [Figure 3] It is a block diagram of a crane control system according to an embodiment of the present invention. [Figure 4] It is a diagram for explaining an example of the operation of a crane according to an embodiment of the present invention. [Figure 5] It is a diagram for explaining an example of the operation of a crane according to an embodiment of the present invention. [Figure 6] It is a diagram for explaining an example of the operation of a crane according to an embodiment of the present invention. [Figure 7] It is a flowchart showing an example of the flow of processing executed by a crane control system according to an embodiment of the present invention. [Figure 8] It is a flowchart showing an example of the flow of the shaft advance movement process according to an embodiment of the present invention. [Figure 9] It is a flowchart showing an example of the flow of the shaft unloading process according to an embodiment of the present invention. [Figure 10] It is a diagram showing an example of a monitoring device for monitoring inside the shaft according to an embodiment of the present invention. [Figure 11] It is a block diagram showing an example of the function of a crane control system having a shaft monitoring unit according to an embodiment of the present invention. [Figure 12] It is a diagram showing an example of an operation unit according to an embodiment of the present invention.

Embodiments for Carrying Out the Invention

[0024] Hereinafter, embodiments of the present invention will be described with reference to the drawings and the like. Needless to say, the present invention is not limited to the embodiments.

[0025] ]>A crane control system is a system that controls cranes used to transport materials. The crane is, for example, a so-called overhead traveling crane installed at a shield tunneling site, and is used to transport materials from the loading point on the ground to the unloading point at the bottom of the shaft. The materials are, for example, tunnel lining segments.

[0026] Figure 1 is a perspective view showing an example of the schematic structure of a crane. Crane 1 comprises a pair of traveling rails 11, a crane girder 12, and a hoisting section 13.

[0027] The pair of running rails 11 are components that support the crane girder 12 and allow it to run smoothly. The pair of running rails 11 are supported, for example, by multiple support columns (not shown) that make up a soundproof house, and are arranged parallel to each other.

[0028] The crane girder 12 is a component that is erected on a pair of running rails 11 and travels along the running rails 11. The direction in which the crane girder 12 travels along the running rails 11 is called the travel direction.

[0029] The hoisting section 13 is a member that is supported by the crane girder 12 and travels along the crane girder 12. The direction in which the hoisting section 13 travels along the crane girder 12 is called the traverse direction.

[0030] The hoisting unit 13 is a so-called hoisting machine that raises and lowers a wire 132 to which a hook 131 is attached at its end. This allows for the lifting or lowering of materials M that are directly or indirectly attached to the hook 131. The hoisting unit 13 may also raise and lower a chain instead of the wire 132.

[0031] Each running rail 11 is positioned opposite the lifting position A, the unloading position B, and the position outside the shaft opening C. In other words, in a plan view of the crane 1, the lifting position A, the unloading position B, and the position outside the shaft opening C are located between one running rail 11 and the other running rail 11 of the pair of running rails 11, and the lifting position A, the unloading position B, and the position outside the shaft opening C are sequentially located between one end and the other end of each running rail 11.

[0032] The lifting position A is the position where the hoisting unit 13, which has lifted the material M in the operation support mode described later, begins to move toward the outside position C of the shaft opening. The lifting position A may be, for example, the position where the material M has been lifted from the ground. Alternatively, it may be the position after it has been moved to an arbitrary position by manual operation after being lifted from the ground. The lifting position A may also be set taking into consideration the height (Z coordinate) and the position of the hook 131 of the hoisting unit 13.

[0033] Unloading position B is the position where the hoisting unit 13, which suspends the material M in the shaft during the operation support mode described later, begins to unload the material. Unloading position B may also be, for example, the position where the material M is released from the hook 131. Alternatively, unloading position B may be the position where the material M is released from the hook after being moved to an arbitrary position by manual operation from that position. Unloading position B is set, for example, taking into consideration the position of the hook 131 of the hoisting unit 13. Unloading position B is set in advance near the bottom of the shaft.

[0034] The external position C of the shaft opening is located between the loading position A and the unloading position B, and is the position where the operation of crane 1 is stopped in the operation support mode described later. The external position C of the shaft opening is set, for example, on the outside of the shaft opening K on the ground level.

[0035] A control panel 3 for controlling the crane 1 is installed on the crane girder 12. An operating unit 4 for operating the crane 1 is connected to the control panel 3 by wire. The control panel 3 controls the operation of the crane 1 based on signals from the operating unit 4. The operating unit 4 may also be connected wirelessly.

[0036] The control panel 3 is a device containing electrical and electronic equipment for controlling the crane 1. The control panel 3 includes, for example, a PLC (Programmable Logic Controller) and various relay boards. The relay boards operate based on signals received from the operating unit 4 and signals received from the PLC, and control the operation of the crane 1.

[0037] The control panel 3 may have hardware such as a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), and non-volatile memory. The control panel 3 may also be equipped with a communication device. If the control panel 3 has a communication device, it will communicate with a PC (Personal Computer) and a tablet terminal, etc.

[0038] Figure 2 shows an example of the control unit 4. The control unit 4 includes, for example, a power button 401, an automatic on button 402, an automatic off button 403, an up button 404, a down button 405, a west button 406, an east button 407, a north button 408, a south button 409, a shaft front movement button 410, a shaft bottom load down button 411, a reference height reset button 412, an alarm button 413, and a lighting button 414.

[0039] The power button 401 is used to turn on the power to the control unit 4. When the power button 401 is pressed, the power to the control unit 4 is turned on, and the other buttons on the control unit 4 become operational.

[0040] The automatic on button 402 is a button used to set the operating mode of the crane 1 to the operation support mode. When the automatic on button 402 is pressed, the control unit 4 emits a signal indicating that the automatic on button 402 has been pressed.

[0041] The automatic cut-off button 403 is a button used to set the operating mode of the crane 1 to manual operation mode. When the automatic cut-off button 403 is pressed, the control unit 4 emits a signal indicating that the automatic cut-off button 403 has been pressed.

[0042] The upper button 404 and the lower button 405 are buttons that move the position of the hook 131 upward and downward, respectively. In other words, the upper button 404 and the lower button 405 are buttons for winding up and winding down the wire 132 of the winding section 13, respectively. When the upper button 404 and the lower button 405 are pressed, the operating unit 4 emits a signal indicating that the upper button 404 and the lower button 405 have been pressed, respectively.

[0043] The West button 406, East button 407, North button 408, and South button 409 are buttons that move the position of the hoist section 13 to the west, east, north, and south, respectively. For example, if the running rail 11 extends in an east-west direction, pressing the West button 406 or East button 407 will cause the crane girder 12 to travel west or east. Also, if the crane girder 12 extends in a north-south direction, pressing the North button 408 or South button 409 will cause the hoist section 13 to travel north or south.

[0044] The up button 404, down button 405, west button 406, east button 407, north button 408, and south button 409 are called manual operation buttons. When each of the manual operation buttons is pressed, the control unit 4 emits a signal indicating that the respective manual operation button has been pressed. The manual operation buttons are used to operate the crane 1 in the manual operation mode described later.

[0045] The shaft-front movement button 410 is a button used in the operation support mode described later to automatically move the position of the crane 1 from the lifting position A to the position C outside the shaft opening. When the shaft-front movement button 410 is pressed, the operation unit 4 emits a signal indicating that the shaft-front movement button 410 has been pressed.

[0046] The shaft lowering load button 411 is a button that automatically moves the position of the crane 1 from position C outside the shaft opening to the load unloading position B. When the shaft lowering load button 411 is pressed, the operating unit 4 emits a signal indicating that the shaft lowering load button 411 has been pressed.

[0047] The reference height reset button 412 is a button for setting the origin position of the hook 131 attached to the end of the wire 132. When the reference height reset button 412 is pressed, the operating unit 4 emits a signal indicating that the reference height reset button 412 has been pressed. When the reference height reset button 412 is pressed, the wire 132 on the winding unit 13 is wound up to its limit position. This limit position is set as the origin position of the hook 131. After the origin position of the hook 131 has been set, the hook 131 may be wound down to its original height.

[0048] The alarm button 413 is a button for issuing an alarm. When the alarm button 413 is pressed, an alarm sound is emitted from a speaker (not shown) installed on the crane 1. The lighting button 414 is a button for turning on the lights. When the lighting button 414 is pressed, a light (not shown) installed on the upper part 13 of the winding mechanism illuminates the area below.

[0049] Figure 3 is a block diagram showing an example of the configuration and functions of a crane control system. Each function of the crane control system 2 is realized by electrical and electronic equipment mounted on the control panel 3 performing various processes and transmitting and receiving various signals based on operations on the operating unit 4.

[0050] The crane control system 2 includes a drive control unit 31, a current position detection unit 32, a shaft opening outside position setting unit 33, an operation support control unit 34, and a load unloading position setting unit 35. The crane control system 2 is connected to the drive source 14 and sensor 15 of the crane 1. The crane control system 2 is also connected to the input / output device 5 for communication. Speakers and lighting are not shown in the illustration.

[0051] The drive control unit 31 receives a drive signal and drives the drive source 14, and receives a stop signal and stops the drive source 14.

[0052] The drive source 14 includes multiple motors. These multiple motors are, for example, a travel motor 141, a traverse motor 142, and a winding motor 143.

[0053] The travel motor 141 is a motor that moves the crane girder 12 along the travel rail 11. The traverse motor 142 is a motor that moves the hoisting section 13 along the crane girder 12. The winding motor 143 is a motor that winds up or lowers the wire 132.

[0054] The drive control unit 31 controls the operation of at least one of the travel motor 141, the traverse motor 142, and the winding motor 143 in response to the received drive signal. In other words, the drive signal received by the drive control unit 31 is a signal to drive one of the travel motor 141, the traverse motor 142, or the winding motor 143.

[0055] The drive control unit 31 stops at least one of the travel motor 141, the traverse motor 142, and the winding motor 143 in response to the received stop signal. In other words, the stop signal received by the drive control unit 31 is a signal to stop one of the travel motor 141, the traverse motor 142, and the winding motor 143.

[0056] The current position detection unit 32 detects the current position of the crane 1. Here, the position of the crane 1 is the position of the hoisting unit 13 or the position of the hook 131. The current position detection unit 32 detects the current position of the crane 1 based on signals received from the sensors 15 of the crane 1. The sensors 15 include, for example, a travel sensor 151, a traverse sensor 152, and a winding sensor 153.

[0057] The travel sensor 151 is a sensor that detects the position of the crane girder 12 on the travel rail 11. The travel sensor 151 is, for example, a laser distance sensor. The laser distance sensor includes, for example, a laser transmitter, a laser receiver, and a mirror.

[0058] The laser transmitter is a device that emits laser light. The laser receiver is a device that receives laser light. The laser transmitter and laser receiver are installed, for example, on the crane girder 12. The mirror reflects the laser emitted from the laser transmitter. The mirror is installed, for example, on one end of the running rail 11. The laser light reflected by the mirror is received by the laser receiver. The laser distance sensor detects the position of the crane girder 12 on the running rail 11 based on the time from when the laser transmitter emits laser light until the laser receiver receives the laser light.

[0059] The traverse sensor 152 is a sensor that detects the position of the hoisting section 13 on the crane girder 12. The traverse sensor 152 is, for example, a laser distance sensor. If the traverse sensor 152 is a laser distance sensor, a laser transmitter and a laser receiver can be attached to the hoisting section 13, and a mirror can be attached to one end of the crane girder 12. This allows the position of the hoisting section 13 on the crane girder 12 to be detected.

[0060] The winding sensor 153 is a sensor that detects the position of the hook 131 relative to the winding section 13. The winding sensor 153 is, for example, a rotary encoder attached to a drum that winds up and unwinds the wire 132.

[0061] The current position detection unit 32 detects the position of the hoisting unit 13 relative to the ground based on the position information of the crane girder 12 relative to the traveling rail 11 detected by the traveling sensor 151, and the position information of the hoisting unit 13 relative to the crane girder 12 detected by the traverse sensor 152. Furthermore, the current position detection unit 32 detects the current position of the hook 131 relative to the ground based on the position information of the hook 131 relative to the hoisting unit 13 detected by the winding sensor 153.

[0062] When the travel direction is set to the X-axis, the traverse direction to the Y-axis, and the hoisting direction to the Z-axis, the current position of the hoisting unit 13 relative to the ground is represented by coordinate values ​​on the XY plane. The current position of the hook 131 is represented by coordinate values ​​in a three-axis orthogonal coordinate system.

[0063] The shaft opening outer position setting unit 33 sets the shaft opening outer position C, which is a position outside the shaft opening and located between the loading position A and the unloading position B, to stop the hoisting unit 13.

[0064] The shaft opening outer position setting unit 33 sets the shaft opening outer position C as, for example, X1 and Y1, based on coordinate values ​​of the XY plane input using the input / output device 5. The shaft opening outer position C is the position where the hoisting section 13 is stopped.

[0065] The input / output device 5 is, for example, a PC or a tablet terminal. By the input / output device 5 communicating with the communication device of the control panel 3, the shaft opening outer position setting unit 33 receives information about the shaft opening outer position C input to the input / output device 5 and sets the shaft opening outer position C.

[0066] Alternatively, the operator may move the hoisting section 13 to the position outside the shaft opening C and teach the position outside the shaft opening C. That is, the shaft opening outside position setting unit 33 may be moved to the shaft opening outside position C and set the shaft opening outside position C based on the current position of the hoisting section 13 detected by the current position detection unit 32.

[0067] The following describes the operation support mode. The operation support mode is a mode in which the crane 1 is automatically moved from the lifting position A to the outside position C of the shaft opening based on the operation of the control unit 4, and then the crane 1 is automatically moved from the outside position C of the shaft opening to the unloading position B.

[0068] In driver assistance mode, the drive control unit 31 controls the drive unit based on signals transmitted from the driver assistance control unit 34. In other words, the driver assistance mode is executed when the drive control unit 31 is in a state where it can receive signals from the driver assistance control unit 34.

[0069] In the driving support mode, while the shaft forward movement button 410 is pressed by the operator and in the ON state, the operation unit 4 sends a signal to the driving support control unit 34 indicating that the shaft forward movement button 410 has been pressed. When the operator's hand is removed from the shaft forward movement button 410 and the button is released and switched to the OFF state, the operation unit 4 sends a signal to the driving support control unit 34 indicating that the shaft forward movement button 410 is in the OFF state.

[0070] The operation support control unit 34 transmits a drive signal to the drive control unit 31 while it is receiving a signal from the operation unit 4 indicating that the shaft forward movement button 410 has been pressed. The operation support control unit 34 transmits a stop signal to the drive control unit 31 when it determines that the crane 1 has reached position C outside the shaft opening. The operation support control unit 34 transmits a stop signal to the drive control unit 31 when it receives a signal from the operation unit 4 indicating that the shaft forward movement button 410 is in the off state.

[0071] The operation support control unit 34, for example, first moves the hoisting section 13 along the crane girder 12 to position Y1 indicated by the Y coordinate of position C outside the shaft opening, and then moves the crane girder 12 along the running rail 11 to position X1 indicated by the X coordinate of position C outside the shaft opening.

[0072] In this case, the driving support control unit 34 first outputs a drive signal to the drive control unit 31 to drive the traverse motor 142 so that the hoisting section 13 reaches position Y1. As a result, the drive control unit 31 drives the traverse motor 142.

[0073] When the hoisting section 13 reaches position Y1 outside the shaft opening C, the operation support control unit 34 outputs a stop signal to the drive control unit 31 to stop the driving of the traverse motor 142. As a result, the drive control unit 31 stops the traverse motor 142 and stops the hoisting section 13 at position Y1 outside the shaft opening C.

[0074] Next, the driving support control unit 34 outputs a drive signal to the drive control unit 31 to drive the travel motor 141 so that the crane girder 12 reaches position X1. As a result, the drive control unit 31 drives the travel motor 141.

[0075] When the hoisting section 13 reaches position X1, which is outside the shaft opening (position C), the operation support control unit 34 outputs a stop signal to the drive control unit 31 to stop the drive of the travel motor 141. As a result, the drive control unit 31 stops the travel motor 141 and stops the hoisting section 13 at position X1, which is outside the shaft opening (position C).

[0076] Even if the current position of the hoisting section 13 and crane girder 12 has not yet reached position X1, Y1 outside the shaft opening C, the driving support control unit 34 transmits a stop signal to the drive control unit 31 in response to the shaft forward movement button 410 being switched to the off state. As a result, the drive control unit 31 stops the operation of the crane 1 at a position before the hoisting section 13 and crane girder 12 reach position X1, Y1 outside the shaft opening C.

[0077] The unloading position setting unit 35 sets the unloading position B inside the shaft.

[0078] The unloading position setting unit 35 sets the unloading position B, for example, as X2, Y2, and Z2, based on coordinate values ​​of a three-axis orthogonal coordinate system input using the input / output device 5.

[0079] The input / output device 5 is, for example, a PC or a tablet terminal. By the input / output device 5 communicating with the communication device of the control panel 3, the unloading position setting unit 35 receives information about the unloading position B input to the input / output device 5 and sets the unloading position B.

[0080] Alternatively, the operator may move the hoisting section 13 and the hook 131 to the unloading position B and indicate the unloading position B. That is, the unloading position setting unit 35 may be moved to the unloading position B and set the unloading position B based on the current positions of the hoisting section 13 and the hook 131 detected by the current position detection unit 32.

[0081] The driving support control unit 34 transmits a drive signal to the drive control unit 31 while it is receiving a signal from the operation unit 4 indicating that the shaft lowering load button 411 has been pressed. When the driving support control unit 34 determines that the crane 1 has reached the unloading position B, it transmits a stop signal to the drive control unit 31. When the driving support control unit 34 receives a signal from the operation unit 4 indicating that the shaft lowering load button 411 is in the off position, it transmits a stop signal to the drive control unit 31. Before performing these operations, it is also possible to set conditions such as the current position of crane 1 being at position C outside the shaft opening, or the current position of crane 1 being between position C outside the shaft opening and the unloading position B.

[0082] The driving support control unit 34, for example, first moves the crane girder 12 along the travel rail 11 to position X2 indicated by the X coordinate of the unloading position B, then moves the hoisting unit 13 along the crane girder 12 to position Y2 indicated by the Y coordinate of the unloading position B, and then lowers the hook 131 of the hoisting unit 13 to position Z2 indicated by the Z coordinate of the unloading position B.

[0083] In this case, the driving support control unit 34 first outputs a drive signal to the drive control unit 31 to drive the travel motor 141 so that the crane girder 12 reaches position X2. As a result, the drive control unit 31 drives the travel motor 141.

[0084] When the crane girder 12 reaches position X2 of unloading position B, the driving support control unit 34 outputs a stop signal to the drive control unit 31 to stop the drive of the travel motor 141. As a result, the drive control unit 31 stops the travel motor 141 and stops the crane girder 12 at position X2 of unloading position B.

[0085] Next, the driving support control unit 34 outputs a drive signal to the drive control unit 31 to drive the traverse motor 142 so that the hoisting section 13 reaches position Y2. As a result, the drive control unit 31 drives the traverse motor 142.

[0086] When the hoisting unit 13 reaches Y2 of the unloading position B, the driving support control unit 34 outputs a stop signal to the drive control unit 31 to stop the driving of the traverse motor 142. As a result, the drive control unit 31 stops the traverse motor 142 and stops the hoisting unit 13 at position Y2 of the unloading position B.

[0087] Next, the driving support control unit 34 outputs a drive signal to the drive control unit 31 to drive the winding motor 143 so that the hook 131 of the winding section 13 reaches position Z2. As a result, the drive control unit 31 drives the winding motor 143.

[0088] When the hook 131 of the hoisting unit 13 reaches position Z2 of the unloading position B, the driving support control unit 34 outputs a stop signal to the drive control unit 31 to stop the drive of the winding motor 143. As a result, the drive control unit 31 stops the winding motor 143 and stops the hook 131 of the hoisting unit 13 at position Z2 of the unloading position B.

[0089] The driving support control unit 34 transmits a stop signal to the drive control unit 31 when the shaft lowering load button 411 is switched to the off state, even if the current positions of the hoisting unit 13, crane girder 12, and hook 131 have not yet reached the unloading positions B (X2, Y2, Z2). As a result, the drive control unit 31 stops the operation of the crane 1 at a position before the hoisting unit 13 reaches the unloading positions B (X2, Y2, Z2).

[0090] Next, the manual operation mode will be explained. The manual operation mode is a mode in which the crane 1 is operated based on the operation of the manual operation buttons on the control unit 4.

[0091] In manual operation mode, the drive control unit 31 controls the drive unit based on the manual operation signal transmitted when the manual operation button on the operation unit 4 is pressed. In other words, manual operation mode is performed when the drive control unit 31 is in a state where it can directly receive signals from the operation unit 4.

[0092] The drive control unit 31 has a signal reception and setting unit 311. The signal reception setting unit 311 sets the drive control unit 31 to either a state where it can receive signals from the driving support control unit 34, or a state where it cannot receive signals. The driving assistance mode can be described as a state in which the drive control unit 31 is set by the signal reception setting unit 311 to be able to receive signals from the driving assistance control unit 34. Conversely, the manual driving mode can be described as a state in which the drive control unit 31 is set by the signal reception setting unit 311 to be unable to receive signals from the driving assistance control unit 34.

[0093] When the signal reception setting unit 311 is set to a state where it can receive signals from the driver assistance control unit 34, the drive control unit 31 receives signals from the driver assistance control unit 34 but does not receive manual operation signals. Therefore, the drive control unit 31 does not control the drive source 14 by pressing the operator's manual operation buttons. Instead, the drive control unit 31 controls the drive source 14 based on a drive signal, such as when the operator presses the shaft forward movement button 410 or the shaft lowering load button 411, based on a signal from the operation support control unit 34.

[0094] If the signal reception setting unit 311 is set to a state where it cannot receive signals from the driver assistance control unit 34, the drive control unit 31 will not receive signals from the driver assistance control unit 34 and will instead receive manual operation signals. Therefore, even if the operation support control unit 34 sends a drive signal to the drive control unit 31 in response to the operator pressing the shaft forward movement button 410 or the shaft lowering load button 411, the drive control unit 31 does not drive the drive source 14, and the drive control unit 31 controls the drive source 14 in response to the operator pressing a manual operation button.

[0095] Next, we will describe an example of the operation of crane 1. Figures 4 to 6 illustrate an example of the operation of crane 1.

[0096] When transporting materials M, which have been temporarily placed on the ground, to the bottom of the shaft, the power button 401 of the control unit 4 is first pressed (see Figure 4). This turns on the power to the control unit 4. In this initial state, the automatic shut-off button 403 is pressed, meaning that the drive control unit 31 is set to be unable to receive signals from the driving support control unit 34 by the signal reception setting unit 311, and the system is set to manual operation mode.

[0097] Next, the reference height reset button 412 is pressed (see Figure 4). This causes the hook 131 to be wound up to its limit position, and the Z-axis origin of the hook 131's position is set. Once the origin is set, the hook 131 is wound down to its original position. This reference height reset button 412 is provided to allow manual setting of the Z-axis origin of the position of the hook 131.

[0098] Next, the manual operation buttons for the upper button 404, lower button 405, west button 406, east button 407, north button 408, and south button 409 are operated (see Figure 4), and the upper hoist 13 moves to the position where the material M is placed. At this point, the segment grab for lifting the material M is attached to the hook 131, and the lifting is performed. The crane 1 is positioned at the lifting position A.

[0099] Next, the automatic on button 402 is pressed (see Figure 4). This sets the driving mode to the driver assistance mode.

[0100] Next, the shaft front movement button 410 is pressed (see Figure 5). This moves the crane 1 to position C outside the shaft opening. Specifically, the hoisting section 13 moves to positions X1 and Y1 outside position C of the shaft opening.

[0101] Crane 1 moves toward the outer position C of the shaft opening only while the shaft forward movement button 410 is pressed. If the shaft forward movement button 410 is released before crane 1 reaches the outer position C of the shaft opening, crane 1 stops moving. When crane 1 reaches the outer position C of the shaft opening, crane 1 stops. Once crane 1 reaches the outer position C of the shaft opening, the hoisting section 13 will not move even if the shaft forward movement button 410 is pressed.

[0102] This action allows the operator to check whether or not there is a person inside the shaft. If a person is found inside the shaft, an evacuation order will be issued using a prescribed method. Furthermore, notification units may be provided on the crane 1 or the control unit 4, etc., to notify the operator to confirm safety based on the fact that the crane 1 has reached position C outside the shaft opening.

[0103] After safety checks are performed, the shaft lowering button 411 is pressed (see Figure 6). This causes the crane 1 to move to the unloading position B. Specifically, the hoisting section 13 moves to positions X2 and Y2 at unloading position B, and then the hook 131 moves to position Z2 at unloading position B. Once the crane 1 reaches unloading position B, its movement stops.

[0104] When crane 1 reaches the unloading position B, the automatic shut-off button 403 is pressed (see Figure 6). This switches the operating mode from driver assistance mode to manual operation mode, and the unloading of materials M is completed.

[0105] Next, we will describe the processes performed by the crane control system 2.

[0106] Figure 7 is a flowchart showing an example of the processing flow performed by the crane control system 2. First, when the power to the control panel 3 is turned on, the drive control unit 31 sets the operating mode to manual operation mode (step S1).

[0107] Next, when the drive control unit 31 receives a signal from the operation unit 4 indicating that the reference height reset button 412 has been pressed, it sets the origin of the position of the hook 131 (step S2).

[0108] Next, when the drive control unit 31 receives a signal from the operation unit 4 indicating that the manual operation button has been pressed, it drives the drive source 14 (step S3). At this time, the operator moves the hoisting unit 13 to the lifting position A by operating the manual operation button. Furthermore, the operator attaches the segment grab for lifting the material M to the hook 131 and performs a ground lift. In other words, the signal received by the drive control unit 31 is a signal to move the hoisting unit 13 and the hook 131 to the lifting position A.

[0109] Next, the drive control unit 31 determines whether or not it has received a signal indicating that the automatic on button 402 has been pressed (step S4). If it has not received a signal indicating that the automatic on button 402 has been pressed (the answer is No in step S4), the drive control unit 31 waits until it receives a signal indicating that the automatic on button 402 has been pressed.

[0110] If a signal is received indicating that the automatic on button 402 has been pressed (if the answer is Yes in step S4), the drive control unit 31 sets the driving mode to the driving assistance mode (step S5).

[0111] Next, the operation support control unit 34 determines whether the current position of the hoisting section 13 is outside the shaft opening (step S6).

[0112] If the current position of the hoisting unit 13 is inside the shaft opening (if No in step S6), it is necessary to move the hoisting unit 13 to the lifting position A in manual operation mode. In this case, the drive control unit 31 waits until it receives a signal indicating that the automatic cut-off button 403 has been pressed (if No in step S9), and when it receives a signal indicating that the automatic cut-off button 403 has been pressed (if Yes in step S9), it sets the operation mode to manual operation mode and terminates the process. In this case, the operator moves the hoisting machine to the outside of the shaft opening using the manual operation button and starts the work from the beginning.

[0113] If the current position of the upper part 13 of the hoist is outside the shaft opening (if the answer is Yes in step S6), the shaft front movement process is performed (step S7).

[0114] Figure 8 is a flowchart showing an example of the shaft front movement process. The shaft front movement process continues only while a signal indicating that the shaft front movement button 410 has been pressed is received.

[0115] In the shaft forward movement process, first, when the operation support control unit 34 receives a signal indicating that the shaft forward movement button 410 has been pressed, it sends a drive signal to the drive control unit 31 to wind up the wire 132. As a result, the drive control unit 31 drives the winding motor 143 and starts winding up the wire 132 (step SA1). This is the same operation as when the reference height reset button 412 is pressed, and it sets the Z-direction origin of the position of the hook 131.

[0116] Next, the driving support control unit 34 determines whether the wire 132 has been wound up to its limit position (step SA2). If the wire 132 has not yet been wound up to its limit position (the answer is No in step SA2), the drive control unit 31 continues winding up the wire 132.

[0117] When the wire 132 is wound up to its limit position (if Yes in step SA2), the driving support control unit 34 reads and recognizes the current position (X, Y, Z) from the current position detection unit 32, the shaft opening outside position C (X1, Y1) from the shaft opening outside position setting unit 33, and the unloading position B (X2, Y2, Z2) from the unloading position setting unit 35.

[0118] The operation support control unit 34 transmits a drive signal to the drive control unit 31 to move the hoisting section 13 in the traverse direction (Y-axis direction) (step SA3). Here, the traverse direction is the direction along the crane girder 12 and toward the outer position C of the shaft opening.

[0119] Next, the operation support control unit 34 determines whether the current position (Y) of the hoisting section 13 has reached position Y1, the position C outside the shaft opening (step SA4). If the hoisting section 13 has not yet reached position Y1, the position C outside the shaft opening (the answer is No in step SA4), the operation support control unit 34 continues to send a drive signal to move the hoisting section 13 toward position Y1, the position C outside the shaft opening.

[0120] When the hoisting section 13 reaches position Y1 outside the shaft opening C, the operation support control unit 34 sends a stop signal to the drive control unit 31 to stop moving the hoisting section 13 in the traverse direction, and sends a drive signal to the drive control unit 31 to move the hoisting section 13 in the travel direction (X-axis direction). Here, the travel direction is the direction along the travel rail 11 and toward position C outside the shaft opening.

[0121] Next, the operation support control unit 34 determines whether the current position (X) of the hoisting section 13 has reached position X1, the position C outside the shaft opening (step SA6). If the hoisting section 13 has not yet reached position X1, the position C outside the shaft opening (the answer is No in step SA6), the operation support control unit 34 continues to send a drive signal to move the hoisting section 13 toward position X1, the position C outside the shaft opening.

[0122] If the hoisting unit 13 is determined to have reached position X1 outside the shaft opening C (if Yes in step SA6), the operation support control unit 34 sends a stop signal to the drive control unit 31 to stop moving the hoisting unit 13 in the travel direction, and the shaft front movement process ends.

[0123] Now, let's return to the explanation of Figure 7. Once the shaft front movement process is complete, the shaft bottom load unloading process is performed (step S8). Furthermore, before performing the unloading process at the bottom of the shaft, it is also possible to make a determination of suitability, such as whether the current position of crane 1 is at position C outside the shaft opening, or whether the current position of crane 1 is between position C outside the shaft opening and position B, before starting the unloading process at the bottom of the shaft.

[0124] Figure 9 is a flowchart showing an example of the shaft lowering process. The shaft lowering process continues only while a signal is received indicating that the shaft lowering button 411 has been pressed.

[0125] In the shaft lowering load unloading process, first, when the operation support control unit 34 receives a signal indicating that the shaft lowering load unloading button 411 has been pressed, it sends a drive signal to the drive control unit 31 to move the hoisting unit 13 in the direction of travel. Here, the direction of travel is the direction along the travel rail 11 and the direction toward the unloading position B. As a result, the drive control unit 31 drives the travel motor 141 and moves the hoisting unit 13 in the direction of travel (step SB1).

[0126] Next, the driving support control unit 34 determines whether the current position (X) of the hoisting unit 13 has reached the position X2 of the unloading position B (step SB2). If the hoisting unit 13 has not yet reached the position X2 of the unloading position B (the answer is No in step SB2), the driving support control unit 34 continues to send a drive signal to move the hoisting unit 13 toward the position X2 of the unloading position B.

[0127] When the hoisting unit 13 reaches position X2 of the unloading position B (if Yes in SB2), the driving support control unit 34 sends a stop signal to the drive control unit 31 to stop moving the hoisting unit 13 in the travel direction, and sends a drive signal to move the hoisting unit 13 in the traverse direction (Y-axis direction). Here, the traverse direction is the direction along the crane girder 12 and the direction toward the unloading position B.

[0128] Next, the driving support control unit 34 determines whether the current position (Y) of the hoisting unit 13 has reached position Y2 of the unloading position B (step SB4). If the hoisting unit 13 has not yet reached position Y2 of the unloading position B (the answer is No in step SB4), the driving support control unit 34 continues to send a drive signal to move the hoisting unit 13 toward position Y2 of the unloading position B.

[0129] When the hoisting unit 13 reaches position Y2 of the unloading position B, the driving support control unit 34 sends a stop signal to the drive control unit 31 to stop moving the hoisting unit 13 in the lateral direction, and sends a drive signal to the drive control unit 31 to lower the wire 132. As a result, the drive control unit 31 controls the winding motor 143 and starts lowering the wire 132 (step SB5).

[0130] Next, the driving support control unit 34 determines whether the current position (Z) of the hook 131 has reached position Z2 of the unloading position B (step SB6). If the hook 131 has not yet reached position Z2 of the unloading position B (the answer is No in step SB6), the driving support control unit 34 continues to transmit a drive signal to lower the wire 132.

[0131] When the hook 131 reaches position Z2 of the unloading position B (if Yes in step SB6), the driving support control unit 34 sends a stop signal to the drive control unit 31 to stop lowering the wire 132, and the shaft unloading process is completed.

[0132] Now, let's return to the explanation of Figure 7.

[0133] When the shaft lowering process is completed, the drive control unit 31 determines whether or not it has received a signal indicating that the automatic shut-off button 403 has been pressed (step S9). If it has not received a signal indicating that the automatic shut-off button 403 has been pressed (the answer is No in step S9), the drive control unit 31 waits until it receives a signal indicating that the automatic shut-off button 403 has been pressed.

[0134] When the drive control unit 31 receives a signal indicating that the automatic shut-off button 403 has been pressed (if the answer is Yes in step S9), it sets the operating mode to manual operation mode (step S10) and terminates the process. Subsequently, the operator operates the manual operation buttons to perform the subsequent operations, such as unloading the materials M.

[0135] As described above, the crane control system 2 of the present invention is a crane control system 2 for a crane 1 that transports materials from a loading position A outside the shaft opening K to a loading position B inside the shaft by driving a drive source 14, and comprises a drive control unit 31 that receives a drive signal and drives the drive source 14 and receives a stop signal and stops the drive source 14, an operation unit 4 having a shaft forward movement button 410, a current position detection unit 32 that detects the current position of the crane 1, a shaft opening outside position setting unit 33 that sets a position outside the shaft opening K, which is between the loading position A and the loading position B, as the shaft opening outside position C where the crane 1 is stopped, and an operation support control unit 34 that transmits a drive signal to the drive control unit 31 when the shaft forward movement button 410 is in the ON state, determines whether the current position has reached the shaft opening outside position C, and transmits a stop signal to the drive control unit 31 when it is determined that the current position has reached the shaft opening outside position C.

[0136] Therefore, since crane 1 automatically moves to position C outside the shaft opening, just before the unloading position B, and stops, it gives the operator of crane 1 an opportunity to check the safety below the shaft opening K. Thus, the operator can perform the safety check and then resume the movement of crane 1. This prevents the crane from moving over the shaft opening K while people are standing near the unloading position B inside the shaft, thereby increasing safety. Furthermore, since the operator can concentrate on driving the crane while it is traveling to just before the shaft opening K, the burden of operation is reduced.

[0137] Furthermore, even before the current position of the crane 1 reaches position C outside the shaft opening, the driving support control unit 34 transmits a stop signal to the drive control unit 31 in response to the shaft forward movement button 410 being switched to the off state.

[0138] Therefore, even while the crane 1 is moving to position C outside the shaft opening, the operator can stop the crane 1 at any time by switching the shaft forward movement button 410 to the off position.

[0139] Furthermore, the system includes a loading position setting unit 35 for setting the loading position B inside the shaft, and the operation unit 4 further has a loading button 411 for loading down the shaft. The operation support control unit 34 transmits a drive signal to the drive control unit 31 when the loading button 411 is pressed, and determines whether the current position has reached loading position B. If it determines that the current position has reached loading position B, it transmits a stop signal to the drive control unit 31.

[0140] Therefore, since crane 1 automatically moves to the unloading position B and stops, the burden on the operator's work is reduced.

[0141] Furthermore, even before the current position reaches the unloading position B, the driver assistance control unit 34 transmits a stop signal to the drive control unit 31 in response to the shaft lowering load button 411 being switched to the off state.

[0142] Therefore, even when the crane 1 is moving to the unloading position B while transporting materials M inside the shaft, the operator can stop the crane 1 at any time by switching the shaft lowering button 411 to the off position.

[0143] Furthermore, the drive control unit 31 includes a signal reception setting unit 311 that sets the system to either a state where it can receive signals from the driving support control unit 34, or a state where it cannot receive signals. Therefore, automatic operation can be canceled. In addition, if the drive control unit 31 is unable to receive drive signals from the driving support control unit 34, the crane 1 will not be moved even if the manual operation button is accidentally pressed.

[0144] Furthermore, the operation unit 4 has a manual operation button that emits a manual operation signal for moving the crane 1 by manual operation, and the drive control unit 31 controls the drive source 14 based on the manual operation signal when the signal reception setting unit 311 is set to a state where it cannot receive drive signals from the driving support control unit 34. Therefore, like a typical crane, it can be operated manually based on normal manual operation signals.

[0145] In the embodiment described above, the operator visually confirmed whether or not there were people inside the shaft. However, the crane control system 2 may also be equipped with a monitoring device to monitor the inside of the shaft, as described below.

[0146] Figure 10 shows an example of a monitoring device for monitoring the inside of a shaft. The monitoring device 6 includes, for example, a shaft camera 61, an entry detection camera 62, a human presence sensor 63, a camera monitor 64, and a warning light 65.

[0147] The shaft camera 61, entry detection camera 62, motion sensor 63, camera monitor 64, and warning light 65 are each connected to the shaft monitoring unit 36 ​​by wire or wireless connection.

[0148] The shaft camera 61 is a camera that monitors the entire shaft. The shaft camera 61 is, for example, a CCD (Charge Coupled Device) camera.

[0149] The intrusion detection camera 62 is a camera that monitors the bottom of the shaft. The intrusion detection camera 62 is used to detect when a person enters the bottom of the shaft. The intrusion detection camera 62 is, for example, a CCD camera.

[0150] The motion sensor 63 is a sensor for detecting people. The motion sensor 63 is used to detect when a person enters the bottom of a shaft. The motion sensor 63 is, for example, an infrared sensor.

[0151] The camera monitor 64 is a monitor that displays images captured by the shaft camera 61 and the entry detection camera 62. The camera monitor 64 is, for example, an LCD (Liquid Crystal Display).

[0152] The warning light 65 is a notification device that alerts to danger when a person is detected by any of the shaft camera 61, entry detection camera 62, or motion sensor 63. The warning light 65 is, for example, a rotating light.

[0153] The shaft monitoring unit 36 ​​is connected to a shaft camera 61, an intrusion detection camera 62, a motion sensor 63, a camera monitor 64, and a warning light 65, and transmits a non-evacuation signal when at least one of these devices detects that a person has entered the shaft.

[0154] When the crane control system 2 is connected to the monitoring device 6, the crane control system 2 includes a shaft monitoring unit 36.

[0155] Figure 11 is a block diagram showing an example of the functions of a crane control system 2 having a shaft monitoring unit. The crane control system 2 shown in Figure 11 includes a shaft monitoring unit 36 ​​in addition to the functions of the crane control system 2 shown in Figure 3.

[0156] The shaft monitoring unit 36 ​​is connected to the shaft camera 61, the entry detection camera 62, the motion sensor 63, the camera monitor 64, and the warning light 65.

[0157] The shaft monitoring unit 36 ​​receives image data from the shaft camera 61 and the entry detection camera 62. The shaft monitoring unit 36 ​​may store this image data in a predetermined storage unit.

[0158] Based on the image data received from the shaft camera 61 and the entry detection camera 62, the shaft monitoring unit 36 ​​displays the images captured by the shaft camera 61 and the entry detection camera 62 on the camera monitor 64.

[0159] Furthermore, the shaft monitoring unit 36 ​​detects from images captured by the shaft camera 61 and the intrusion detection camera 62 whether a person has entered the shaft or whether a person has evacuated from the shaft.

[0160] Furthermore, the shaft monitoring unit 36 ​​receives a signal output from the motion sensor 63. The signal output from the motion sensor 63 indicates that a person has been detected by the motion sensor 63. As a result, the shaft monitoring unit 36 ​​detects that a person has entered the shaft or that no one has evacuated from the shaft.

[0161] If it is detected that no one has evacuated from the shaft, the shaft monitoring unit 36 ​​transmits a non-evacuation signal to the operation support control unit 34, indicating that no one has evacuated from the shaft.

[0162] When the operation support control unit 34 receives a non-evacuation signal transmitted from the shaft monitoring unit 36, it does not transmit a drive signal to the drive control unit 31, even if the shaft lowering load button 411 is in the ON position. As a result, if a person is detected by the monitoring device 6, the movement of the crane 1 can be stopped even if the shaft lowering load button 411 is pressed in operation support mode.

[0163] In this embodiment, the shaft monitoring unit 36 ​​is included in the control panel 3, but it may be provided separately. For example, it may be installed near the shaft opening as the control unit of the shaft monitoring system and transmit a non-evacuation signal to the operation support control unit 34. Alternatively, a separate operation button may be provided on the control unit 4 to allow switching the settings so that the above operation based on the non-evacuation signal from the shaft monitoring system does not occur.

[0164] In this embodiment, crane 1 was used in shield tunneling, but it is not limited to this; any crane used to transport materials into a shaft is acceptable, and it may be applied to tunneling work, for example.

[0165] In this embodiment, the material M transported by the crane 1 is a lining segment, but it may be other materials.

[0166] In this embodiment, the crane was an overhead traveling crane, but it is not limited to this, and other types such as gantry cranes or jib cranes may also be used.

[0167] In this embodiment, the winding and unwinding distances of the wire 132 are detected by a rotary encoder. However, the unwinding can also be stopped by detecting the tip of the wire 132 with a sensor, and the winding of the wire 132 can be stopped by a limit switch or the like.

[0168] In this embodiment, laser distance sensors are used as the travel sensor 151 and the traverse sensor 152. However, the travel sensor 151 and the traverse sensor 152 are not limited to these, and the positions of the crane girder 12 and the hoisting section 13 may be detected using a camera or the like.

[0169] In this embodiment, the movement to the set position was controlled in the order of traverse, travel, and lowering directions during the shaft-front movement process and shaft-bottom load lowering process. However, the order is not limited to these, and for example, the order may be changed, or the movement control may be performed simultaneously in parallel.

[0170] In this embodiment, the unloading position and the position outside the shaft opening were set using coordinate points, but it is also possible to set a certain range as an area and move within that area.

[0171] In this embodiment, positions in both the traverse and travel directions are set as the outer positions of the shaft opening, but it is also possible to set only one of them, for example, the travel direction, to stop the movement of the crane girder.

[0172] Furthermore, the arrangement of the buttons on the control unit 4 is not limited to the arrangement shown in Figure 2. For example, as shown in Figure 12, the shaft forward movement button 410 and the shaft down load button 411 may be placed at a certain distance apart, rather than adjacent to each other. In this example, the shaft forward movement button 410 is on the left and the shaft down load button 411 is on the right, but they are arranged with a gap of one row in the vertical direction. This requires the operator to release the shaft forward movement button 410, confirm the position of the shaft down load button 411, and then press the shaft down load button 411. This prevents the operator from neglecting to check for safety inside the shaft due to familiarity and continuously pressing the shaft forward movement button 410 and the shaft down load button 411. This encourages checking for safety inside the shaft and enhances safety when transporting materials M.

[0173] Each technical aspect of any embodiment may be applied to other embodiments to form examples. [Explanation of Symbols]

[0174] 1 Crane 11 Running Rails 12 Crane Girder Volume 13, top 131 Hooks 132 wires 14 Power source 141 Driving motor 142 Traverse motor 143 Rewinding motor 15 sensors 151 Driving Sensor 152 Traverse Sensor 153 Rewind Sensor 2. Crane control system 3. Control Panel 31 Drive control unit 311 Signal reception setting unit 32 Current position detection unit 33 Shaft opening outer position setting part 34. Driver Support Control Unit 35 Loading position setting section 36 Shaft Monitoring Department 4 Control section 401 Power button 402 Automatic On Button 403 Automatic shut-off button 404 Up button 405 Down button 406 West Button 407 East Button 408 North Button 409 South Button 410 Move button in front of the shaft 411 Shaft lowering load button 412 Standard High Reset Button 413 Alarm button 414 Lighting button 5 Input / Output Devices 6 Monitoring equipment 61. Camera inside the shaft 62 Intrusion Detection Cameras 63 motion sensors 64 Camera Monitor 65 Warning light A Unloading location B Unloading location C Shaft opening outer position M Materials K Shaft Opening

Claims

1. A crane control system for a crane that transports materials from a loading position outside the shaft opening to a loading position inside the shaft by being driven by a drive source, A drive control unit that receives a drive signal and drives the drive source, and receives a stop signal and stops the drive source, An operating unit having a button to move to the front of the shaft, A current position detection unit for detecting the current position of the crane, A shaft opening outside position setting unit sets a position between the loading position and the unloading position, which is outside the shaft opening, as the shaft opening outside position for stopping the crane. The system includes an operation support control unit that, when the shaft forward movement button is in the ON position, transmits the drive signal to the drive control unit, determines whether the current position has reached the position outside the shaft opening, and transmits the stop signal to the drive control unit if it determines that the current position has reached the position outside the shaft opening. A crane control system characterized by the following features.

2. The driving support control unit transmits a stop signal to the drive control unit in response to the shaft forward movement button being switched to the off state, even if the current position has not yet reached the position outside the shaft opening. The crane control system according to claim 1.

3. The system further includes a loading position setting unit for setting the loading position within the shaft, The aforementioned operating unit further includes a shaft lowering button, The driving support control unit transmits the drive signal to the drive control unit when the shaft lowering load button is in the ON position, and determines whether the current position has reached the load unloading position. If it determines that the current position has reached the load unloading position, it transmits the stop signal to the drive control unit. The crane control system according to claim 1 or 2, characterized by the above.

4. The crane control system according to claim 3, characterized in that the shaft front movement button and the shaft bottom load lowering button are not located adjacent to each other.

5. The driving support control unit transmits a stop signal to the drive control unit in response to the shaft lowering load button being switched to the off state, even if the current position has not yet reached the unloading position. The crane control system according to claim 3 or 4, characterized by the features described above.

6. The system further includes a shaft monitoring unit that transmits a non-evacuation signal to the operation support control unit indicating that no one has evacuated from the shaft, When the operation support control unit receives the non-retraction signal transmitted from the shaft monitoring unit, it will not transmit the drive signal to the drive control unit, even if the shaft lowering load button is in the ON position. A crane control system according to any one of claims 3 to 5, characterized by the features described herein.

7. The crane control system according to any one of claims 1 to 6, characterized in that the drive control unit further comprises a signal reception setting unit that sets the drive control unit to either a state in which it can receive signals from the driving support control unit or a state in which it cannot receive signals.

8. The control unit further includes a manual control button that emits a manual control signal for moving the crane by manual operation. The drive control unit controls the drive source based on the manual operation signal when the signal reception setting unit is set to a state where it cannot receive the drive signal from the driving support control unit. The crane control system according to feature 7.

Images