WO2020115956A1 - Crane and crane control method - Google Patents

Abstract

A highly safe crane is provided by reducing the braking distance while moderating load swings that occur when stopping the crane. The crane has a speed command generation unit that generates a movement speed command for a horizontal movement device, and a crane control unit that moves the horizontal movement device in accordance with the speed command. The speed command generation unit also generates a first speed pattern for performing deceleration from the time that a stop operation start signal is input, and a second speed pattern for performing acceleration/deceleration in a manner that cancels load swings that occur when the horizontal movement device is driven using the first speed pattern. Then, the horizontal movement device is driven using the first speed pattern and the second speed pattern.

Description

Crane and crane control method

The present invention relates to a crane for suspending and transporting luggage and a crane control method.

In recent years, due to the aging of skilled crane operators and the shortage of manpower due to an increase in the number of installed cranes, inexperienced unskilled operators are increasingly operating (operating) cranes. When a crane is operated by an unskilled worker, the position and height of obstacles are mistaken, the obstacles around the obstacles are overlooked, and the behavior of the crane is unpredictable, such as swinging of the suspended load. There is a risk of incorrect operation. Therefore, in the crane operation by an unskilled worker, the occurrence of accidents such as collision of a suspended load and an obstacle or being caught is likely to be higher than that in the crane operation by a skilled worker.

One of the measures to prevent accidents is to stop the crane quickly and safely. That is, it is desirable that the braking distance is short while suppressing the swinging of the load when stopped. If the crane is stopped rapidly, the trolley will travel a short braking distance before stopping, but a large load shake will occur. In order to reduce the load shake, the deceleration time may be lengthened or control for suppressing the load shake may be added, but in this case, although the load shake can be suppressed, there is a problem that the braking distance becomes long.
As a control method for stopping the crane while suppressing the shake of the load, for example, the technique of Patent Document 1 is disclosed.

Japanese Unexamined Patent Publication No. 8-324960

According to Patent Document 1, when starting a stopping operation of a crane, after a notch is closed or mechanical braking is performed once, the reverse notch is inserted or the machine is inserted once or a plurality of times at a timing half the swing period later. It is stated that the mechanical braking is performed, or the reverse notch is inserted once or a plurality of times or the mechanical braking is performed at a timing after ¼ of the swing cycle. This method puts the notch (triangular wave velocity pattern) into the notch more than once after deceleration due to notch or mechanical braking to suppress the shake of the load, but it does not surely stop with one operation, and as a result, We cannot expect a reduction in braking distance.

The present invention has been made in view of such a problem, and an object of the present invention is to provide a crane and a crane control method with higher safety that can shorten the braking distance while suppressing the shake of the load. And

In order to solve the above problems, the present invention cites, as an example, a hoisting machine that moves a hoisting load in the vertical direction by hoisting and lowering a rope, and the hoisting machine that has the hoisting machine. A crane having a horizontal moving device that moves in the horizontal direction, a speed command generating unit that generates a speed command for controlling the horizontal moving device, and a crane control unit that controls the speed of the horizontal moving device according to the speed command. The speed command generation unit drives the horizontal moving device by the first speed pattern that decelerates from the speed at the start of deceleration by the stop operation start signal to the first deceleration end speed, and by the first speed pattern. And a second speed pattern for performing acceleration/deceleration that cancels a load shake that occurs at the time, and the crane control unit controls the horizontal moving device according to the first speed pattern from the start of the deceleration, and From the time of deceleration to the deceleration end speed of 1, the crane controls the horizontal moving device according to the second speed pattern.

In addition, as another example of the present invention, a hoisting machine that vertically moves a suspended load by hoisting and lowering a rope, and a horizontal machine that has the hoisting machine and horizontally moves the suspended load. A method for controlling a crane, comprising: a moving device; a speed command generating unit that generates a speed command for controlling the horizontal moving device; and a crane control unit that controls the speed of the horizontal moving device according to the speed command. A first speed pattern for decelerating from a speed at the start of deceleration by a stop operation start signal to a first deceleration end speed, and a load shake generated when the horizontal moving device is driven by the first speed pattern. A second speed pattern for acceleration/deceleration is generated, the horizontal moving device is controlled by the first speed pattern from the start of deceleration, and the second speed pattern is started from the time of deceleration to the first deceleration end speed. Is a crane control method for controlling the horizontal moving device.

Note that here, the term "rope" is defined not only as a rope but also as a general tool that can be used for hanging loads such as chains, strings, ropes, belts, cables, and the like.

According to the present invention, since the shake of the load due to deceleration can be canceled by one acceleration/deceleration, the braking distance can be reduced while suppressing the shake of the load, and the safety of the crane can be improved.

FIG. 1 is a diagram showing a mechanism in an example of a crane to which the present invention is applied. FIG. 2 is a diagram showing the configuration of the crane according to the first embodiment of the present invention. FIG. 3 is a diagram showing a velocity pattern generated in the first embodiment. FIG. 4 is a diagram illustrating an operation example of the first embodiment. FIG. 5: is a figure which shows the structure of the crane of Example 2 in this invention. FIG. 6 is a diagram illustrating an operation example of the second embodiment. FIG. 7 is a diagram illustrating an operation example of the second embodiment. FIG. 8 is a diagram illustrating an operation example of the second embodiment. FIG. 9 is a diagram illustrating an operation example of the second embodiment. FIG. 10 is a diagram illustrating an operation example of the third embodiment. FIG. 11 is a diagram illustrating an operation example of the third embodiment. FIG. 12 is a diagram illustrating an operation example of the third embodiment. FIG. 13 is a diagram illustrating an operation example of the third embodiment. FIG. 14 is a diagram illustrating an operation example of the third embodiment. 15: is a figure which shows the structure of the crane of Example 4 in this invention.

Hereinafter, some embodiments of the crane according to the present invention will be described with reference to the drawings.
Here, the present invention is effective for all cranes that can move a suspended load (load suspended by a rope) in the horizontal direction. That is, the present invention is a technology that can be applied not only to a crane that traverses and travels a suspended load by a trolley (for example, an overhead crane) but also to a crane that traverses or travels only (for example, an unloader). Therefore, as used herein, the term "crane" includes all types of cranes that can move a load horizontally.

In addition, the load (hanging load) carried by the crane is carried by being hung by a rope, a chain, or the like, but in the present invention, any tool that can be used for hanging the load may be used. And so on. Therefore, as described above, the term "rope" is used herein as a general term for tools used for suspending loads. That is, the “rope” includes not only so-called ropes but also chains, belts, wires, cables, strings, ropes, and the like.

A crane according to the first embodiment of the present invention will be described with reference to FIGS. 1 to 4. In each figure, the same device (apparatus) is denoted by the same reference numeral, and in the following description of the drawings, description of the already-explained device may be omitted.

Figure 1 is a diagram showing the outline of the mechanism of an overhead crane. As described above, the present invention is not limited to the overhead crane.

In FIG. 1, a crane 1 includes a runway 2 provided along walls on both sides of a building (not shown), a girder 3 moving on an upper surface of the runway 2, and a trolley moving along a lower surface of the girder 3. 4 and. A hoist (not shown) is provided below the trolley 4. By using the hoist to wind or lower the rope 5, the hook 6 at the tip of the rope 5 can be moved up and down. The hook 6 suspends a suspended load 8 directly or through a wire 7, and the suspended load 8 moves up and down as the hook 6 moves up and down. That is, the crane 1 moves the suspended load 8 in the horizontal direction by moving the girder 3 in the horizontal direction (hereinafter, simply referred to as “traveling”) and moving the trolley 4 in the horizontal direction (hereinafter, simply referred to as “traverse”). In addition, the hoist can lift and lower the suspended load 8 in the vertical direction (vertical direction). In this embodiment, horizontal movement is performed by the traverse by the trolley 4 and the traveling by the girder 3. In FIG. 1, the trolley 4 and the girder 3 correspond to a horizontal moving device. Since the present invention relates to the operation of moving the suspended load in the horizontal direction, the following description regarding the first embodiment of the present invention will be focused on the operation of the horizontal movement by traversing and traveling. Therefore, in the following description of the embodiments, the movement of the suspended load refers to either the movement of the trolley 4 (transverse), the movement of the girder 3 (travel), or both.

FIG. 2 is a diagram showing the configuration of the crane according to the first embodiment of the present invention. In FIG. 2, the crane 1 traversed by the trolley 4 is shown for the sake of simplicity, and traveling by the girder 3 is omitted in the figure. Further, a drive unit such as a motor for moving the trolley 4 and the girder 3 is omitted.

In FIG. 2, reference numeral 10 denotes a speed command generation unit that generates a speed pattern or the like for controlling the horizontal movement device (girder 3 and trolley 4) to move the suspended load 8 to a target position. Here, a general-purpose computer is used. The example used is shown. Reference numeral 101 is an MPU (microprocessing unit) that executes arithmetic processing such as generation of a speed pattern using a built-in program, data, and the like. Reference numeral 102 is a memory that stores programs and data for the MPU 101 to operate (calculate). Reference numeral 103 denotes an input/output control unit for inputting data and signals from the outside and outputting signals processed by the MPU 101 to the outside. Reference numeral 104 is a bus for exchanging signals and data with each other among the constituent devices in the speed command generator 10. Reference numeral 12 is a crane controller. The crane control unit 12 inputs the speed pattern output from the speed command generation unit 10 and controls the horizontal movement (transverse) speed of the trolley 4. Although not shown in FIG. 2, the speed command generation unit 10 outputs a speed pattern that controls not only the trolley 4 but also the horizontal movement (travel) speed of the girder 3 when traveling control is performed. On the girder 3 side, the horizontal movement (travel) speed of the suspended load is controlled by this speed pattern. Further, the rope length L0, which is the output of a rope length detector (not shown), and the speed Vmax at the start of deceleration are also input from the speed detector (not shown) to the speed command generator 10. When the rope length L0 and the speed Vmax do not change, those data may be stored in the memory 102. In addition, 9 shows an obstacle. This obstacle 9 does not always exist in the middle of the transportation route of the suspended load, but it is assumed that there is a possibility that it may exist.

Next, the details of the control contents of the crane in Fig. 2 will be explained. In FIG. 2, when the operator instructs the moving direction of the suspended load by the operation input device 100, the speed command generating unit 10 generates a speed command for moving the girder 3 and the trolley 4 in the direction corresponding to the instructed moving direction. .. The crane controller drives the girder 3 and the trolley 4 according to the generated speed command to move the suspended load 8 in the horizontal direction (in this case, traverse).

When stopping the movement in the horizontal direction (transverse, running), the operator uses the operation input device 100 to instruct the speed command generation unit 10 to issue the stop operation start signal 11. For example, a push button corresponding to the moving direction is arranged in the operation input device 100, and when the moving is started, the button corresponding to the moving direction is pressed, and when the user wants to stop the operation, the button is released. It is configured to do. Then, when the push button of the operation input device 100 is released, the stop operation start signal 11 that triggers the start of the stop operation is input to the speed command generation unit 10. Alternatively, the stop operation start signal 11 may be input from a separately provided stop button or an external device.

FIG. 3 is a diagram of a speed pattern generated by the speed command generation unit 10 when the stop operation start signal 11 is input. When the stop operation start signal 11 is input, first, the first speed pattern for decelerating the girder/trolley speed from Vmax before stop to Vdmin in the time width T1 is generated. When the girder trolley is driven according to the first speed pattern, load swing of the suspended load occurs. A second speed pattern having a time width T2 in which the speed is accelerated from Vdmin to Vdmax and then decelerated (accelerated/decelerated) and stopped so as to cancel the load shake is generated. These speed patterns are calculated by the following relational expressions.

First, the transfer function P(s) from the speed command of the crane to the load shake amount is given by the following equation.
P(s)=-s/(s^2+wr^2)
Here, wr=2*π/Tc=sqrt(g/L) (Tc: pendulum cycle of suspended load, g: gravitational acceleration, L: distance from center of rotation of rope to center of gravity of suspended load). In this embodiment, the distance L from the center of rotation of the rope to the center of gravity of the suspended load is the rope length L0 plus the distance ΔL from the hook position to the center of gravity of the suspended load suspended by the wire. Ask for. The distance ΔL is stored in the memory 102 in advance.
When the first speed pattern is given by a function v1(t) related to time t, the load fluctuation x1(t) generated when the first speed pattern is input is V1(s) by Laplace transforming v1(t). And X1(s)=P(s)*V1(s) can be obtained by inverse Laplace transform, which is given by the following equation.
x1(t)=A1*sin(wr*t+θ1)

When the second speed pattern is given by a function v2(t) relating to time t, the load shake x2(t) generated when the second speed pattern is input is Laplace transformed from V2(t) to V2(s). And X2(s)=P(s)*V2(s) can be obtained by inverse Laplace transform, which is given by the following equation.
x2(t)=A2*sin(wr*t+θ2)
In order to cancel x1(t) with x2(t), the phases of x1(t) and x2(t) may be matched and the amplitudes may be canceled out.
θ1=θ2, A1=-A2
It should be satisfied. Since T1 and Vdmin are parameters determined by the performance of the girder trolley, T2 and Vdmax may be calculated from Vmax, wr, T1 and Vdmin when stopped.
When T1 is as small as possible and Vdmin is as close to 0 as possible, the effect of shortening the braking distance becomes large.

The first speed pattern is decelerated to a constant deceleration near 0, and the second speed pattern is a triangular wave. The amplitude A1 and the phase θ1 of the load shake that occurs when driving with the first speed pattern are as follows.
A1=2*Vmax*sin(T1*wr/2)/(T1*wr^2)
θ1=-T1*wr/2

Further, the amplitude A2 and the phase θ2 of the load shake generated when the driving is performed with the second speed pattern are as follows.
A2=-8*Vdmax*sin(T2*wr/4)^2/(T2*wr^2)
θ2=π/2-(T1+T2/2)*wr

In order to cancel out the two shakes, it is necessary to determine T2 and Vdmax so that θ1=θ2 and A1=−A2.
T2=π/wr-T1

Vdmax=(T2*wr^2)/(8*sin(T2*wr/4)^2)*Vmax

FIG. 4 is a diagram for explaining the operation of the first embodiment. From the top, (a) shows the trolley speed, (b) shows the suspended load position, and (c) shows the time course of the load shake amount. Time t0 indicates the start time of the stop operation (the output time point of the stop operation start signal 11). As can be seen from FIG. 4, by starting the deceleration at the start of the stop operation and then driving by the triangular wave speed command, the load shake caused by the deceleration is canceled by the triangular wave speed command, and the trolley stops and the subsequent shake of the load. It can be seen that is suppressed. Further, since the vehicle can be stopped by one triangular wave velocity command, the braking distance can be shortened as compared with the method of performing the operation a plurality of times.

As described above, according to the first embodiment, it is possible to cancel the load shake due to deceleration by one acceleration/deceleration, and it is possible to reduce the braking distance while suppressing the load shake, and thus the safety of the crane. Can be increased.

Next, a crane according to the second embodiment of the present invention will be described. It should be noted that duplicate description of common points with the above-described embodiment will be omitted. FIG. 5 shows the structure of a crane according to the second embodiment of the present invention. In FIG. 5, the same devices as those in FIGS. 1 and 2 are designated by the same reference numerals and the description thereof will be omitted.

The second embodiment shown in FIG. 5 differs greatly from the first embodiment shown in FIG. 2 in that it has a load shake amount acquisition device for acquiring the load shake amount and the load shake speed of the suspended load in FIG. is there. That is, in the case of the embodiment shown in FIG. 2, the velocity pattern was obtained on the assumption that the swing of the suspended load is very small (or there is no swing of the suspended load) at the start of the stop operation, but in FIG. The difference is that even if there is swinging of the suspended load at the start of the stopping operation, a speed pattern that eliminates swinging of the suspended load at the time of stopping is obtained.

The load shake acquisition device is a device for obtaining the load shake amount and load shake speed of a suspended load. The load shake obtaining apparatus according to this embodiment includes a load shake amount detector 13 that measures a load shake amount of a suspended load, and a load shake speed calculation device that calculates a load shake speed from the measured load shake amount. There is. The load shake amount detector 13 can be realized by observing (measuring) the shake of the hook 6 or the hanging load 8 with a camera or a three-dimensional laser distance sensor mounted downward on the trolley, for example. Further, the load shake speed calculation device performs, for example, a differential calculation or a pseudo differential calculation on the measured load shake amount. In this embodiment, the load shake speed calculation device is not installed individually, but is configured as one function of the speed command generation unit 10.

Further, the load shake obtaining apparatus is provided with a load shake estimating device that estimates the load shake amount and the load shake speed even if the load shake amount detector 13 does not directly detect the load shake amount, and the load shake estimating device is provided to suspend the load from the rotation center of the rope. Can be obtained by estimating the amount of shake and the shake speed from the distance L to the center of gravity and the speed command of the crane. The function of the load shake estimation device may be configured to be calculated in the speed command generation unit 10. When the crane speed command is vt(t) and the load shake amount is x(t), the load shake amount and the load shake speed are estimated by Laplace-transformed VT(s) and X(s) as follows. Can be calculated by
X(s)=P(s)*VT(s)

Therefore, the load shake estimation apparatus can estimate the load shake amount by performing a filter operation in which the transfer function is given by P(s) with respect to vt(t), and the load shake amount is differentiated by differentiating the obtained load shake amount. The velocity can be estimated.

Assuming that the load shake amount at the start of the stop operation and the load shake speed obtained by the above-described load shake acquisition device are a and b, respectively, the load shake x0(t) before the start of the stop operation is given by the following equation.
x0(t)=A0*sin(wr*t+θ0)
here,
A0=sqrt(a^2+(b/wr)^2)
θ0=atan(a/(b/wr))
Is.

When deceleration is performed according to the first speed pattern while the shake of the load occurs before the start of the stop operation, the shake of the load x01(t) caused thereby is a combination of x0(t) and x1(t), It is given by the following equation.
x01(t)=A01*sin(wr*t+θ01)

here,
A01=sqrt(2*Vmax^2+A0^2*T1^2*wr^4-2*Vmax^2*cos(T1*wr)-2*A0*T1*wr^2*Vmax*sin(θ0)+2 *A0*T1*wr^2*Vmax*sin(θ0+T1*wr))/(T1*wr^2)
θ01=atan((-Vmax+Vmax*cos(T1*wr)+A0*T1*wr^2*sin(θ0))/(A0*T1*wr^2*cos(θ0)+Vmax*sin(T1*wr)) )
Is.

In order to cancel x01(t) by the load shake x2(t) caused by the second speed pattern, θ01=θ2 and A01=−A2. Therefore,
T2=π/wr-2*T1-2*θ01/wr
Vdmax=(T2*wr^2)/(8*sin(T2*wr/4)^2)*A01
And it is sufficient.

6 to 9 are diagrams for explaining the operation of the second embodiment of the present invention. FIG. 6 is an operation diagram when the phase of the suspended load at the start of stop is π/2. FIG. 7 is an operation diagram when the phase of the suspended load at the start of stop is −π/2. FIG. 8 is an operation diagram when the phase of the suspended load at the start of the stop operation is −π. FIG. 9 is an operation diagram when the phase of the suspended load at the start of the stop operation is zero.
As can be seen from FIGS. 6 to 9, even if the phase of the load swing at the start of the stop operation is different, the load swing caused by deceleration is canceled by the triangular wave speed command, and the trolley stops and the subsequent load swing is suppressed. is made of.

As described above, according to the crane of the second embodiment, it is possible to cancel the load shake due to deceleration by one acceleration/deceleration, and it is possible to reduce the braking distance while suppressing the load shake, and thus the crane safety. You can improve your sex. Further, even if there is a load shake at the start of the stop operation, it is possible to suppress the load shake at the time of stop.

Next, a crane according to the third embodiment of the present invention will be described. It should be noted that duplicate description of common points with the above-described embodiment will be omitted. The device configuration of the crane in the third embodiment is similar to the configuration shown in FIG. 2 or 5 described above, but in the third embodiment, the waveform used for the second speed pattern in the speed pattern is not a triangular wave but a half sine wave. The difference is that it is used.

In the present embodiment, a half sinusoidal wave is adopted as the second speed pattern, and assuming that there is no load shake at the start of the stop operation (in the case of FIG. 2), the amplitude A2 of the load shake that occurs when driving at the second speed pattern. , The phase θ2 is given by the following equation.
A2=-2*π*T2*cos(T2*wr/2)/(π^2-T2^2*wr^2)*Vdmax
θ2=π/2-(T1+T2/2)*wr
So in this case,
T2=π/wr-T1
Vdmax=(π^2-T2^2*wr^2)/(2*π*T2*cos(T2*wr/2))*Vmax
If so, it is possible to suppress the shake of the load after the stop.

FIG. 10 is a diagram showing an operation state in the case where there is no load shake amount at the start of the stop operation in the third embodiment. As can be seen from FIG. 10, the load shake caused by deceleration is canceled by the sine half-wave velocity command, and the load shake after the trolley stops can be suppressed.

Further, in consideration of the shake of the load at the start of the stop operation, when the half-sine wave is adopted as the second speed pattern (in the case of FIG. 5),
T2=π/wr-2*T1-2*θ01/wr
Vdmax=(π^2-T2^2*wr^2)/(2*π*T2*cos(T2*wr/2))*A01
And it is sufficient.

FIG. 11 to FIG. 14 are diagrams showing the operation status in the case where a half-sine wave is adopted as the second speed pattern in consideration of the load shake at the start of the stop operation. FIG. 11 is an operation diagram when the phase of the suspended load at the start of stop is π/2. FIG. 12 is an operation diagram when the phase of the suspended load at the start of stop is −π/2. FIG. 13 is an operation diagram when the phase of the suspended load at the start of the stop operation is −π. FIG. 14 is an operation diagram when the phase of the suspended load is 0 at the start of the stop operation. As can be seen from FIGS. 11 to 14, even if the phase of the load swing at the start of the stop operation is different, the load swing caused by deceleration is canceled by the sine half-wave speed command, and the load swing after the trolley stops. Can be suppressed.

As described above, according to the crane of the third embodiment of the present invention, the load shake due to deceleration can be canceled by one acceleration/deceleration, so that the braking distance can be reduced while suppressing the load shake. , Can increase the safety of the crane.

Furthermore, when the acceleration of the crane changes discontinuously, high-frequency runout may occur, but when a half-sine wave is used, the acceleration can be changed continuously, so even in the case of higher-frequency runout. The swing of the suspended load can be reduced. It should be noted that, in accordance with the same idea, it is possible to determine a second speed pattern other than the triangular wave and the half-sine wave, which cancels the load shake caused by the first speed pattern.

Next, a crane according to the fourth embodiment of the present invention will be described. It should be noted that duplicate description of common contents with the above-described embodiment will be omitted.

FIG. 15 is a diagram showing the configuration of a crane according to the fourth embodiment of the present invention. In this embodiment, an obstacle detector 14 for detecting an obstacle 9 around the suspended load 8, the trolley 4, and the girder 3 is provided. In addition, when the detection signal of the obstacle detector 14 is input, it is determined whether there is a risk that the obstacle 9 collides with the suspended load 8, the trolley 4, or the girder 3, and if it is determined that there is a risk of collision, A collision determination device 15 that outputs a stop operation start signal 11 is provided to the speed command generation unit 10.

The obstacle detector 14 can detect obstacles around the suspended load by observing the suspended load 8 with a camera or a three-dimensional laser distance sensor mounted downward on the trolley 4, for example. The collision determination device 15 promptly outputs the stop operation start signal 11 when a collision between the detected obstacle and the suspended load is predicted. When the speed command generator 10 receives the stop operation start signal 11, the speed command generator 10 generates a speed pattern similar to that of the above-described embodiment. That is, the first speed pattern for decelerating from the speed at the start of deceleration to the first deceleration end speed, and the acceleration/deceleration for canceling the load shake generated when the horizontal moving device is driven by the first speed pattern are performed. And a second velocity pattern. Then, the generated speed pattern is output to the crane controller 12 to control the speeds of the girder 3 and the trolley 4 to stop the crane. By this control operation, it is possible to prevent a collision between the suspended load and an obstacle or an accident of being caught.

In addition, for example, by measuring the distance to a wall, a stopper, or another crane traveling on the same rail using a length measuring sensor attached to the trolley 4 or girder 3, Collisions can be predicted. Therefore, if the crane outputs a stop operation start signal and stops the crane promptly when these obstacles are predicted, the crane may collide with a wall or stopper, collide with another crane, or get caught. It is possible to prevent accidents.

According to the crane of the fourth embodiment of the present invention described above, since the load shake due to deceleration can be canceled by one acceleration/deceleration, it becomes possible to suppress the load shake and reduce the braking distance, and the crane Can increase the safety of. Further, it is possible to prevent a collision and a trapped accident, which can further enhance the safety of the crane.

It should be noted that the present invention is not limited to the above-described embodiments, and various modifications are included. The above embodiments have been described in detail for the purpose of explaining the present invention in an easy-to-understand manner, and are not necessarily limited to those having all the configurations described. Further, a part of the configuration of one embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of one embodiment. Other configurations can be added, deleted, or replaced with respect to the configuration of each embodiment.

1... Crane, 2... Runway, 3... Girder, 4... Trolley, 5... Rope, 6... Hook, 7... Wire, 8... Suspended load, 9... Obstacle, 10... Speed command generator, 11... Stop operation start Signal, 12... Crane controller, 13... Load shaker amount detector, 14... Obstacle detector, 15... Collision determination device

Claims (17)

In order to control the hoisting machine that vertically moves the hoisting load by hoisting and lowering the rope, a horizontal moving device that has the hoisting machine and horizontally moves the hoisting load, and to control the horizontal moving device. A speed command generation unit that generates a speed command of, and a crane control unit that controls the speed of the horizontal moving device according to the speed command,
The speed command generation unit decelerates from a speed at the start of deceleration by a stop operation start signal to a first deceleration end speed, and a load generated when the horizontal moving device is driven by the first speed pattern. Generate a second speed pattern that performs acceleration/deceleration to cancel the shake,
The crane controller controls the horizontal moving device according to the first speed pattern from the start of deceleration, and controls the horizontal moving device according to the second speed pattern from the time of deceleration to the first deceleration end speed. A crane to do. The crane according to claim 1,
The drive time T2 of the second speed pattern is obtained based on the distance L from the rotation center of the rope to the center of gravity of the suspended load and the drive time T1 of the first speed pattern,
A crane characterized in that the maximum speed Vdmax in the second speed pattern is obtained based on the drive time T2 of the second speed pattern, the distance L, and the speed Vmax at the start of deceleration. The crane according to claim 2,
The second velocity pattern is a triangular wave,
The time width T2 of the triangular wave and the maximum speed Vdmax are
T2=π/wr-T1,
Vdmax=(T2*wr^2)/(8*(sin(T2*wr/4))^2)*Vmax,
A crane characterized by being calculated by.
Here, wr=2*π/Tc=sqrt(g/L) (Tc: pendulum cycle of the suspended load, L: distance from the rotation center of the rope to the center of gravity of the suspended load, g: gravity acceleration), T1: deceleration time of the first speed pattern, Vmax: trolley speed at the start of the stop operation. The crane according to claim 2,
The second velocity pattern is a triangular wave,
The maximum velocity Vdmax of the triangular wave and the time width T2 are
T2=π/wr-2*T1-2*θ01/wr
Vdmax=(T2*wr^2)/(8*sin(T2*wr/4)^2)*A01
A crane characterized by being calculated by.
here,
A0=sqrt(a^2+(b/wr)^2),
θ0=atan(a/(b/wr)),
A01=sqrt(2*Vmax^2+A0^2*T1^2*wr^4-2*Vmax^2*cos(T1*wr)-2*A0*T1*Vmax*wr^2*sin(θ0)+2 *A0*T1*Vmax*wr^2*sin(θ0+T1*wr))/(T1*wr^2),
θ01=atan((-Vmax+Vmax*cos(T1*wr)+A0*T1*wr^2*sin(θ0))/(A0*T1*wr^2*cos(θ0)+Vmax*sin(T1*wr)) )
And wr=2*π/Tc=sqrt(g/L) (Tc: pendulum cycle of the suspended load, L: distance from the center of rotation of the rope to the center of gravity of the suspended load, g: gravitational acceleration), T1 is the deceleration time of sudden deceleration, Vmax is the trolley speed at the start of the stop operation, a is the amount of shake of the load at the start of the stop operation, and b is the shake speed of the load at the start of the stop operation. The crane according to claim 2,
The second velocity pattern is a half-sine wave,
The time width T2 of the sine half wave and the maximum speed Vdmax are
T2=π/wr-T1,
Vdmax=(π^2-T2^2*wr^2)/(2*π*T2*cos(T2*wr/2))*Vmax,
A crane characterized by being calculated by.
Here, wr=2*π/Tc=sqrt(g/L) (Tc: pendulum cycle of the suspended load, L: distance from the rotation center of the rope to the center of gravity of the suspended load, g: gravity acceleration), T1: deceleration time of the first speed pattern, Vmax: trolley speed at the start of the stop operation. The crane according to claim 2,
The second velocity pattern is a half-sine wave,
The time width T2 of the sine half wave and the maximum speed Vdmax are
T2=π/wr-2*T1-2*θ01/wr
Vdmax=(π^2-T2^2*wr^2)/(2*π*T2*cos(T2*wr/2))*A01
A crane characterized by being calculated by.
here,
A0=sqrt(a^2+(b/wr)^2),
θ0=atan(a/(b/wr)),
A01=sqrt(2*Vmax^2+A0^2*T1^2*wr^4-2*Vmax^2*cos(T1*wr)-2*A0*T1*Vmax*wr^2*sin(θ0)+2 *A0*T1*Vmax*wr^2*sin(θ0+T1*wr))/(T1*wr^2),
θ01=atan((-Vmax+Vmax*cos(T1*wr)+A0*T1*wr^2*sin(θ0))/(A0*T1*wr^2*cos(θ0)+Vmax*sin(T1*wr)) )
And wr=2*π/Tc=sqrt(g/L) (Tc: pendulum cycle of the suspended load, L: distance from the center of rotation of the rope to the center of gravity of the suspended load, g: gravitational acceleration), T1: deceleration time of the first speed pattern, Vmax: trolley speed at the start of the stop operation, a: amount of shake of the load at the start of the stop operation, and b: speed of shake of the load at the start of the stop operation. The crane according to claim 1,
A load shake obtaining device that obtains a load shake amount and a load shake speed of the suspended load, wherein the speed command generation unit uses the load shake amount and the load shake speed for generating the speed command. A crane to do. The crane according to claim 7,
The load shake obtaining device is configured by a load shake amount detector that measures the load shake amount of the suspended load, and a load shake speed calculation device that calculates the load shake speed from the load shake amount. A crane to do. The crane according to claim 7,
The load shake obtaining device is a load shake estimating device that estimates the load shake amount and the load shake speed from the distance from the rotation center of the rope to the center of gravity of the suspended load and the speed command of the crane. And a crane. The crane according to claim 1,
An obstacle detector for detecting obstacles around the suspended load and the crane,
From the detection signal of the obstacle detector, it is determined whether there is a risk of collision between the obstacle and the suspended load and the crane, and when there is a risk of collision, the stop operation start signal is sent to the speed command generation unit. A crane equipped with an output collision determination device. In order to control the hoisting machine that vertically moves the hoisting load by hoisting and lowering the rope, a horizontal moving device that has the hoisting machine and horizontally moves the hoisting load, and to control the horizontal moving device. A method of controlling a crane, comprising: a speed command generation unit that generates a speed command of, and a crane control unit that controls the speed of the horizontal moving device according to the speed command.
A first speed pattern for decelerating from a speed at the start of deceleration by a stop operation start signal to a first deceleration end speed, and an addition for canceling a load shake generated when the horizontal moving device is driven by the first speed pattern. Generate a second speed pattern for deceleration,
A crane control method for controlling the horizontal moving device according to the first speed pattern from the start of the deceleration, and controlling the horizontal moving device according to the second speed pattern from the time of deceleration to the first deceleration end speed. The crane control method according to claim 11,
The drive time T2 of the second speed pattern is obtained based on the distance L from the rotation center of the rope to the center of gravity of the suspended load and the drive time T1 of the first speed pattern,
The maximum speed Vdmax in the second speed pattern is obtained based on the driving time T2 of the second speed pattern, the distance L from the rotation center of the rope to the center of gravity of the suspended load, and the speed Vmax at the start of deceleration. A crane control method characterized by the above. The crane control method according to claim 12,
The crane control method according to claim 1, wherein the first speed pattern is deceleration with a constant deceleration, and the second speed pattern is a triangular wave or a half sine wave. The crane control method according to claim 11,
A crane control method, wherein a load deflection amount and a load deflection speed of the suspended load are acquired, and the load deflection amount and the load deflection speed are used to generate the speed command. The crane control method according to claim 14,
A crane control method, wherein the load shake amount is detected, and the load shake speed is obtained by differentiating the load shake amount. The crane control method according to claim 14,
A crane control method for estimating and calculating the load shake amount and the load shake speed from the distance from the rotation center of the rope to the center of gravity of the suspended load and the speed command of the crane. The crane control method according to claim 11,
Detecting an obstacle around the suspended load and the crane, determining whether there is a risk of collision between the obstacle and the suspended load and the crane from the detected obstacle detection signal, and there is a risk of the collision. A crane control method for outputting the stop operation start signal when it is determined that

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