Patent Grant
11981548
This application is a National Stage Patent Application of PCT International Patent Application No. PCT/JP2020/004394 (filed on Feb. 5, 2020) under 35 U.S.C. § 371, which claims priority to Japanese Patent Application No. 2019-024956 (filed on Feb. 14, 2019), which are all hereby incorporated by reference in their entirety.
The present invention relates to a crane and a path generation system. Specifically, the present invention relates to a crane and a path generation system that can generate a transport path capable of avoiding as obstacle even if the obstacle moves.
Conventionally, a crane that is a representative work vehicle has been known. The crane mainly includes a vehicle and a crane device. The vehicle includes a plurality of wheels and can be self-propelled. The crane device includes a wire rope and a hook in addition to a boom and can transport a load in a state in which the load is suspended.
Meanwhile, there is a crane that generates a transport path capable of avoiding an obstacle (see Patent Literature 1). In such a crane, a potential method is applied, and a broken-line approximation method is applied to determine a transport path. Then, the transport path is expressed by a fifth-order B-spline curve. However, when the potential method is applied, a transport direction of the load is determined for each grid. Therefore, depending on a lifting-down point of a load and a position of an obstacle, a transport direction away from the lifting-down point of the load is determined, and a transport path to the lifting-down point of the load may not be generated. In addition, such a crane generates a transport path for an obstacle that does not move and does not generate a transport path for an obstacle that moves such as a person and a vehicle. In addition, in order to appropriately avoid the obstacle that moves, it is effective to increase the degree of freedom in selecting a transport path around the obstacle. Therefore, there has been a demand for a crane and a path generation system that can generate a transport path capable of avoiding an obstacle even if the obstacle moves by increasing the degree of freedom in selecting a transport path around the obstacle.
Provided are a crane and a path generation system that can generate a transport path capable of avoiding an obstacle even if the obstacle moves.
A crane according to the present invention is a crane including a boom and a hook suspended from the boom by a wire rope and transports a load in a state in which the load is suspended from the hook, the crane being equipped with a sensor that detects the position of an obstacle and a control device that generates a transport path by arranging a plurality of node points in an area containing a lifting-up paint and a lifting-down point of the load and connecting the node points. The control device generates a new transport path after increasing a number of node points arranged around the obstacle when the sensor detects movement of the obstacle.
In the crane of the present invention, the control device increases the number of the node points inside a substantially hemispherical specific area including the obstacle.
In the crane of the present invention, the control device increases the density of the node points as approaching the obstacle.
In the crane of the present invention, the control device increases the density of the node points as approaching a moving direction side of the obstacle.
In the crane of the present invention, the control device sets a substantially hemispherical safety area including the obstacle inside the specific area and does not arrange the node points inside the safety area.
A path generation system of the present invention is a path generation system that generates a transport path of a load transported by a crane including a sensor and a communication device that communicates position information of an obstacle detected by the sensor, the path generation system being equipped with a system-side communication unit that communicates with the communication device and a system-side control device that generates a transport path by arranging a plurality of node points in an area including a lifting-up point and a lifting-down point of the load and connecting the node points. The system-side control device generates a new transport path after increasing the number of node points arranged around the obstacle when the sensor detects movement of the obstacle.
The crane according to the present invention is equipped with the sensor that detects the position of an obstacle and the control device that generates a transport path by arranging a plurality of node points in an area including a lifting-up point and a lifting-down point of the load and connecting the node points. Then, when the sensor detects movement of the obstacle, the control device generates a new transport path after increasing the number of node points arranged around the obstacle. Such a crane increases the degree of freedom in selecting a transport path around the obstacle and enables selection of an appropriate transport path. As a result, it is possible to generate a transport path capable of avoiding the obstacle even if the obstacle moves.
In the crane of the present invention, the control device increases the number of node points inside the substantially hemispherical specific area including the obstacle. Such a crane increases the degree of freedom in selecting a transport path around the obstacle and enables selection of an appropriate transport path. As a result, it is possible to generate a transport path capable of avoiding the obstacle even if the obstacle moves.
In the crane of the present invention, the control device increases the density of the node points as approaching the obstacle. Such a crane increases the degree of freedom in selecting a transport path as a collision between the load and the obstacle is likely to occur and enables selection of an appropriate transport path. As a result, it is possible to generate a transport path capable of avoiding the obstacle even if the obstacle moves.
In the crane of the present invention, the control device increases the density of the node points as approaching the moving direction side of the obstacle. Such a crane increases the degree of freedom in selecting a transport path as a collision between the load and the obstacle is likely to occur and enables selection of an appropriate transport path. As a result, it is possible to generate a transport path capable of avoiding the obstacle even if the obstacle moves.
In the crane of the present invention, the control device sets the substantially hemispherical safety area including the obstacle inside the specific area and does not arrange the node points inside the safety area. In such a crane, a transport path in which a distance from the load to the obstacle is a certain distance or more is selected. As a result, it is possible to generate a transport path capable of avoiding the obstacle even if the obstacle moves.
The path generation system according to the present invention is equipped with the system-side communication unit that communicates with the communication device, and the system-side control device that generates a transport path by arranging a plurality of node points in an area including a lifting-up point and a lifting-down point of a load and connecting the node points. Then, when the sensor detects movement of the obstacle, the system-side control device generates a new transport path after increasing the number of node points arranged around the obstacle. Such a path generation system increases the degree of freedom in selecting a transport path around the obstacle and enables selection of an appropriate transport path. As a result, it is possible to generate a transport path capable of avoiding the obstacle even if the obstacle moves.
A technical idea disclosed in the present application can be applied to other cranes in addition to a crane 1 to be described below.
First, the crane 1 according to a first embodiment will be described with reference to
The crane 1 mainly includes a vehicle 2 and a crane device 3.
The vehicle 2 includes a pair of left and right front wheels 4 and a pair of left and right rear wheels 5. In addition, the vehicle 2 includes an outrigger 6 that is brought into contact with a ground to achieve stability when transport work of a load W is performed. In the vehicle 2, the crane device 3 supported above the vehicle 2 is turnable by an actuator.
The crane device 3 includes a boom 7 so as to protrude forward from a rear portion thereof. Therefore, the boom 7 is turnable by the actuator (see arrow A). In addition, the boom 7 is expandable and contractible by an actuator (see arrow B). Furthermore, the boom 7 can be raised and lowered by an actuator (see arrow C).
In addition, a wire rope 8 is stretched around the boom 7. A winch 9 around which the wire rope 6 is wound is arranged on the proximal end side of the boom 7, and a hook 10 is suspended by the wire rope 8 on the distal end side of the boom 7.
The winch 9 is formed integrally with an actuator and enables the wire rope 8 to be fed in and out. Therefore, the hook 10 can be movable up and down by an actuator (see arrow D). The crane device 3 includes a cabin 11 on a side of the boom 7.
Next, a control configuration of the crane 1 will be described with reference to
The crane 1 includes a control device 20. Various operation tools 21 to 24 are connected to the control device 20. In addition, various valves 31 to 34 are connected to the control device 20. Furthermore, various sensors 51 to 54 are connected to the control device 20.
As described above, the boom 7 is turnable by the actuator (see arrow A in
In addition, as described above, the boom 7 is expandable and contractible by the actuator (see arrow B in
Furthermore, as described above, the boom 7 can be raised and lowered by the actuator (see arrow C in
In addition, as described above, the hook 10 is movable up and down by the actuator (see arrow D in
In addition, a camera 55, a global navigation satellite system (GNSS) receiver 56 and a communication device 61 are connected to the control device 20.
The camera 55 is a device that captures a video. The camera 55 is attached to a distal end portion of the boom 7. The camera 55 photographs the load W and a feature or topography around the load W from vertically above the load W. Note that the camera 55 is connected to the control device 20. Therefore, the control device 20 can acquire the video captured by camera 55.
The GNSS receiver 56 is a receiver constituting a Global navigation satellite system and is a device that receives a distance measuring radio wave from a satellite and calculates latitude, longitude, and altitude that are position coordinates of the receiver. The GNSS receiver 56 is provided on the distal end portion of the boom 7 and the cabin 11. The GNSS receiver 56 calculates position coordinates of the distal end portion of the boom 7 and the cabin 11. Note that the GNSS receiver 56 is connected to the control device 20. Therefore, the control device 20 can acquire the position coordinates calculated by the GNSS receiver 56. In addition, the control device 20 can recognize position coordinates of the load N on the basis of position coordinates of the distal end portion of the boom 7 and the suspension length. Furthermore, the control device 20 can recognize an orientation of the boom 7 with reference to the vehicle 2 from the position coordinates of the distal end portion of the boom 7 and the position coordinates of the cabin 11.
The communication device 61 is a device that communicates with an external server and the like. The communication device 61 is provided on the cabin 11. The communication device 61 is configured to acquire spatial information of a work area Few to be described later, information regarding work, and the like from the external server and the like. Note that the communication device 61 is connected to the control device 20. Therefore, the control device 20 can acquire information via the communication device 61.
Next, generation of a transport path CR of the load W will be described with reference to
The control device 20 sets a workable range Ar from the weight of the load W to be transported. Specifically, the control device 20 acquires the weight of the load W that is the information regarding work and the performance specification data of the crane 1 that is the machine body information from the external server and the like via the communication device 61. Furthermore, the control device 20 calculates the workable range Ar that is a space in which the crane 1 can transport the load W from the weight of the load W and the performance specification data of the crane 1.
As illustrated in
Note that the node points P(n) are not arranged in an area of the feature recognized on the basis of the spatial information of the work area Aw.
The control device 20 arranges the node points P(n) in a case where the boom 7 at a position of any turning angle θx(n) and any derricking angle θz(n) is expanded and contracted in any boom length increments in the entire range of the boom length Ly(n) that is expandable and contractible. Next, the control device 20 arranges, in the entire range of the boom length Ly(n) that is expandable and contractible, the node points P(n) in a case where the boom 7 at a position of any turning angle θx(n+1) different by any turning angle increment and any derricking angle θz(n) is expanded and contracted in any boom length increments. As described above, the control device 20 arranges, in any turning angle increments in the entire range of the turning angle νx(n) that allows turning, the node points P(n) in a case where the boom 7 at a position of any derricking angle θz(n) is expanded and contracted.
Similarly, the control device 20 arranges, in any turning angle increments in the entire range of the turning angle θx(n) that allows turning, the node points P(n) in a case where the boom 7 at a position of any derricking angle θz(n+1) different by any derricking angle increment is expanded and contracted in any boom length increments. As described above, the control device 20 arranges the node points P(n) in any turning angle increments in the entire range of the turning angle θx(n) that allows turning, in any boom length increments in the entire range of the boom length Ly(n) that is expandable and contractible, and in any derricking angle increments in the entire range of the derricking angle θz(n). As a result, the node points P(n) at any turning angle θx(n), any boom length Ly(n), and any derricking angle θz(n) of the boom 7 are arranged in any turning angle increments, any boom length increments, and any derricking angle increments within the workable range Ar.
As illustrated in
The control device 20 generates paths connecting the node point P(n) and the node point P(n+1) arranged at any turning angle θx(n) in order in which the boom 7 at the derricking angle θz(n) is contracted in any boom length increments and the node point P(n+2) and the node point P(n+3) arranged in order in which the boom 7 at the derricking angle θz(n+1) is contracted in any boom length increments. The path R(n+1) connecting the node point P(n) and the node point P(n+1) is a path through which the load W passes by expansion and contraction of the boom 7. The path R(n+2) connecting the node point P(n) and the node point P(n+2) is a path through which the load W passes by derricking of the boom 7. The path R(n+3) connecting the node point P(n) and the node point P(n+3) is a path through which the load h passes by expansion and contraction and derricking of the boom 7.
A path through which the load W passes by turning and derricking of the boom 7 at any expansion and contraction length Ly(n), and a path through which the load W passes by turning and expansion and contraction of the boom 7 at any derricking angle θz(n) are similarly generated by connecting adjacent node points P(n). A plurality of paths R(n) generated in this manner includes a path of the load W transported by a single motion of each of turning, expansion and contraction, and derricking of the boom 7, and a path of the load W transported by a combination of a plurality of motions of turning, expansion and contraction, and derricking.
The control device 20 selects actuators (hydraulic motor for turning 41, hydraulic cylinder for expansion and contraction 42, and hydraulic cylinder for derricking 43) to be operated on the basis of priority order. Then, the control device 20 generates the transport path CR which satisfies predetermined conditions and through which the load W passes by the operation of the selected actuator. The transport path CR includes a plurality of paths R(n). That is, the transport path CR is generated by connecting the node points P(n). The priority order is for selecting an operation to be preferentially selected among turning, derricking, and expansion and contraction. The predetermined conditions are to minimize the transport time of the load W, to decrease a turning radius at the time of transporting the load W, to minimize a cost (fuel consumption) of the actuator, to set restrictions on a height at the time of transporting the load W and an entry prohibition area, and the like. The control device 20 generates the transport path CR by selecting the path R(n) which satisfies the predetermined conditions and through which the load W passes by the operation of the selected actuator. The control device 20 controls the actuator so that the load W passes through the transport path CR and transports the load W from the lifting-up point Ps to the lifting-down pomp Pe.
Note that the control device 20 can generate the node point P(n) in any increments in feeding in and feeding out of the winch 9 and tilting and expansion and contraction of a jib attached to the distal end portion of the boom 7. That is, the crane 1 can generate the path R(n) and the transport path CR on the basis of the feeding in and feeding out of the wire rope 8 and the tilting and expansion and contraction of the jib.
Next, generation of the transport path CR when the obstacle has moved will be described with reference to
The control device 20 analyzes the video captured by the camera 55 for each frame, and detects movement of the worker X. The control device 20 can detect position coordinates, a moving direction, and a moving speed of the worker X by using, for example, a background difference and an optical flow. In addition, the camera 55 is an example of a sensor that detects movement of an obstacle and is not limited thereto. Note that instead of generating the transport path CR on the condition that the obstacle has moved, the transport path CR may be generated on the condition that the obstacle has approached the transport path CR or the obstacle has moved in an area within a predetermined distance from the transport path CR.
As illustrated in
As illustrated in
The number of node points P(n) arranged inside the specific area As increases as the values of angle increment, any boom length increment, and any derricking angle increment are decreased. The control device 20 arranges the node points P(n) inside the specific area As in any turning angle increments, any boom length increments, and any derricking angle increments whose values have been decreased by the predetermined proportions. Then, the control device 20 generates paths R(n) (see
As illustrated in
Therefore, the control device 20 can select a transport path CR more suitable for avoiding the worker X than before the number of node points P(n) is increased. That is, the control, device 20 can select a transport path CR that avoids the worker X on a moving direction side (see moving direction E) of the worker X (see
As described above, the crane 1 is equipped with the sensor (camera 55) that detects the position of the obstacle (worker X) and the control device 20 that arranges a plurality of node points P(n) in an area including the lifting-up point Ps and the lifting-down point Pe of the load W and connects the node points P(n) to generate the transport path CR. Then, when the sensor (55) detects movement of the obstacle (X), the control device 20 generates a new transport path CR after increasing the number of node points P(n) arranged around the obstacle (X). Such a crane 1 increases the degree of freedom in selecting a transport path CR around the obstacle (X) and enables selection of an appropriate transport path CR. As a result, it is possible to generate a transport path CR capable of avoiding the obstacle (X) even if the obstacle (X) moves.
More specifically, in the crane 1, the control device 20 increases the number of node points P(n) inside the substantially hemispherical specific area As including the obstacle (worker X). Such a crane 1 increases the degree of freedom in selecting a transport path CR around the obstacle (X) and enables selection of an appropriate transport path CR. As a result, it is possible to generate a transport path CR capable of avoiding the obstacle (X) even if the obstacle (X) moves.
Next, a crane 1 according to a second embodiment will be described with reference to
As illustrated in
As illustrated in
As described above, in the crane 1, the control device 20 increases the density of the node points P(n) as approaching the obstacle (worker X). Such a crane 1 increases the degree of freedom in selecting a transport path CR as a collision between the load W and the obstacle (X) is likely to occur and enables selection of an appropriate transport path CR. As a result, it is possible to generate a transport path CR capable of avoiding the obstacle (X) even if the obstacle moves.
Neat, a crane 1 according to a third embodiment will be described with reference to
As illustrated in
As illustrated in
As described above, in the crane 1, the control device 20 increases the density of the node points P(n) as approaching the moving direction side of the obstacle (worker X). Such a crane 1 increases the degree of freedom in selecting a transport path CR as a collision between the load h and the obstacle (X) is likely to occur and enables selection of an appropriate transport path CR. As a result, it is possible to generate a transport path CR capable of avoiding the obstacle (X) even if the obstacle (X) moves.
Next, a crane 1 according to a fourth embodiment will be described with reference to
As illustrated is
In addition, a shape of the safety area Ac is not limited to a substantially hemispherical shape centered on the obstacle and may be set to any shape including the obstacle.
The control device 20 increases the number of node points P(n) arranged outside the safety area Ac and inside the specific area As. The control device 20 does not arrange the node points P(n) inside the safety area Ac.
As illustrated in
As described above, in the crane 1, the control device 20 sets the substantially hemispherical safety area Ac including the obstacle (worker X) inside the specific area As and does not arrange the node point P(n) inside the safety area Ac in such a crane 1, a transport path CR in which the distance from the load W to the obstacle (X) is a certain distance or more is selected. As a result, it is possible to generate a transport path CR capable of avoiding the obstacle (X) even if the obstacle moves.
Next, a path generation system 70 will be described with reference to
A crane with which the path generation system 70 communicates information is a crane 12. The crane 12 is different from the crane 1 in that the crane 12 does not generate a transport path CR.
The path generation system 70 includes a system-side control device 71. A system-side communication unit 72 is connected to the system-side control device 71.
The system-side communication unit 72 is a device that communicates with a communication device 61 of the crane 12, an external server, or the like. The system-side communication unit 72 is configured to acquire a video of a camera 55 (position information of an obstacle) from the communication device 61 and transmit information to the communication device 61. The system-side communication unit 72 is configured to acquire spatial information of a work area Aw, information regarding work, and the from an external server and the like. Note that the system-side communication unit 72 is connected to the system-side control device 71. Therefore, the system-side control device 71 can acquire information and a video via the system-side communication unit 72. In addition, the system side control device 71 can transmit information to the communication device 61 via the system-side communication unit 72.
Similarly to the control device 20 of the crane 1, the system-side control device 71 generates a transport path CR when the obstacle has moved. The generated transport path CR is transmitted to the crane 12 via the system-side communication unit 72. The crane 12 controls actuators (hydraulic motor for turning 41, hydraulic cylinder for expansion and contraction 42, hydraulic cylinder for derricking 43, and hydraulic motor for winding 44) so as to pass through the transmitted transport path CR and transports a load W from a lifting-up point Ps to a lifting-down point Pe.
As described above, it is possible to configure a system that is connected to the control device 20 of the crane 12 via the communication device 61 and acquires necessary information and a video from the crane 12 to generate a transport path CR similar to those of the above-described embodiments and transmit the generated transport path CR to the crane 12.
As described above, the path generation system 70 is equipped with the system-side communication unit 72 that communicates with the communication device 61 and the system-side control device 71 that arranges a plurality of node points P(n) in an area including the lifting-up point Ps and the lifting-down point Pe of the load W and connects the node points P(n) to generate the transport path CR. Then, when a sensor (camera 55) detects movement of the obstacle (worker X), the system-side control device 71 generates a new transport path CR after increasing the number of node points P(n) arranged around the obstacle (X). Such a path generation system 70 increases the degree of freedom in selecting a transport path CR around the obstacle and enables selection of an appropriate transport path CR. As a result, it is possible to generate a transport path CR capable of avoiding the obstacle (X) even if the obstacle (X) moves.
The above-described embodiments are merely representative forms, and various modifications can be made without departing from the gist of one embodiment. It is a matter of course that the present invention can be implemented in various forms, and the scope of the present invention is indicated by the description of claims and further includes equivalent meanings described in the claims and all modifications within the scope.
The present invention relates to a crane and a path generation system. Specifically, the present invention can be used for a crane and a path generation system that can generate a transport path capable of avoiding an obstacle even if the obstacle moves.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2019-024956 | Feb 2019 | JP | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/JP2020/004394 | 2/5/2020 | WO |
| Publishing Document | Publishing Date | Country | Kind |
|---|---|---|---|
| WO2020/166455 | 8/20/2020 | WO | A |
| Number | Name | Date | Kind |
|---|---|---|---|
| 9424749 | Reed | Aug 2016 | B1 |
| 11267681 | Goto | Mar 2022 | B2 |
| 20070219662 | Sawodny | Sep 2007 | A1 |
| 20130033494 | Kiyota | Feb 2013 | A1 |
| 20210239837 | Friend | Aug 2021 | A1 |
| 20230348237 | Herat | Nov 2023 | A1 |
| Number | Date | Country |
|---|---|---|
| 106598055 | Apr 2017 | CN |
| 109095355 | Dec 2018 | CN |
| 2008-152380 | Jul 2008 | JP |
| Entry |
|---|
| Apr. 21, 2020, International Search Report issued for related PCT application No. PCT/JP2020/004394. |
| Apr. 21, 2020, International Search Opinion issued for related PCT application No. PCT/JP2020/004394. |
| Number | Date | Country | |
|---|---|---|---|
| 20220098012 A1 | Mar 2022 | US |
