Patent Grant
12180042
This application is a National Stage Patent Application of PCT International Patent Application No. PCT/JP2020/013905 (filed on Mar. 27, 2020) under 35 U.S.C. § 371, which claims priority to Japanese Patent Application No. 2019-061193 (filed on Mar. 27, 2019), which are all hereby incorporated by reference in their entirety.
The present invention relates to a crane control method and a crane that can be controlled by the control method.
Conventionally, for a crane, a technique of conveying a lifted load to a desired installation position along a set path through automated driving is known as disclosed in PTL 1, for example.
When a load is conveyed through automated driving using the crane disclosed in PTL 1, the lifting cargo can be conveyed along a desired path by operating together a plurality of actuators such as a slewing hydraulic motor, a luffing oil hydraulic actuator, and a winch hydraulic motor. However, in a known crane control method, the upper limit of the capacities of the actuators are not taken into consideration, and the upper limit of the capacity of some actuators may be exceeded during the control. Consequently, the lifting cargo may be deviated from the desired path, and the lifting cargo may sway.
PTL 1
An object of the present invention is to provide a crane control method that can reliably automatically convey a load along a set conveyance path using a crane, and a crane that can be controlled by the control method.
Problems to be solved by the present invention are as described above, and the solutions to solve the problems are described next.
A crane control method according to an embodiment of the present invention is a method of using a control apparatus to control a luffing operation of a boom, a slewing operation, and a feed-in operation and a feed-out operation of a wire rope, and to automatically convey a load along a conveyance path given as point group data including at least coordinates of a passing point of the load and a passage order of each passing point, the method including: by the control apparatus, setting a target conveyance time of the load in a section defined by two passing points adjacent to each other in the passage order; calculating a target conveyance speed of the load in the section from a distance between the two passing points and the target conveyance time; calculating, from the target conveyance speed, target speeds for requesting a luffing speed of the boom, a slewing speed and a feed-in and feed-out speed of the wire rope for achieving the target conveyance speed; calculating a maximum speed of each of the luffing speed of the boom, the slewing speed and the feed-in and feed-out speed of the wire rope in the section; limiting each of the target speeds to a value smaller than each of the maximum speeds by comparing each target speed and corresponding each maximum speed in the section, and multiplying each target speed by a coefficient of a value greater than 0 and smaller than 1 when there is a target speed that is greater than the corresponding maximum speed; and controlling the crane on a basis of each target speed that is limited.
In the crane control method according to an embodiment of the present invention, when one of the target speeds is greater than the corresponding maximum speed, the control apparatus calculates the coefficient by dividing, by the target speed, the maximum speed exceeded by the target speed.
In the crane control method according to an embodiment of the present invention, when a plurality of target speeds is greater than the corresponding maximum speed, the control apparatus sets, as the coefficient, a smallest value of values obtained by dividing, by the target speed, the maximum speed exceeded by the target speed.
In the crane control method according to an embodiment of the present invention, the control apparatus calculates each target speed that is limited before automatic conveyance of the load is started.
In the crane control method according to an embodiment of the present invention, the control apparatus calculates each target speed that is limited, for each section.
A crane according to an embodiment of the present invention includes a control apparatus configured to execute the crane control method.
The present invention provides the following effects.
With the crane control method according to the embodiment of the present invention, it is possible to reliably automatically convey a load along a set conveyance path using a crane.
In addition, with the crane according to the embodiment of the present invention, it is possible to reliably automatically convey a load along a set conveyance path.
Crane 1 serving as a crane (rough terrane crane) according to an embodiment of the present invention is described below with reference to
Crane 1 is composed of vehicle 2 and crane apparatus 6.
Vehicle 2 includes pairs of left and right front wheels 3 and rear wheels 4. In addition, vehicle 2 includes outrigger 5 that is grounded for the purpose of stabilization when a task of conveying load W is performed. Note that vehicle 2 supports crane apparatus 6 on its top.
Crane apparatus 6 is an apparatus for lifting load W using a wire rope. Crane apparatus 6 includes slewing platform 8, boom 9, main hook block 10, sub hook block 11, main winch 13, main wire rope 14, sub winch 15, sub wire rope 16, cabin 17 and the like.
Slewing platform 8 is a structure configured to be capable of slewing crane apparatus 6. Slewing platform 8 is provided on a frame of vehicle 2 with an annular bearing therebetween. Slewing platform 8 is provided with slewing hydraulic motor 81 that is an actuator. Slewing platform 8 is configured to be slewed in the horizontal direction by slewing hydraulic motor 81.
Slewing hydraulic motor 81 is operated and rotated by slewing valve 22 that is an electromagnetic proportional switching valve. Slewing valve 22 can control, to any flow rate, the flow rate of the operation oil that is supplied to slewing hydraulic motor 81. That is, slewing platform 8 is configured to be controllable at any slewing speed through slewing hydraulic motor 81 rotated and operated by slewing valve 22. Slewing platform 8 is provided with slewing sensor 27 that detects the slewing angle and slewing speed of slewing platform 8.
Boom 9 is a structure configured to be capable of lifting load W. The base end of boom 9 is provided in a swayable manner at an approximate center of slewing platform 8. Boom 9 is provided with luffing hydraulic cylinder 92 and telescoping hydraulic cylinder 91, as an actuator. Boom 9 is configured to be extendable in the longitudinal direction with telescoping hydraulic cylinder 91. In addition, boom 9 is configured to be capable of luffing in the vertical direction with luffing hydraulic cylinder 92. Further, boom 9 is provided with boom camera 93.
Telescoping hydraulic cylinder 91 is telescopically operated by telescoping valve 23 that is an electromagnetic proportional switching valve. Telescoping valve 23 can control, to any flow rate, the flow rate of the operation oil that is supplied to telescoping hydraulic cylinder 91. That is, boom 9 is configured to be controllable at any telescoping speed through telescoping hydraulic cylinder 91 telescopically operated by telescoping valve 23. Boom 9 is provided with telescoping sensor 28 that detects the boom length and telescoping speed of boom 9.
Luffing hydraulic cylinder 92 is telescopically operated by luffing valve 24 that is an electromagnetic proportional switching valve. Luffing valve 24 can control, to any flow rate, the flow rate of the operation oil that is supplied to luffing hydraulic cylinder 92. That is, boom 9 is configured to be controllable at any luffing speed through luffing hydraulic cylinder 92 that is telescopically operated by luffing valve 24. Boom 9 is provided with luffing sensor 29 that detects the luffing angle and luffing speed of boom 9.
Boom camera 93 acquires images of load W, ground objects and the like. Boom camera 93 is provided at an end portion of boom 9. In addition, boom camera 93 is configured to be rotatable 360 degrees, and can capture 360 degrees around an end portion of boom 9. Note that boom camera 93 is connected to control apparatus 32 described later.
Main hook block 10 and sub hook block 11 are members for lifting load W. Main hook block 10 is provided with main hook 10a. Sub hook block 11 is provided with sub hook 11a.
Main winch 13 and main wire rope 14 are mechanisms for lifting load W hooked on main hook 10a. In addition, sub winch 15 and sub wire rope 16 are mechanisms for lifting load W hooked on sub hook 11a. Main winch 13 and sub winch 15 are provided with winding sensor 26 that detects their respective rotation amounts. Main winch 13 is configured to be operated at given feed-in and feed-out speeds by controlling the main-hydraulic motor by main valve 25m that is an electromagnetic proportional switching valve. Likewise, sub winch 15 is configured to be operated at given feed-in and feed-out speeds by controlling the sub-hydraulic motor by sub valve 25s that is an electromagnetic proportional switching valve.
Note that while an exemplary case where load W hooked on sub hook 11a is lifted by sub winch 15 and sub wire rope 16 as illustrated in
Cabin 17 is a structure that covers the operation seat. An operation tool for operating vehicle 2 and an operation tool for operating crane apparatus 6 are provided in cabin 17. Slewing operation tool 18 can operate slewing hydraulic motor 81. Luffing operation tool 19 can operate luffing hydraulic cylinder 92. Telescoping operation tool 20 can operate telescoping hydraulic cylinder 91. Main drum operation tool 21m can operate the main-hydraulic motor. Sub drum operation tool 21s can operate the sub-hydraulic motor.
GNSS receiver 30 receives a distance measurement radio wave from a satellite to calculate the latitude, longitude, and altitude. GNSS receiver 30 is provided in cabin 17. Thus, crane 1 can acquire the position coordinates of cabin 17. In addition, it is possible to acquire the orientation with reference to vehicle 2. Note that GNSS receiver 30 is connected to control apparatus 32 described later.
Communication machine 31 is an apparatus that communicates with an external server computer. Communication machine 31 is provided in cabin 17. Communication machine 31 is configured to acquire path information described later and the like from the external server computer. Note that communication machine 31 is connected to control apparatus 32 described later. Note that while a configuration in which path information is acquired from the external server computer is described in the present embodiment, the path information may be stored in a storage apparatus provided in crane 1 such that control apparatus 32 can acquire the path information without going through communication machine 31.
Control apparatus 32 controls each actuator of crane 1 through each operating valve. Control apparatus 32 is provided in cabin 17. Practically, control apparatus 35 may have a configuration in which a CPU, ROM, RAM, HDD and the like are connected through a bus, or a configuration composed of one chip LSI or the like.
Control apparatus 32 is a computer that controls various switching valves (slewing valve 22, telescoping valve 23, luffing valve 24, main valve 25m and sub valve 25s). Control apparatus 32 stores various programs and data for controlling the various switching valves (22, 23, 24, 25m and 25s). In addition, control apparatus 32 is connected to various sensors (winding sensor 26, slewing sensor 27, telescoping sensor 28 and luffing sensor 29). Further, control apparatus 32 is connected to various operation tools (slewing operation tool 18, luffing operation tool 19, telescoping operation tool 20, main drum operation tool 21m and sub drum operation tool 21s). Thus, control apparatus 32 can generate a control signal corresponding to the amount of operation of the various operation tools (18, 19, 20, 21m and 21s).
In addition, when performing automatic conveyance by crane 1, control apparatus 32 can generate control signals for controlling the various switching valves (slewing valve 22, telescoping valve 23, luffing valve 24, main valve 25m and sub valve 25s) on the basis of given path information.
Crane 1 having the above-mentioned configuration can move crane apparatus 6 to any position by running vehicle 2. In addition, crane 1 can increase the lifting height and operational radius of crane apparatus 6 by raising and extending boom 9. Further, crane 1 can move load W by using movements such as the slewing, luffing and telescoping of boom 9, winding up of sub wire rope 16 and the like alone or in combination.
Control apparatus 32 includes target conveyance time setting section 32a, target conveyance speed calculation section 32b, and target speed signal generation section 32c.
Target conveyance time setting section 32a is a part of control apparatus 32, and sets target conveyance time Ti for each section.
Target conveyance speed calculation section 32b is a part of control apparatus 32, and calculates target conveyance speed Vi on the basis of calculated target conveyance time Ti of each section and the moving length of load W in each section.
Target speed signal generation section 32c is a part of control apparatus 32, and generates target speed signal VU in the luffing direction of boom 9, target speed signal VR in the slewing direction, and target speed signal VW in the feed-in and feed-out direction of the wire rope (main wire rope 14 or sub wire rope 16) in conveyance of load W in each section on the basis of calculated target conveyance speed Vi of each section.
Note that control apparatus 32 can detect the current position of load W by processing an image captured by boom camera 93. Alternatively, in the case where a configuration in which GNSS receiver 30 is attached to a hook (main hook 10a or sub hook 11a) is adopted, crane 1 can detect, by control apparatus 32, the current position of load W on the basis of a signal received by GNSS receiver 30.
Next, a generation procedure of the target speed signal in the method of controlling crane 1 is described.
Path information of load W given to crane 1 is generated in the form of point group data P(n) (n is a natural number) as illustrated in
As illustrated in
When point group data P(n) is given, first, control apparatus 32 sets target conveyance time Ti between each node. Note that in the following description, the region between nodes is referred to as section. For example, control apparatus 32 sets target conveyance time Ti by allocating the required conveyance time (the time required for the conveyance from the start point to the end point) desired by the user in consideration of the conveyance distance in each section and the like. Subscript i of the target conveyance time indicates the order of the section (i is a natural number).
After setting target conveyance time Ti of each section, control apparatus 32 calculates target conveyance speed Vi of each section on the basis of target conveyance time Ti. Target conveyance speed Vi calculated here is a value obtained by dividing the distance between each section by target conveyance time Ti. That is, target conveyance speed Vi corresponds to the average conveyance speed of load W in the section.
After calculating target conveyance speed Vi of each section, control apparatus 32 generates target speed signal VU in the luffing direction of boom 9, target speed signal VR in the slewing direction, and target speed signal VW in the feed-in and feed-out direction of each of wire ropes 14 and 16 in main winch 13 or sub winch 15 on the basis of the target conveyance speed Vi and the crane model. Here, the “target speed signal” is a signal for the request to each actuator for the target speed for displacing boom 9 in the luffing direction and the slewing direction and the target speed for displacing each of wire ropes 14 and 16 in the feed-in and feed-out direction, and includes information representing each target speed.
As illustrated in
When target speed signal VU is input to luffing valve 24, luffing valve 24 is opened at the opening according to target speed signal VU, and operation oil is supplied to luffing hydraulic cylinder 92. Note that a part (quantity Q4) of the operation oil of the discharging quantity Q1 supplied by first hydraulic pump FP1 is supplied to main winch 13 or sub winch 15 in a bypassing manner. That is, the operation oil of quantity Q1 to Q4 is supplied to luffing hydraulic cylinder 92.
Control apparatus 32 calculates maximum speed Vsmax of luffing hydraulic cylinder 92 under the above-described supply condition of the operation oil. Then, control apparatus 32 calculates luffing maximum speed VUmax of boom 9 on the basis of calculated maximum speed Vsmax of luffing hydraulic cylinder 92.
When target speed signal VW is input to main valve 25m or sub valve 25s, main valve 25m or sub valve 25s is opened at an opening according to target speed signal VW, and the operation oil is supplied to main winch 13 or sub winch 15. Note that the operation oil of discharging oil quantity Q2 supplied by second hydraulic pump FP2 and the operation oil of quantity Q4 from first hydraulic pump FP1 in a bypassing manner are supplied in combination to main winch 13 or sub winch 15. That is, the operation oil of a quantity of Q2+Q4 is supplied to main winch 13 or sub winch 15.
Control apparatus 32 calculates winch maximum speed Vdmax of main winch 13 or sub winch 15 under the above-described supply condition of the operation oil. Then, control apparatus 32 calculates feed-in and feed-out wire maximum speed VWmax of main wire rope 14 or sub wire rope 16 on the basis of calculated winch maximum speed Vdmax of main winch 13 or sub winch 15.
When target speed signal VR is input to slewing valve 22, slewing valve 22 is opened at an opening according to target speed signal VR and the operation oil is supplied to slewing hydraulic motor 81. Note that the operation oil of discharging oil quantity Q3 supplied by third hydraulic pump FP3 is supplied to slewing hydraulic motor 81.
Control apparatus 32 calculates slewing maximum speed VRmax of slewing hydraulic motor 81 under the above-described supply condition of the operation oil.
Control apparatus 32 compares target speed signal VU and luffing maximum speed VUmax of boom 9 calculated in the above-described manner. Here, in the case where target speed signal VU is greater than luffing maximum speed VUmax, practically, boom 9 can only be operated only at luffing maximum speed VUmax smaller than target speed signal VU. That is, in this case, the operation of the luffing operation of boom 9 cannot be achieved as intended by the operator.
In the case where target speed signal VU is greater than luffing maximum speed VUmax, control apparatus 32 calculates limiting coefficient X1. Limiting coefficient X1 is a value greater than 0 and smaller than 1, which is calculated by VUmax/VU.
In addition, control apparatus 32 compares target speed signal VW and feed-in and feed-out wire maximum speed VWmax of main wire rope 14 or sub wire rope 16 calculated in the above-described manner. Here, in the case where target speed signal VW is greater than wire maximum speed VWmax, practically, feed-in and feed-out operation of main wire rope 14 or sub wire rope 16 can only be performed only at wire maximum speed VWmax smaller than target speed signal VW. That is, in this case, the operation of the feed-in and feed-out operation of main wire rope 14 or sub wire rope 16 cannot be achieved as intended by the operator.
In the case where target speed signal VW is greater than wire maximum speed VWmax, control apparatus 32 calculates limiting coefficient X2. Limiting coefficient X2 is a value greater than 0 and smaller than 1, which is calculated by VWmax/VW.
Control apparatus 32 compares target speed signal VR and slewing maximum speed VRmax of boom 9 calculated in the above-described manner. Here, in the case where target speed signal VR is greater than slewing maximum speed VRmax, practically, boom 9 can only be slewed only at slewing maximum speed VRmax smaller than target speed signal VR. That is, in this case, the operation of the slewing of boom 9 cannot be achieved as intended by the operator.
In the case where target speed signal VR is greater than slewing maximum speed VRmax, control apparatus 32 calculates limiting coefficient X3. Limiting coefficient X3 is a value greater than 0 and smaller than 1, which is calculated by VRmax/VR.
Control apparatus 32 limits the target speed signals of all actuators (i.e., luffing hydraulic cylinder 92 and main winch 13 or sub winch 15 and slewing hydraulic motor 81) if any one of limiting coefficients X1 to X3 is calculated. For example, in the case where limiting coefficient X1 is calculated, all target speed signals VU, VW and VR are multiplied by limiting coefficient X1. Note that in the case where a plurality of limiting coefficients is calculated, control apparatus 32 uses the limiting coefficient having the smallest value among the calculated limiting coefficients. Note that the hydraulic circuit illustrated in
By multiplying all target speed signals VU, VW and VR by the same limiting coefficient, the target speed signal over the practical operative maximum speed can be limited to an operative maximum speed or lower while maintaining the speed balance of each of target speed signals VU, VW and VR.
As illustrated in
On the other hand, as illustrated in
Next, the method of controlling crane 1 is described with reference to a more detailed control flow. Crane 1 can automatically convey load W in accordance with a control flow according to the first embodiment illustrated in
As illustrated in
Next, on the basis of target conveyance speed Vi, control apparatus 32 generates target speed signal VU in the luffing direction of boom 9, target speed signal VR in the slewing direction, and target speed signal VW in the feed-in and feed-out direction of main wire rope 14 or sub wire rope 16 (STEP-102).
Next, control apparatus 32 checks if each of target speed signals VU, VW and VR is not greater than each of actuator maximum speeds VUmax, VWmax and VRmax by comparing each of target speed signals VU, VW and VR with each of actuator maximum speeds VUmax, VWmax and VRmax (STEP-103).
Next, in the case where any of target speed signals VU, VW and VR is greater than the maximum speed of the actuator, all target speed signals VU, VW and VR are multiplied by a coefficient and modified (STEP-104).
Before executing an automatic conveyance control based on given path information (point group data P(n)), control apparatus 32 executes the following process as a pre-process. On the basis of the given path information (point group data P(n)), control apparatus 32 preliminarily sets target conveyance time Ti for each section, and determines the section where each of target speed signals VU, VW and VR is greater than each of actuator maximum speeds VUmax, VWmax and VRmax by comparing each of target speed signals VU, VW and VR with each of actuator maximum speeds VUmax, VWmax and VRmax in each section. In addition, control apparatus 32 preliminarily calculates coefficients (coefficients X1 to X3) for modifying all target speed signals VU, VW and VR in the section where each of target speed signals VU, VW and VR is greater than each of actuator maximum speeds VUmax, VWmax and VRmax.
Next, control apparatus 32 controls crane 1 on the basis of target speed signals VU, VW and VR after the modification (STEP-105).
Next, after the operation of crane 1, control apparatus 32 detects the operation speed of each actuator actual, determines the difference from the requested speed based on target speed signals VU, VW and VR after the modification, and feeds back the difference to target speed signals VU, VW and VR (STEP-106). In this manner, the difference between the path set based on the path information (point group data P(n)) and the path on which load W has actually moved is reduced.
In addition, in the case where crane 1 includes a means (such as boom camera 93 and GNSS receiver 30) that can detect the location information of load W in real time, load W can be automatically conveyed in accordance with the control flow according to the second embodiment illustrated in
As illustrated in
Next, control apparatus 32 generates target speed signal VU in the luffing direction of boom 9, target speed signal VR in the slewing direction, and target speed signal VW of the feed-in and feed-out of main wire rope 14 or sub wire rope 16 on the basis of input target conveyance speed Vi (STEP-202).
Next, control apparatus 32 checks if each of target speed signals VU, VW and VR is not greater than each of actuator maximum speeds VUmax, VWmax and VRmax by comparing each of target speed signals VU, VW and VR with each of actuator maximum speeds VUmax, VWmax and VRmax (STEP-203).
Next, in the case where any of target speed signals VU, VW and VR is greater than the actuator maximum speed, all target speed signals VU, VW and VR are multiplied by a coefficient and modified (STEP-204).
Control apparatus 32 executes the following process as a pre-process before executing the automatic conveyance control along the set path on the basis of path information (point group data P(n)). On the basis of given path information (point group data P(n)), control apparatus 32 preliminarily sets target conveyance time Ti for each section, and determines the section where each of target speed signals VU, VW and VR is greater than each of actuator maximum speeds VUmax, VWmax and VRmax by comparing each of target speed signals VU, VW and VR with each of actuator maximum speeds VUmax, VWmax and VRmax in each section. In addition, control apparatus 32 preliminarily calculates coefficients (coefficients X1 to X3) for modifying all target speed signals VU, VW and VR in the section where each of target speed signals VU, VW and VR is greater than each of actuator maximum speeds VUmax, VWmax and VRmax.
Next, control apparatus 32 controls crane 1 on the basis of target speed signals VU, VW and VR after the modification (STEP-205).
Next, after the operation of crane 1, control apparatus 32 detects the actual operation speed of each actuator, determines the difference from the speed of each of target speed signals VU, VW and VR calculated at (STEP-202) (i.e., before the modification), and feeds back the difference to target speed signals VU. VW and VR after the modification (STEP-206). In this manner, the difference between the path set based on the given path information (point group data P(n)) and the path on which load W has actually moved is reduced.
Further, after the operation of crane 1, control apparatus 32 detects the actual position of load W and determines the section where load W is currently located from the position of load W (STEP-207). On the basis of this determination, control apparatus 32 determines the section where load W is currently located, and further executes (STEP-201) under the condition in the determined section. In this manner, automatic conveyance can be performed through a control of comparing the path set based on the given path information (point group data P(n)) and the path on which load W has actually moved while eliminating the difference between the paths, and load W can be automatically reliably conveyed along the set path even under the influence of external disturbance.
That is, with the method of controlling crane 1 according to the embodiment of the present invention, load W can be reliably conveyed along the conveyance path when load W is automatically conveyed along a conveyance path set based on given path information (point group data P(n)) using crane 1.
The above-mentioned embodiments are merely representative forms, and can be implemented in various variations to the extent that they do not deviate from the gist of an embodiment. It is of course possible to implement the invention in various forms, and the scope of the invention is indicated by the description of the claims, and further includes all changes within the meaning and scope of the equivalents of the claims.
The present invention is applicable to a crane control method and a crane that can be controlled by the control method.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2019-061193 | Mar 2019 | JP | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/JP2020/013905 | 3/27/2020 | WO |
| Publishing Document | Publishing Date | Country | Kind |
|---|---|---|---|
| WO2020/196809 | 10/1/2020 | WO | A |
| Number | Name | Date | Kind |
|---|---|---|---|
| 20090008351 | Schneider | Jan 2009 | A1 |
| 20130245816 | Langer | Sep 2013 | A1 |
| 20140230785 | Kawaguchi | Aug 2014 | A1 |
| 20190084809 | Claeys | Mar 2019 | A1 |
| Number | Date | Country |
|---|---|---|
| 2018-030692 | Mar 2018 | JP |
| Entry |
|---|
| Nov. 23, 2022, European Search Report issued for related EP Application No. 20779855.4. |
| May 19, 2020, International Search Report issued for related PCT application No. PCT/JP2020/013905. |
| May 19, 2020, International Search Opinion issued for related PCT application No. PCT/JP2020/013905. |
| Number | Date | Country | |
|---|---|---|---|
| 20220081263 A1 | Mar 2022 | US |
