JP2018131306A - Automatic operation device and automatic operation method for indoor crane - Google Patents

Abstract

An object of the present invention is to provide an automatic operation device and an automatic operation of an indoor crane that can control a current position of a transferred object to a target position with high accuracy, efficiently, and safely in a work requiring handling of the transferred object by an indoor crane. Providing a way. An automatic operation device of an indoor crane, which is mounted on a hanging jig of an indoor crane for gripping an object to be transported, and is rotated by one or more navigation transmitters of an indoor position measurement system. A first navigation receiver that receives a beam as a positioning signal; and a deviation between the current position and the target position of the transported object recognized based on the positioning signal, and a deviation between the calculated current position and the target position. Control means for autonomously moving the indoor crane so that the current position of the object to be transported becomes the target position based on the above, and the position adjustment and posture adjustment of the object to be transported in a horizontal plane while holding the object to be transported or the hanging jig And one or more assist robots for assisting the user. [Selection diagram] Fig. 1

Description

  The present invention relates to an indoor crane automatic operation apparatus and an automatic operation method using an indoor position measurement system.

  In recent years, it is common for steel production lines to be highly automated. However, high accuracy of the object to be conveyed, such as control of the stop position of the object to be conveyed by an indoor crane with the operation of the remote control device by the operator. There are still manufacturing and inspection processes that require handling. As such a manufacturing / inspection process, there is, for example, a rolling roll stepping operation in a hot rolling line. In this column work, the upper and lower work rolls of the rolling mill are preliminarily overlapped in the vertical direction, and the upper and lower work rolls are incorporated in the housing of the rolling mill. Further, the used upper and lower work rolls are handled by a pair of upper and lower sides and taken out from the housing of the rolling mill. For this reason, the multi-column work requires a handling work in which the operator superimposes the upper and lower work rolls in the vertical direction. Further, in order to grind and reuse the surface of the used rolling roll, handling work of the rolling roll by the operator is required even in the work of placing the used rolling roll on the grinder for roll polishing.

  Here, in the handling work of the rolling roll, the rolling of the worker alone is closer to the worker due to the necessity of ensuring the evacuation distance from the suspended load of the indoor crane based on the safety rules and the large size of the rolling roll. It is difficult to confirm the horizontal displacement at the end of the roll. In addition, it is practically difficult to carry out delicate position adjustment including the turning motion of the indoor crane for adjusting the rotational component in the horizontal plane of the rolling roll by one person. Furthermore, in order to operate an indoor crane having a lifting load of 5 [t] or more, a crane operator license, which is one of the national qualifications stipulated by the Industrial Safety and Health Act, is required. Legally, there is a rule that three crane crane operations such as hoisting, traversing, and traveling must not be performed at the same time, so the trajectory of a suspended load cannot take the shortest route connecting the starting point and the target point. The time required for the suspended load to reach the target point increases and the work efficiency decreases.

  For this reason, a method for facilitating the handling work of the rolling roll has been proposed. Specifically, Patent Document 1 discloses a handling device for relative coordinates so that a component is handled at an assembly position by a measurement device for measuring a relative coordinate of the assembly position and a handling device for positioning the component. A method of controlling is described. In the method described in Patent Document 1, the relative coordinates of the assembly position in the coordinate system of the measuring device are measured based on the slit light projection method using a measuring device including a slit light projector and a CCD camera.

Japanese Patent Laid-Open No. 11-81686

  However, when the rolling rolls are overlaid using a measuring device for measuring relative coordinates of the assembly position as described in Patent Document 1, it is necessary to see the two rolling rolls to be overlaid from the measuring device. However, when the rolling roll is handled by an indoor crane, the lower rolling roll is covered by the upper rolling roll immediately before the completion of the overlapping operation, so that it is almost in the blind spot state. Can no longer do. On the other hand, when the measuring device described in Patent Document 1 including a CCD camera is installed so as to cover the work area, it is realistic to install the measuring device so as to look down on the work area above the building column.

  In this case, when a typical factory building column span is 20 [m], it is desirable that the measuring device can image at least 10 [m] far away with a horizontal viewing angle of 90 [°]. However, even if a high-resolution CCD camera with a resolution of 3200 [dpi] (4416 × 2844 pixels) is adopted at this time, the horizontal spatial resolution at a distance of 10 [m] in the center of the visual field is 4.52 [mm] (= 10 [m] × 2/4416). For this reason, when image processing such as distortion correction in a wide-angle region and arithmetic processing for relative position calculation are added, the measurement accuracy of the relative coordinates of the two objects becomes 10 [mm] or more. Therefore, in the method described in Patent Document 1, it is difficult to perform an operation of superimposing two rolling rolls.

  The present invention has been made in view of the above-described problems, and its purpose is to provide a highly accurate and efficient method in which the current position of the object to be conveyed is set to the target position in an operation that requires handling of the object to be conveyed by an indoor crane. Another object of the present invention is to provide an automatic operation device and an automatic operation method for an indoor crane that can be safely controlled.

  In order to solve the above-described problems and achieve the object, an indoor crane automatic operation apparatus according to the present invention controls an indoor crane that transports an object to be transported in a work area using an indoor position measurement system. An automatic driving apparatus for positioning a rotating fan beam emitted from one or more navigation transmitters of the indoor position measurement system, which is mounted on a hanging jig of the indoor crane that holds the object to be conveyed. Calculating a deviation between the current position of the transported object recognized based on the positioning signal and the target position, and a difference between the calculated current position and the target position; Based on the control means for autonomously moving the indoor crane so that the current position of the object to be transported becomes a target position, and the object to be transported or the hanging jig is held in a horizontal plane. Wherein it is for the one or more assist robot performing auxiliary position adjustment and posture adjustment of the object to be conveyed, comprising: a.

  In the indoor crane automatic driving apparatus according to the present invention as set forth in the invention described above, the assist robot autonomously uses information on a current position, a target position, and a posture of the object to be transported based on the positioning signal. Thus, the assistance is performed.

  The automatic operation device for an indoor crane according to the present invention includes an operation means for operating the assist robot in the above invention, and an operator operates the assist robot using the operation means. The assistance is performed.

  Further, in the above-described invention, the automatic operation device for an indoor crane according to the present invention is arranged immediately before the assist robot is disposed in the vicinity of a target position for transporting the transported object and the transported object is positioned at the target position. The assist is performed by the assist robot.

  An automatic operation device for an indoor crane according to the present invention is the rotation emitted from one or more navigation transmitters of the indoor position measurement system, which is attached to an operator in the work area. A second navigation receiver for receiving a fan beam as a positioning signal; and the control means recognizes a current position and posture of the object to be recognized based on the positioning signal received by the first navigation receiver. Calculating a retreat area in the work area from information, calculating a position of the worker in the work area recognized based on a positioning signal received by the second navigation receiver, and the retreat area and the The automatic movement operation of the indoor crane is controlled in accordance with the positional relationship of the operator's position.

  The automatic operation device for an indoor crane according to the present invention further comprises alarm means for notifying that the indoor crane is approaching, which is attached to the worker, in the above invention, and the control means is the retreat The warning means is controlled in accordance with the positional relationship between the area and the position of the worker to notify the worker that the indoor crane is approaching.

  Moreover, the automatic operation device for an indoor crane according to the present invention is the above-described invention, wherein the distance measuring sensor mounted on the suspension jig for measuring the distance between the suspension jig and a landmark existing in the vicinity is provided. The control means controls the automatic movement operation of the indoor crane based on the magnitude relationship between the distance measured by the distance measuring sensor and a predetermined threshold value.

  An automatic operation method for an indoor crane according to the present invention is an automatic operation method for an indoor crane that controls an indoor crane that conveys an object to be conveyed in a work area using an indoor position measurement system, and the object to be conveyed A first navigation receiver mounted on a hanging jig of the indoor crane that grips a rotating fan beam emitted from one or more navigation transmitters of the indoor position measurement system as a positioning signal. And a step of calculating a deviation between the current position of the transported object recognized based on the positioning signal received by the first navigation receiver and the target position, and the calculated current position and target The step of autonomously moving the indoor crane so that the current position of the conveyed object becomes a target position based on a deviation from the position, and one or more assist robots, Holding the conveyed objects or the lifting jig is characterized in that comprises a step of assisting alignment and posture adjustment of the in the horizontal plane transported object, the.

  In the indoor crane automatic driving method according to the present invention, in the above invention, the assist robot autonomously uses information on a current position and a target position of the object to be transported based on the positioning signal. The assistance is performed.

  Also, the indoor crane automatic driving method according to the present invention is characterized in that, in the above invention, an operator uses the operation means for operating the assist robot to operate the assist robot to perform the assist. It is what.

  Also, in the above-described invention, the indoor crane automatic driving method according to the present invention is arranged immediately before the assist robot is disposed in the vicinity of a target position for transporting the transported object and the transported object is positioned at the target position. The assist is performed by the assist robot.

  The indoor crane automatic driving method according to the present invention is the above-described invention, wherein the second navigation receiver attached to the worker in the work area is one or more navigations of the indoor position measurement system. Receiving the rotating fan beam emitted from the transmitter for use as a positioning signal, and the control means, the current position of the object to be recognized recognized based on the positioning signal received by the first navigation receiver, and A retreat area in the work area is calculated from the posture information, a position of the worker in the work area recognized based on a positioning signal received by the second navigation receiver is calculated, and the retreat area and Controlling the automatic movement operation of the indoor crane in accordance with the positional relationship of the position of the worker.

  Further, the indoor crane automatic driving method according to the present invention is the above-described invention, wherein in the above-mentioned invention, the worker is controlled by controlling alarm means attached to the worker according to a positional relationship between the retreat area and the worker's position. In contrast, a step of notifying that the indoor crane is approaching is included.

  In the indoor crane automatic driving method according to the present invention, in the above invention, the distance measuring sensor attached to the hanging jig measures the distance between the hanging jig and a landmark existing in the vicinity. And a step of controlling the automatic movement operation of the indoor crane based on a magnitude relationship between a distance measured by the distance measuring sensor and a predetermined threshold value. is there.

  According to the automatic operation device and the automatic operation method for an indoor crane according to the present invention, in an operation that requires handling of the object to be conveyed by the indoor crane, the current position of the object to be conveyed is set to the target position with high accuracy and efficiency, and The effect is that it can be controlled safely.

FIG. 1 is a schematic diagram illustrating an overall configuration of an indoor crane automatic driving apparatus according to a first embodiment. FIG. 2 is a block diagram illustrating a configuration of the indoor crane automatic driving apparatus according to the first embodiment. FIG. 3 is a flowchart showing a flow of global coordinate system setting processing according to the first embodiment. FIG. 4 is a perspective view showing positions of measurement points measured in the global coordinate system setting process shown in FIG. FIG. 5 is a plan view showing the positions of the measurement points measured in the global coordinate system setting process shown in FIG. FIG. 6 is a flowchart illustrating a flow of position / posture information acquisition processing according to the first embodiment. FIG. 7 is a diagram showing the position of the measurement point of the upper roll in the position / posture information acquisition process shown in FIG. FIG. 8 is a flowchart showing the flow of target trajectory calculation processing according to the first embodiment. FIG. 9 is a diagram showing the position of the measurement point of the lower roll in the target trajectory calculation process shown in FIG. FIG. 10 is a schematic diagram for explaining the autonomous movement operation of the upper roll along the target trajectory in the first embodiment. FIG. 11 is a schematic diagram showing the movement trajectory of the upper roll in the present invention and the prior art. FIG. 12 is a schematic diagram for explaining an example of the indoor crane control process of the present invention. FIG. 13 is a schematic diagram for explaining another example of the indoor crane control process of the present invention. FIG. 14 is a schematic diagram for explaining another example of the indoor crane control process of the present invention. FIG. 15 is a block diagram illustrating a configuration of an indoor crane automatic driving apparatus according to the second embodiment. FIG. 16 is a schematic diagram for explaining the autonomous movement operation of the upper roll along the target trajectory in the second embodiment.

[Embodiment 1]
Hereinafter, a first embodiment (hereinafter, referred to as a first embodiment) of an automatic operation device for an indoor crane according to the present invention will be described.

[Configuration of automatic operation equipment for indoor cranes]
First, with reference to FIG.1 and FIG.2, the structure of the automatic driving apparatus 1 of the indoor crane which concerns on this embodiment is demonstrated. FIG. 1 is a schematic diagram illustrating an overall configuration of an indoor crane automatic driving apparatus 1 according to a first embodiment. FIG. 2 is a block diagram illustrating a configuration of the indoor crane automatic driving apparatus 1 according to the first embodiment.

  As shown in FIG. 1, the indoor crane automatic operation apparatus 1 according to the first embodiment is an apparatus for performing an operation of superposing the upper roll R2 on the lower roll R1 using the indoor crane 2. As shown in FIG.1 and FIG.2, the automatic operation apparatus 1 of the indoor crane which concerns on Embodiment 1 is provided with the indoor crane 2 and the indoor position measuring system 3 as main components. The indoor crane 2 includes a hanging jig 21, a carriage 22, an operator controller 23, and a distance measuring sensor 24.

  The hanging jig 21 includes a gripping device 21a for gripping the upper roll R2 and a frame 21b for fixing the gripping device 21a, and has a function of gripping and fixing the upper roll R2. The carriage 22 includes an on-board computer 22a, a motor control unit 22b, and a drive unit 22c. The on-board computer 22a is configured by an information processing device and controls the motor control unit 22b according to an operation command transmitted from the operator controller 23. The motor control unit 22b controls the drive unit 22c according to the control signal output from the onboard computer 22a.

  The drive unit 22c, according to the control current output from the motor control unit 22b, raises or lowers the lifting jig 21 in the arrow D1 direction, traverses the hanging jig 21 in the arrow D2 direction, and the carriage 22 on the rail R. Traveling in the direction of arrow D3, turning operation of the lifting jig 21 in the direction of arrow D4, and opening / closing operation of the gripping device 21a in the direction of arrow D5.

  The operator controller 23 is operated by the operator O and has a function of transmitting a winding, lowering, traversing, traveling, turning, or opening / closing operation command transmitted from the host computer 33 described later to the on-board computer 22a. Yes. Further, when the worker O sets the autonomous movement mode to the ON state by operating the autonomous movement mode ON / OFF switch 23a, the worker controller 23 indicates that the autonomous movement mode has been set to the ON state. The signal is transmitted to the onboard computer 22a. When the signal indicating that the autonomous movement mode is set to the ON state is received, the on-board computer 22a controls the motor control unit 22b based on the operation command information transmitted from the operator controller 23 to change the cart 22 Let it run autonomously.

  The distance measuring sensor 24 measures the distance between the hanging jig 21 and the surrounding landmarks with a wide angle by using a scanning distance measuring laser emitted from the sensor light projecting unit, so that the distance between the hanging jig 21 and the obstacle is measured. Measure the distance.

  The indoor position measurement system 3 includes a plurality of navigation transmitters 31, a navigation receiver 32, and a host computer 33.

  The navigation transmitter 31 is installed in a work area where the upper roll R2 is superposed on the lower roll R1, and emits two rotating fan beams (fan beams) FB. The rotating fan beam FB may be a laser fan beam or other light emitting means.

  The navigation receiver 32 is attached to the hanging jig 21 and receives the rotating fan beam FB emitted from the plurality of navigation transmitters 31. The navigation receiver 32 recognizes the received rotating fan beam FB as an IGPS (Indoor Global Positioning System) signal, and wirelessly transmits information related to the recognized IGPS signal to the host computer 33 as reception information. Generally, a satellite navigation system (GPS) recognizes and determines a three-dimensional coordinate value (hereinafter referred to as “coordinate value”) that matches a position of a GPS receiver using three or more GPS artificial satellites. The indoor position measurement system (IGPS) is an application of this concept indoors. Details of the indoor position measurement system are described in detail in US Pat. No. 6,501,543.

  The host computer 33 includes a computer main body 33a, a keyboard 33b, and a transmission / reception device 33c. The storage means of the computer main body 33a stores a current position calculation program 33d, a target trajectory calculation program 33e, a surrounding area calculation program 33f, and an area determination program 33g. The keyboard 33b outputs an operation input signal of the worker O to the computer main body 33a. The transmission / reception device 33c outputs the reception information wirelessly transmitted from the navigation receiver 32 to the computer main body 33a.

  The computer main body 33a calculates the current position of the navigation receiver 32 based on the reception information from the navigation receiver 32 by executing the current position calculation program 33d. Specifically, the rotation fan beam FB emitted from the navigation transmitter 31 is shifted by a predetermined angle between the navigation transmitters 31, so that the coordinates of the navigation receiver 32 are based on the received rotation fan beam FB. The value, ie position or height can be measured. Information received from the navigation receiver 32 is transmitted to the computer main body 33a via the transmitting / receiving device 33c, and the computer main body 33a calculates the position of the navigation receiver 32 in the global coordinate system from the received information according to the principle of triangulation. .

The computer main body 33a uses (X, Y, Z) and (θ _x , θ _y , and global coordinate systems corresponding to the traveling, traversing, hoisting, lowering and turning direction components of the indoor crane 2 in the work area, respectively. By defining it as θ _z ), the position of the navigation receiver 32 can be directly associated with the control direction of the indoor crane 2. In addition, since the direction of the building itself including the crane garter does not change greatly, it is sufficient to perform the setting work of the global coordinate system when the installation position of the navigation transmitter 31 is shifted due to maintenance work or the like. .

  Here, a global coordinate system setting method will be described with reference to FIGS. FIG. 3 is a flowchart showing a flow of global coordinate system setting processing according to the first embodiment. 4 and 5 are a perspective view and a plan view, respectively, for explaining the positions of the measurement points A1, B1, and C1 measured in the global coordinate system setting process. As shown in FIG. 4, when setting the global coordinate system, first, the operator O provides the contact probe portion 71 of the jig 70 having the navigation receiver 32 on the surface of the factory building column T1. The position of the measurement point A1 of the landmark L1 is measured by contacting the received landmark L1 and transmitting the reception information from the navigation receiver 32 to the host computer 33 (step S1).

  In order to measure the position of the landmark with high accuracy, it is desirable that the geometric positional relationship between the navigation receiver 32 and the contact probe 71 is determined with high accuracy within ± 50 micrometers. Since the information of the position (X, Y, Z) and the attitude (θx, θy, θz) of the navigation receiver 32 is obtained by the indoor position measurement system, the geometry of the navigation receiver 32 and the contact type probe unit 71 is obtained. If the target positional relationship is determined, the reception information of the navigation receiver 32 can be converted into the position information of the contact probe 71 (landmark position information).

  Next, the worker O brings the contact type probe unit 71 of the jig 70 into contact with the landmark L2 provided on the surface of the column T2 adjacent to the factory building column T1 in the traveling direction D3 of the indoor crane 2 for navigation. By transmitting reception information from the receiver 32 to the host computer 33, the position of the measurement point B1 of the landmark L2 is measured (step S2). Next, the worker O brings the contact probe portion 71 of the jig 70 into contact with a landmark L3 provided on the surface of the column T3 adjacent to the factory building column T1 in the transverse direction D2 of the indoor crane 2 for navigation. By transmitting reception information from the receiver 32 to the host computer 33, the position of the measurement point C1 of the landmark L3 is measured (step S3). Finally, based on the information received from the navigation receiver 32, the host computer 33 includes a coordinate system that includes the positions of the measurement points A1, B1, and C1 in the corner and the position of the measurement point A1 as the origin. A system (see FIG. 5) is defined (step S4).

  Although it depends on the intensity of the rotating fan beam FB, a commercially available indoor position measurement system can obtain positioning accuracy within ± 50 [μm] within a radius of 20 to 30 [m]. For this reason, when the navigation transmitter 31 is installed so as to cover the entire work area, it is realistic to install the navigation transmitter 31 overlooking the work area above the building column. Therefore, positioning can be performed with sufficient accuracy even when a general factory building column span is 20 [m].

  In the present embodiment, the worker O wears a navigation receiver 41 having the same configuration as the navigation receiver 32 and a portable crane approach alarm 42. The navigation receiver 41 and the portable crane approach alarm 42 function as a second navigation receiver and alarm means according to the present invention, respectively.

  The indoor crane automatic driving apparatus 1 having such a configuration overlaps the upper roll R2 on the lower roll R1 by the indoor crane 2 by executing the following position / posture information acquisition process and target trajectory calculation process. In the aligning operation, the upper roll R2 is superposed on the lower roll R1 with high accuracy, efficiency and safety. The operation of the indoor crane automatic operation apparatus 1 when executing the position / posture information acquisition process and the target trajectory calculation process will be described below.

[Position / Attitude Information Acquisition Processing]
First, with reference to FIG.6 and FIG.7, operation | movement of the automatic operation apparatus 1 of the indoor crane at the time of performing a position / posture information acquisition process is demonstrated. FIG. 6 is a flowchart illustrating a flow of position / posture information acquisition processing according to the first embodiment. FIG. 7 is a schematic diagram showing the position of the measurement point of the upper roll in the position / posture information acquisition process shown in FIG. The flowchart shown in FIG. 6 starts when the operator O instructs the host computer 33 to execute position / posture information acquisition processing by operating the keyboard 33b. The host computer 33 executes the position / posture information acquisition process by executing the current position calculation program 33d in response to an instruction to execute the position / posture information acquisition process.

  As shown in FIG. 6, in the position / posture information acquisition process, first, the operator O makes the contact probe 71 of the jig 70 to which the navigation receiver 32 is attached contact the corner of the lower roll R1. Then, the reception information is transmitted from the navigation receiver 32 to the host computer 33, thereby measuring the position of the measurement point A2 (see FIG. 7) at the corner of the lower roll R1 (step S11). Next, the worker O brings the contact probe 71 of the jig 70 into contact with the corner adjacent to the measurement point A2 in the axial direction of the lower roll R1, and transmits the reception information from the navigation receiver 32 to the host computer 33. By doing so, the position of the measurement point (roll end measurement point) B2 (see FIG. 7) of the corner of the lower roll R1 is measured (step S12).

  Next, the operator O includes the measuring point A2, is on a line segment orthogonal to the axial direction of the lower roll R1, and is placed on the corner of the lower roll R1 in the horizontal plane including the measuring point A2 with the jig 70. The position of the measurement point (roll end measurement point) C2 (see FIG. 7) at the corner of the lower roll R1 is obtained by bringing the contact probe 71 into contact and transmitting reception information from the navigation receiver 32 to the host computer 33. Measurement is performed (step S13). Next, the worker O includes the measurement point A2, is on a line segment perpendicular to the axial direction of the lower roll R1, and is in the vertical direction of the horizontal plane including the measurement points A2, B2, and C2. The contact type probe unit 71 of the jig 70 is brought into contact with the corner, and the reception information is transmitted from the navigation receiver 32 to the host computer 33, whereby the measurement point (roll end measurement point) D2 of the lower roll R1 (Fig. 7) is measured (step S14).

  Next, the host computer 33 calculates a rectangular parallelepiped shape including the positions of the measurement points A2, B2, C2, and D2 in the corner based on the reception information from the navigation receiver 32, and based on the calculated rectangular parallelepiped shape. The position (X1, Y1, Z1) and posture (θ1x, θ1y, θ1z) of the lower roll R1 are recognized. Then, the host computer 33 uses the measurement point A2 as the origin, the vector direction from the measurement point A2 to the measurement point B2, the X direction, the vector direction from the measurement point A2 to the measurement point C2, the Y direction, and the measurement point A2 to the measurement point. A coordinate system (lower roll coordinate system) (see FIG. 7) in which the vector direction to D2 is the Z direction is set (step S15). As a result, the series of position / posture information acquisition processing ends.

[Target trajectory calculation processing]
Next, with reference to FIG.8 and FIG.9, operation | movement of the automatic operation apparatus 1 of the indoor crane at the time of performing a target track | orbit calculation process is demonstrated. FIG. 8 is a flowchart showing the flow of target trajectory calculation processing according to the first embodiment. FIG. 9 is a schematic diagram showing the position of the measurement point of the lower roll in the target trajectory calculation process shown in FIG. The flowchart shown in FIG. 8 starts when the operator O instructs the host computer 33 to execute the target trajectory calculation process by operating the keyboard 33b. In response to an instruction to execute the target trajectory calculation process, the host computer 33 executes the target trajectory calculation process by executing the target trajectory calculation program 33e.

  As shown in FIG. 8, in the target trajectory calculation process, first, the operator O brings the contact probe portion 71 of the jig 70 to which the navigation receiver 32 is attached into contact with the corner of the upper roll R <b> 2. By transmitting reception information from the receiver 32 to the host computer 33, the position of the measurement point A3 (see FIG. 9) at the corner of the upper roll R2 is measured (step S21). Next, the worker O brings the contact probe 71 of the jig 70 into contact with the corner adjacent to the measurement point A3 in the axial direction of the upper roll R2, and transmits the reception information from the navigation receiver 32 to the host computer 33. By doing so, the position of the corner measurement point (roll end measurement point) B3 (see FIG. 9) of the upper roll R2 is measured (step S22).

  Next, the operator O includes the measurement point A3, is on a line segment orthogonal to the axial direction of the upper roll R2, and is in a corner in the horizontal plane including the measurement point A3. 71 is contacted, and the received information is transmitted from the navigation receiver 32 to the host computer 33, thereby measuring the position of the corner measurement point (roll end measurement point) C3 (see FIG. 9) of the upper roll R2 (step 9). S23). Next, the operator O includes a measuring point A3, is on a line segment orthogonal to the axial direction of the upper roll R2, and is placed on a corner in a vertical direction of a horizontal plane including the measuring points A3, B3, and C3. 70 contact-type probe units 71 are brought into contact with each other, and reception information is transmitted from the navigation receiver 32 to the host computer 33, whereby the measurement point (roll end measurement point) D3 (see FIG. 9) of the upper roll R2 is set. The position is measured (step S24).

  Next, the host computer 33 calculates a rectangular parallelepiped shape including the positions of the measurement points A3, B3, C3, and D3 in the corner based on the information transmitted from the navigation receiver 32, and based on the calculated rectangular parallelepiped shape. The position (X2, Y2, Z2) and posture (θ2x, θ2y, θ2z) of the upper roll R2 are recognized. The host computer 33 sets the measurement point A3 as the origin, the vector direction from the measurement point A3 to the measurement point B3 as the X direction, the vector direction from the measurement point A3 to the measurement point C3 as the Y direction, and the measurement point A3 as the measurement point. A coordinate system (upper roll coordinate system) is set in which the vector direction to D3 is the Z direction (step S25).

  Next, the host computer 33 obtains information on the position (X3, Y3, Z3) and attitude (θ3x, θ3y, θ3z) of the navigation receiver 32 attached to the hanging jig 21 and information on the upper roll coordinate system. Based on this, the relative position (X3-X2, Y3-Y2, Z3-Z2) and posture (θ3x-θ2x, θ3y-θ2y, θ3z-θ2z) between the lifting jig 21 and the upper roll R2 are calculated (step S26). . Next, the host computer 33 calculates the relative position (X1-X2, Y1-Y2, Z1-Z2) and posture (θ1x-θ2x, θ1y-θ2y, θ1z-θ2z) between the lower roll coordinate system and the upper roll coordinate system. (Step S27).

  Next, the host computer 33 uses the position and orientation information of the navigation receiver 32 attached to the suspension jig 21 to use the target movement position (X3 + X1-X2, Y3 + Y1-Y2, Z3 + Z1-Z2) of the suspension jig 21. ) And target postures (θ3x + θ1x−θ2x, θ3y + θ1y−θ2y, θ3z + θ1z−θ2z) are calculated as target movement components of the hanging jig 21. Then, the host computer 33 sets the target trajectory so that the position and orientation information of the navigation receiver 32 attached to the suspension jig 21 becomes the target movement position and the target orientation, and the suspension jig along the target trajectory. 21 is moved autonomously.

  FIG. 10 is a schematic diagram for explaining the autonomous movement operation of the upper roll R2 along the target trajectory in the first embodiment. Here, when the length of the crane wire connecting the hanging jig 21 and the carriage 22 is long, or when the upper roll R2 is swung by the wind as an environmental disturbance, the upper roll R2 is shaken and the lower roll A situation may occur in which fine position adjustment of the upper roll R2 with respect to R1 cannot be performed. Therefore, in the indoor crane automatic operation apparatus 1 according to the present embodiment, the position adjustment and the posture adjustment assist of the upper roll R2 are performed around the lower roll R1 that is the target position for installing the upper roll R2 that is a suspended load. Two assist robots 50 are provided. In the indoor crane automatic driving apparatus 1 according to this embodiment, the assist robot 50 assists the position adjustment and posture adjustment of the upper roll R2 immediately before the upper roll R2 is installed on the lower roll R1. The number of assist robots 50 may be at least one according to the degree of freedom of movement and turning of the upper roll R2 in the horizontal plane.

  The assist robot 50 includes a robot arm 51, a cart 52 with the robot arm 51 fixed to the upper portion, and a receiver 53 attached to a side surface of the cart 52. A caster 52a with a lock mechanism is attached to the lower part of the carriage 52. The operator O pushes the carriage 52 at a necessary timing to move the assist robot 50 near the target position, and the caster 52a is moved by the lock mechanism. Lock and install. In this way, the carriage 52 can be fixed to the ground by a simple method of locking the casters 52a by the lock mechanism. Conventionally, the position adjustment and posture of the upper roll R2 are adjusted so that the position adjustment and posture adjustment of the upper roll R2 are performed by connecting a guide rope to one end of the upper roll R2 and the operator O pulling the guide rope. When performing the adjustment, a pulling force exceeding human power is not required. Therefore, the assist robot 50 does not require a large loadable weight, and can be realized with a simple device configuration in which the cart 52 can be operated manually. It is.

  The robot arm 51 includes a first arm part 51a, a second arm part 51c, a third arm part 51e, an arm tip part 51g, a first joint part 51b that connects the first arm part 51a and the second arm part 51c, and a second arm part 51c. The first arm 51a includes a second joint 51d that connects the arm 51c and the third arm 51e, a third joint 51f that connects the third arm 51e and the arm tip 51g, and the like. Is fixed to the upper portion of the carriage 52. In each of the first joint portion 51b, the second joint portion 51d, and the third joint portion 51f, an encoder (not shown) for detecting at least one of the movement amount and the rotation angle, or at least one of the horizontal direction and the rotation torque is provided. A force sensor (not shown) for detecting the above is mounted. The arm tip 51g is configured to be fixable to the upper roll R2 or the hanging jig 21 that is a suspended load. In FIG. 10, the arm tip 51g is fixed to the upper roll R2. As a method for fixing the upper roll R2 or the hanging jig 21 and the arm tip 51g, there are, for example, gripping by a so-called robot hand, adsorption by a magnet, and connection by a wire.

  The receiver 53 receives information on the current position, target position, and posture of the upper roll R2 for controlling the movement of the robot arm 51 when assisting the position adjustment and posture adjustment of the upper roll R2, and the like. It is for receiving from the transmission / reception device 33c. Information on the current position, target position, and posture of the upper roll R2 is based on the positioning signal of the indoor position measurement system 3, and the current of the navigation receiver 32 attached to the hanging jig 21 that holds the upper roll R2. It can be obtained by calculating from information on the position, the target position, and the posture. The assist robot 50 uses the information about the current position, target position, and posture of the upper roll R2 received by the receiver 53, and the like by the control unit 54 (see FIG. 2) and the drive unit 55 (see FIG. 2). The movement of the robot arm 51 is controlled to assist position adjustment and posture adjustment of the upper roll R2.

  Note that the amount of movement of the robot arm 51 when assisting the position adjustment and posture adjustment of the upper roll R2 depending on the positional relationship such as the direction and distance of the carriage 52 with respect to the upper roll R2 when the assist robot 50 is installed near the target position. And the angle is different. Therefore, in the assist robot 50 according to the present embodiment, the rotating fan beam FB emitted from the plurality of navigation transmitters 31 is received by the receiver 53, and the received rotating fan beam FB is converted into an IGPS signal by the control unit 54. Recognizing and grasping the direction and distance of the carriage 52 relative to the upper roll R2, the movement amount and angle of the robot arm 51 are adjusted.

  And when the situation which cannot perform the delicate position adjustment and attitude | position adjustment of the upper roll R2 with respect to the lower roll R1 as mentioned above arises, the assist robot prevents the upper roll R2 from being displaced or turned in the horizontal plane. 50 robot arms 51 are controlled to control displacement and turning of the upper roll R2 in the horizontal plane. In parallel with this, the vertical restraint by the arm tip 51g with respect to the upper roll R2 or the suspension jig 21 with respect to the vertical movement of lowering the suspension jig 21 and installing the upper roll R2 is performed. Force control is performed so that the robot arm 51 is driven to lower the suspension jig 21 so that no force is generated. Thereby, it is possible to prevent the robot arm 51 from being damaged due to an excessive load.

  The host computer 33 sets the target trajectory so that the position and orientation information of the navigation receiver 32 attached to the suspension jig 21 becomes the target movement position and the target orientation, and the suspension jig 21 is moved along the target trajectory. When autonomously moving, as shown in FIG. 10, the host computer 33 (A) winds up the lifting jig 21 to a height at which the upper roll R2 does not interfere with the surrounding structure and the worker O, and then (B) The suspension jig 21 is moved at the shortest distance along the target trajectory by simultaneous traversing, traveling, and turning. After that, the host computer 33 performs (C) the lowering operation of the hanging jig 21, and then (D) decelerates and stops the lowering speed 10 cm before contacting the lower roll R1.

  Next, the operator (E) pushes the carriage 52 to which the robot arm 51 is fixed, arranges the assist robot 50 around the lower roll R1 (upper roll R2), and positions it with respect to the ground by fixing the casters 52a. To do. Then, (F) the operator O operates the robot arm 51 to fix the upper roll R2 or the hanging jig 21 and the arm tip 51g. Next, the control unit 54 of the assist robot 50 autonomously uses (G) information regarding the current position, target position, and posture of the upper roll R2 received by the receiver 53 from the transmission / reception device 33c of the host computer 33. Control for assisting the position adjustment and posture adjustment of the upper roll R2 by the robot arm 51 is performed. The control unit 54 of the assist robot 50 raises the robot arm 51 so that a vertical restraining force is not generated between the upper roll R2 or the lifting jig 21 to which the arm tip 51g is fixed. Force control is performed to follow the vertical movement of the roll R2. The host computer 33 installs the upper roll R2 on the lower roll R1 while finely adjusting the position and posture of the upper roll R2 in parallel with (I) (G) and (H).

  As is apparent from the above description, in the indoor crane automatic operation apparatus 1 according to the first embodiment, a plurality of navigation transmissions provided in a work area where the upper roll R2 is superposed on the lower roll R1. The navigation receiver 32 mounted on the hanging jig 21 of the indoor crane 2 in which the machine 31 emits a rotating fan beam and moves the upper roll R2 by locking the upper roll R2 to the hanging jig 21. The rotating fan beam is received as an IGPS signal, and the host computer 33 calculates the current position of the hanging jig 21 based on the IGPS signal received by the navigation receiver 32, and the deviation between the calculated current position and the target position. Based on the above, by causing the indoor crane 2 to autonomously travel so that the current position of the hanging jig 21 becomes the target position, the upper roll R2 is superimposed on the lower roll R1. . Further, the assist robot 50 performs delicate position and posture adjustment of the upper roll R2 in the horizontal plane with respect to the swing of the upper roll R2 according to the length of the crane wire. Thereby, in the operation | work which overlaps the upper roll R2 on the lower roll R1 with the indoor crane 2, the upper roll R2 can be overlap | superposed on the lower roll R1 with high precision, efficiency, and safety.

  Here, unlike the case where an unknown obstacle such as an operator or a temporary scaffold is avoided, the position of the obstacle can be grasped in advance for the known obstacle. Therefore, for known obstacles, information on the position and orientation of the known obstacle is stored in advance in the host computer 33 based on the three-dimensional CAD information, and the coordinates of the position and orientation of the known obstacle are global coordinates. Depending on the system, the corner coordinates of the obstacle (for example, coordinates (a, b, c), (d, e, f), (A, B) shown in FIG. , C), (D, E, F)) are preferably calculated in advance. Accordingly, as shown in FIG. 11, when calculating the target trajectory of the upper roll R2, the upper roll R2 is shorter than the target trajectory in the prior art and the upper roll R2 does not interfere with the known obstacles 80a and 80b in the three-dimensional space. It is possible to calculate a target trajectory that can move from the current position A3 to the target position A3 * while securing a sufficient distance.

  Even if an obstacle such as an obstacle installed after construction of a safety passage does not have sufficient drawing information such as three-dimensional CAD information, the corner coordinates of the obstacle are measured using the jig 70. It is possible to do the same by setting. Furthermore, if the position of the obstacle does not change significantly in the global coordinate system, it is not necessary to measure the corner coordinates of the obstacle many times as in the calibration work when setting the global coordinate system. For example, it is sufficient to perform the operation when the installation position of the navigation transmitter 31 is shifted due to maintenance work or the like. In the present embodiment, the target position of the upper roll R2 is determined based on the measurement result of the jig 70. However, when the target position is on a fixed structure in the work area, the target position is If it does not change, the target position may be set on the host computer 33. Thereby, the measurement work using the jig 70 becomes unnecessary, and the work efficiency can be improved.

  FIG. 12 is a schematic diagram for explaining an example of the indoor crane control process of the present invention. In the indoor crane control process of the present invention shown in FIG. 12, the host computer 33 executes the area determination program 33g, thereby obtaining the position information of the worker O by the navigation receiver 41 attached to the worker O. Get in real time. In addition, the host computer 33 executes the surrounding area calculation program 33f, thereby determining the operator O according to the lifting height of the upper roll R2 from the position and posture information of the upper roll R2 recognized using the navigation receiver 32. The work floor area that is a measure of the evacuation distance is calculated.

  For example, the host computer 33 calculates, as the dangerous area RA, an area in which the retreat distance is secured by the lifting height H from the measurement point A3 of the upper roll R2. In addition, the host computer 33 calculates an area in which an allowance for an arbitrary amount of evacuation distance is secured from the danger area RA as the alarm area RB. When the area determination program 33g determines that the position of the worker O is within the warning area RB, the host computer 33 slows down the target speed of the indoor crane 2 in the autonomous movement control to, for example, 1/3. Perform the action.

  Further, the host computer 33 controls the portable crane approach alarm 42 worn by the worker O to generate an alarm for notifying that the indoor crane 2 is approaching, and evacuates the worker O. Encourage the distance. Furthermore, when the area determination program 33g determines that the position of the worker O is within the danger area RA, the host computer 33 turns off the autonomous movement control mode of the indoor crane 2 and causes the indoor crane 2 to stop urgently. . Thereby, the risk that the worker O approaches the upper roll R2 can be reduced.

  Although the indoor position measurement system can perform positioning with high accuracy, positioning accuracy within ± 50 micrometers is over-spec for monitoring the position of the worker O. For the position monitoring of the worker, it is sufficient if the positioning accuracy is within ± 1 m, and it is not limited to the indoor position measuring system. For example, indoor positioning systems that perform three-point surveys using WiFi signals and UWB (UltraWideBand), which are ultra-wideband wireless communications, and indoor GPS systems that use satellite GPS signals (IMES system) and other systems that are under development to improve accuracy There are many. Therefore, in the future, the position of the metal plate can be considered to use an indoor position measurement system, and other positioning systems can be used in combination for monitoring the position of the worker.

  13 and 14 are schematic views for explaining another example of the indoor crane control process of the present invention. In the indoor crane control processing of the present invention shown in FIGS. 13 and 14, first, the on-board computer 22 a is connected to the hanging jig 21 by the distance measuring sensors 24 a and 24 b attached to the hanging jig 21 of the indoor crane 2. The distance to the obstacle 80 is measured. In the example shown in FIGS. 13 and 14, a temporary scaffold for device inspection is illustrated as an obstacle. The on-board computer 22a converts the measured distance data into data in the global coordinate system based on the relative positional relationship between the navigation receiver 32 and the suspension jig 21 calculated by the host computer 33.

  Next, the host computer 33 determines the distance between the upper roll R2 and the obstacle 80 based on the information regarding the position and posture of the upper roll R2 and the distance between the suspension jig 21 and the obstacle 80. Calculate as D, and determine the magnitude relationship between the proximity distance D and a predetermined threshold. For example, the host computer 33 sets a circular area having a radius of 3 [m] centered on the positions of the distance measuring sensors 24a and 24b as the dangerous areas RC and RD, and further secures an allowance for an arbitrary amount of retreat distance. A circular area having a radius of 5 [m] centered on the positions of the distance sensors 24a and 24b is set as an alarm area. If the proximity distance D is smaller than 5 [m] and 3 [m] or more as a result of the determination, the host computer 33 determines that the obstacle 80 is in the alarm area, and sets the target speed in the autonomous movement control. For example, the speed is reduced to 1/3. Furthermore, when the proximity distance D is smaller than 3 [m], the host computer 33 determines that the obstacle 80 is in the danger areas RC and RD, and turns off the indoor crane 2 by setting the autonomous movement control mode of the indoor crane 2 to OFF. Emergency stop. Thereby, contact with non-stationary surrounding obstacles, such as a temporary scaffold, and upper roll R2 can be prevented.

  The indoor crane control process is realized by the host computer 33 reading and executing the surrounding area calculation program 33f and the area determination program 33g.

[Embodiment 2]
Hereinafter, a second embodiment (hereinafter, referred to as a second embodiment) of an automatic operation device for an indoor crane according to the present invention will be described. In the second embodiment, the operation method of the robot arm 51 of the assist robot 50 is the same except that it is different from the indoor crane automatic driving apparatus according to the first embodiment, and thus description of common parts is omitted.

  FIG. 15 is a block diagram illustrating a configuration of the indoor crane automatic driving apparatus 1 according to the second embodiment. FIG. 16 is a schematic diagram for explaining the autonomous movement operation of the upper roll R2 along the target trajectory in the second embodiment. In the assist robot 50 according to the second embodiment, (G) the operator O who is in a safe place away from the upper roll R2 visually operates the robot arm 51 with the controller 60 which is an operation means for operating the robot arm. Then, position adjustment and posture adjustment of the upper roll R2 are performed. As a result, the upper roll R2 can be safely moved to the lower roll R1 more than when the guide rope is tied to one end of the upper roll R2 and the operator O pulls the guide rope to adjust the position and posture of the upper roll R2. Can be superimposed on top. In this embodiment, the robot arm 51 is operated by wireless communication between the controller 60 and the receiver 53. However, the robot arm is connected by wired communication in which the controller 60 and the receiver 53 are connected by a communication cable. You may comprise so that 51 may be operated.

  The embodiment to which the invention made by the present inventors is applied has been described above, but the present invention is not limited by the description and the drawings that constitute a part of the disclosure of the present invention. For example, although this embodiment uses an indoor position measurement system (IGPS), any indoor position measurement system based on the principle of triangulation having a measurement range and accuracy that can withstand this application can be applied to the present invention. Is possible. As described above, other embodiments, examples, operation techniques, and the like made by those skilled in the art based on the present embodiment are all included in the scope of the present invention.

DESCRIPTION OF SYMBOLS 1 Indoor crane automatic operation apparatus 2 Indoor crane 3 Indoor position measurement system 21 Lifting jig 21a Grasping apparatus 21b Frame 22 Cart 22a Mounted computer 22b Motor control part 22c Drive part 23 Operator controller 24 Ranging sensor 31 Navigation transmitter 32 navigation receiver 33 host computer 33a computer main body 33b keyboard 33c transmission / reception device 33d current position calculation program 33e target trajectory calculation program 33f surrounding area calculation program 33g area determination program 41 navigation receiver 42 portable crane approach alarm 50 assist robot 51 Robot arm 52 Cart 52a Caster 53 Receiver 54 Control unit 55 Drive unit 60 Controller 70 Jig 71 Contact type probe unit 80 Obstacle

Claims (14)

An indoor crane automatic driving device for controlling an indoor crane that transports a conveyed object in a work area using an indoor position measurement system,
First navigation that receives a rotating fan beam emitted from one or more navigation transmitters of the indoor position measurement system, which is mounted on a hanging jig of the indoor crane that holds the object to be conveyed, as a positioning signal. Receiver for
A deviation between the current position of the transported object recognized based on the positioning signal and the target position is calculated, and the current position of the transported object is set as the target position based on the deviation between the calculated current position and the target position. Control means for autonomously moving the indoor crane,
One or more assist robots that hold the object to be conveyed or the hanging jig and assist the position adjustment and posture adjustment of the object to be conveyed in a horizontal plane;
An automatic operation device for an indoor crane, comprising: The automatic operation device for an indoor crane according to claim 1,
The automatic operation apparatus for an indoor crane, wherein the assist robot autonomously performs the assistance using information on a current position, a target position, and a posture of the conveyed object based on the positioning signal. The automatic operation device for an indoor crane according to claim 1,
Comprising an operation means for operating the assist robot;
An automatic operation apparatus for an indoor crane, wherein an operator operates the assist robot using the operation means to perform the assistance. In the automatic operation apparatus for indoor cranes according to any one of claims 1 to 3,
An automatic operation of an indoor crane, wherein the assist robot is disposed in the vicinity of a target position for transporting the object to be transported, and the assist is performed by the assist robot immediately before the object to be transported is positioned at the target position. apparatus. In the automatic operation device of an indoor crane according to any one of claims 1 to 4,
A second navigation receiver for receiving a rotating fan beam emitted from one or more navigation transmitters of the indoor position measurement system, which is mounted on a worker in the work area, as a positioning signal;
The control means calculates a retreat area in the work area from the current position and posture information of the transported object recognized based on the positioning signal received by the first navigation receiver, and the second navigation The position of the worker in the work area recognized based on the positioning signal received by the receiver for the operator is calculated, and the automatic movement operation of the indoor crane is performed according to the positional relationship between the retreat area and the position of the worker. An indoor crane automatic driving device characterized by controlling. The automatic operation device for an indoor crane according to claim 5,
Alarm means for notifying that the indoor crane attached to the worker is approaching is provided, and the control means controls the warning means according to the positional relationship between the retreat area and the worker's position. An automatic operation device for an indoor crane, which notifies the worker that the indoor crane is approaching. In the automatic operation device of an indoor crane according to any one of claims 1 to 6,
A distance measuring sensor mounted on the suspension jig for measuring a distance between the suspension jig and a landmark existing in the periphery; and the control means is configured to determine a predetermined distance from the distance measured by the distance measurement sensor. An automatic operation device for an indoor crane, wherein the automatic movement operation of the indoor crane is controlled based on a magnitude relationship with a threshold value. An indoor crane automatic operation method for controlling an indoor crane that transports an object to be transported in a work area using an indoor position measurement system,
A first navigation receiver mounted on a hanging jig of the indoor crane that grips the object to be transported measures a rotating fan beam emitted from one or more navigation transmitters of the indoor position measurement system. Receiving as a signal;
The control means calculates a deviation between the current position of the transported object recognized based on the positioning signal received by the first navigation receiver and the target position, and calculates the difference between the calculated current position and the target position. Autonomously moving the indoor crane so that the current position of the conveyed object becomes a target position based on a deviation; and
Holding the object to be conveyed or the hanging jig by one or more assist robots, and assisting position adjustment and posture adjustment of the object to be conveyed in a horizontal plane;
A method for automatically operating an indoor crane, comprising: In the automatic operation method of the indoor crane according to claim 8,
The automatic operation method for an indoor crane, wherein the assist robot autonomously performs the assistance using information on a current position, a target position, and a posture of the conveyed object based on the positioning signal. In the automatic operation method of the indoor crane according to claim 8,
An automatic operation method for an indoor crane, wherein an operator uses the operation means for operating the assist robot to operate the assist robot to perform the assist. In the automatic operation method of the indoor crane according to any one of claims 8 to 10,
An automatic operation of an indoor crane, wherein the assist robot is disposed in the vicinity of a target position for transporting the object to be transported, and the assist is performed by the assist robot immediately before the object to be transported is positioned at the target position. Method. In the automatic operation method of the indoor crane according to any one of claims 8 to 11,
Receiving a rotating fan beam emitted from one or more navigation transmitters of the indoor position measurement system as a positioning signal by a second navigation receiver mounted on an operator in the work area; ,
The control means calculates a retreat area in the work area from the current position and posture information of the conveyed object recognized based on the positioning signal received by the first navigation receiver, and the second navigation The position of the worker in the work area recognized based on the positioning signal received by the receiver for the operator is calculated, and the automatic movement operation of the indoor crane is performed according to the positional relationship between the retreat area and the position of the worker. An automatic operation method for an indoor crane. In the automatic operation method of the indoor crane according to claim 12,
Including a step of notifying the worker that the indoor crane is approaching by controlling alarm means attached to the worker according to a positional relationship between the retreat area and the worker's position. An automatic operation method of an indoor crane characterized by the above. In the automatic operation method of the indoor crane according to any one of claims 8 to 13,
A distance measuring sensor mounted on the hanging jig measures the distance between the hanging jig and a landmark existing in the periphery; and
The control means controlling the automatic movement operation of the indoor crane based on the magnitude relationship between the distance measured by the distance measuring sensor and a predetermined threshold;
A method for automatically operating an indoor crane, comprising:

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