JP2001240372A - Control system for cable crane - Google Patents

Abstract

PROBLEM TO BE SOLVED: To precisely detect present positions of a transverse trolley and a bucket, and sufficiently offset swing of the bucket. SOLUTION: A cable crane is provided with the transverse trolley 3 traveling along a main cable 2 while towed by a towing cable 4, and the concrete bucket 6 suspended in a lower part of the trolley 3 via a suspension cable 5, and the cable 4 and the cable 5 are wound unwound by winches 7, 8 to move the trolley 3 and the bucket 6. GPS receivers 80, 82 are mounted on the trolley 3 and the bucket 6, and radio waves are received from a satellite 84 via the two receivers 80, 82 to position the present positions of them respectively. A speed of the trolley 3, a swinging angle of the bucket 6 and its angular velocity are calculated based on positioned results therein, and the swing of the bucket 6 is offset by feedback control in acceleration or deceleration.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control system for a cable crane installed for transporting various materials including concrete at a construction site of a dam, for example.

[0002]

2. Description of the Related Art As is well known, for example, at a dam construction site, a cable crane is used as one of means for transporting concrete from a manufacturing site to a casting site. Conventionally, as shown in FIG. 7, this cable crane has a main rope 2 stretched along a longitudinal direction thereof on a dam 1 constructed in a mountain, and can be suspended along the main rope 2 and run along the main rope 2. Trolley 3, a towing tow 4 of the trolley 3, a concrete bucket 6 suspended below the trolley 3 via a hanging cable 5, and the trolley 3 Start position A where is provided on the mountain side
A horizontal winch 7 for reciprocating between a transfer end position B set at an arbitrary position at the bottom of the dam 1, a vertical winch 8 for winding and unwinding the hanging cable 5 and raising and lowering a bucket 6, and a horizontal trolley. An operation room 9 that monitors the position of the bucket 3 and the position of the bucket 6 and controls the driving of the winches 7 and 8 is provided.

[0003] A transfer car 10 for transporting concrete made by a batcher plant (not shown) is disposed at a lateral upper portion of the transport start position A so as to be able to travel in a direction perpendicular to the paper surface. A concrete hopper 11 is disposed at the transfer end position B. Based on a control signal from the operation room 9, the bucket 6 is moved up and down while the trolley 3 is moved laterally, and the bucket 6 is moved to each of the positions A and B. Position and supply and discharge concrete.

[0004] Since a large amount of concrete is required for this kind of construction, the transportation time per bucket 6 is reduced as much as possible from the viewpoint of profitability of construction costs.
As shown in the drawing, the sheet is conveyed along an oblique path. Detecting the amount of extension of each of the ropes 4 and 5 and the degree of bending of the main rope 2 according to the load, etc., and automatically calculating the coordinates of the bucket 6 and the traversing trolley 3 according to the detection result, The drive control devices of the winches 7 and 8 are commanded to rotate forward / reverse, decelerate, and stop. This command allows the trolley 3 to move
, The bucket 6 is moved up and down, and the bucket 6 is automatically transferred from the transfer start position A to the transfer end position B.

When the trolley 3 is accelerated or decelerated, the present position and speed of the trolley 3 and the swing angle and angular velocity of the bucket 6 are detected as disclosed in, for example, Japanese Patent No. 2684940, and feedback control is performed. The winches 7 and 8 are drive-controlled to offset the swing of the bucket 6. The speed of the transverse trolley 3 is detected through a speedometer provided on the winch 7, and the swing angle and angular velocity of the bucket 6 are detected through sensors provided on the bucket 6.

[0006]

By the way, in such a cable crane, when used for a long period of time, the wires such as the towing line 4 and the hanging line 5 may become loose due to aging or the like. is there. Winch 7,
8 During the operation, slipping may occur on the towing line 4, the hanging line 5, and the like. In such a case, even if the extension amounts of the towing lines 4 and the hanging lines 5 are detected, the positions of the traversing trolley 3 and the bucket 6 cannot be accurately calculated, and a slight error occurs in the calculation results. For this reason, especially in the control at the time of acceleration or deceleration, the control of the traverse trolley 3 and the bucket 6 cannot be performed properly, and the swing of the bucket 6 cannot be sufficiently offset, or the swing of the bucket 6 Was increased in some cases.

[0007] To compensate for this, optical distance measurement is performed by a total station. However, this system cannot accurately measure the positions of the trolley 3 and the bucket 6 when fog or the like is generated.
There was a problem that it was greatly affected by the weather.

SUMMARY OF THE INVENTION The present invention has been made in view of such circumstances, and has as its object to accurately detect the current position of a trolley or a bucket without being affected by elongation, slippage, or weather of wires. It is an object of the present invention to provide a cable crane control system capable of sufficiently canceling the bucket runout.

[0009]

In order to achieve the above object, according to the present invention, a control system for a cable crane is configured as follows.

(1) A traverse trolley that can travel along a main rope stretched between two points, a traverse winch that reciprocates the traverse trolley along the main rope via a traction line,
A bucket suspended from the lower part of the traversing trolley via a suspension cable, a vertical winch for moving the bucket up and down via the suspension cable, and a winch control device capable of individually controlling the driving of these two winches; , A GPS receiver is mounted on each of the bucket and the traversing trolley, and the current positions of the bucket and the traversing trolley are sequentially measured through these two GPS receivers.

In such a system, a GPS receiver is mounted on each of the trolley and the bucket, so that the current positions of the trolley and the bucket can be determined by elongating or sliding wires such as main ropes, towings, and hanging ropes. Positioning can be performed accurately without being adversely affected by the weather. Also, the measurement speed is increased.

(2) In the above-mentioned system, the winch control device may determine a transfer start position and a transfer end position of the bucket, a degree of bending of the main rope, a length of the tow line, and a length of the suspension line. As a calculation element, a large number of operating patterns modeled by analyzing in advance the behavior of the main rope, the traversing trolley and the bucket are stored, and when the bucket moves, the current state of the bucket through the GPS receiver is stored. The position is measured, an appropriate operation pattern is selected from the operation patterns based on the positioning result, and the respective winches are driven and controlled to transport the bucket according to the movement pattern.

Thus, the bucket can be moved quickly and efficiently in accordance with a predetermined operation pattern, and the control load is reduced and the responsiveness is improved, so that the bucket can be moved to the destination in a short time. it can.

(3) In the above system, the operation pattern is based on the assumption that the main rope, the traction line, and the suspension line are suspension curves, and analyze the behavior of the main line, the traverse trolley, and the bucket. The configuration is modeled as follows. Thereby, accurate positioning and steadying can be performed, which is preferable.

(4) A rail stretched between two points while sandwiching a structure to be constructed such as a dam, a traveling trolley that can travel along the rail, and traveling for towing the traveling trolley. A rope, one end of which is connected to the traveling trolley via the main rope adjusting device, and the other end of which is connected to a fixed tower on the other side with the dam interposed therebetween and which is stretched therebetween. A trolley that can travel along the trolley, a tow for towing the trolley, a bucket suspended below the trolley via a hanging cable, and a trolley that pulls the traveling cable to track the traveling trolley. A traveling winch for reciprocating along the main rope, a main rope adjusting winch for adjusting the deflection of the main rope by pulling the main rope adjusting rope of the main rope adjusting device, and a main rope for pulling the traction rope to pull the main trolley. A traversing winch reciprocating along the line, and winding and winding the suspension cable When moving the bucket from a transfer start position to a transfer end position in a track-type cable crane provided with a vertical winch for raising and lowering a bucket by moving the winch and a winch control device capable of individually controlling each winch. In the control system of the cable crane used for the above, a GPS receiver is mounted on each of the bucket, the traverse trolley, the traveling trolley and the main rope adjusting device, and the bucket, the traverse trolley, The current position of the traveling trolley and the main rope adjusting device is sequentially measured.

In this system, similarly, the GPS receivers are mounted on the traverse trolley, bucket, traveling trolley, and main rope adjusting device, respectively. Accurate positioning can be performed without being adversely affected by slippage or weather. Also,
The measurement speed can also be increased.

(5) In this system, the winch control device includes the transfer start position and the transfer end position,
The running length of the traveling rope, the feeding length of the main rope adjusting rope, the feeding length of the towing rope, the feeding length of the hanging rope, and the feeding speed thereof are calculated elements of the track, the main Rope, a large number of operating patterns modeled by pre-analyzing the behavior of the traverse trolley and the bucket are stored, and when the bucket moves, the current position of the bucket is measured through the GPS receiver, An appropriate operation pattern is selected from the operation patterns based on the positioning result, and the winch is driven and controlled to transport the bucket according to the operation pattern.

Thus, the bucket can be moved quickly and efficiently according to a predetermined operation pattern, the control load is reduced, and the responsiveness is improved, so that the bucket can be moved to the destination in a short time. it can.

(6) Here, regarding the driving pattern,
Assuming that the track, the traveling rope, the main rope adjusting rope, the main rope, the towing, and the suspension rope are suspension curves, the behavior of the rail, the main rope, the trolley, and the bucket is determined. Analyze and model. This is preferable because accurate positioning and steadying can be performed.

(7) At the time of acceleration or deceleration of the trolley, the speed of the trolley and the swing behavior of the bucket are detected based on the current position of the bucket and the trolley measured through the GPS receiver. Then, the respective winches are driven and controlled so as to cancel the swing of the bucket. This allows
At the time of acceleration or deceleration of the traverse trolley, the speed of the traverse trolley and the swing angle and angular velocity of the bucket are accurately calculated based on the measured position information of the traverse trolley and the bucket, and at the appropriate timing and with appropriate feedback. Traveling trolleys and buckets can be controlled by the amount.

(8) The control for canceling the swing of the bucket performed during acceleration and deceleration of the traverse trolley is performed by accelerating or decelerating the trolley stepwise in the same direction. As a result, the run-out can be efficiently canceled without applying unnecessary load not only to the trolley and the bucket but also to the entire cable crane.

(9) The control for canceling the swing of the bucket at the time of acceleration and deceleration of the traverse trolley is performed by fuzzy inference. As a result, quick and smooth automatic operation becomes possible, and accurate positioning work at the transfer end position is easily performed.

(10) Feedback control by fuzzy inference at the time of acceleration and deceleration of the traverse trolley is performed by inputting the swing angle and swing direction of the bucket at the time of acceleration and the speed of the trolley at the time of deceleration. A configuration in which the swing angle and swing direction of the bucket and the speed and position of the traversing trolley are input, and further, when the bucket is stopped, the swing angle and swing direction of the bucket and the speed and position of the traversing trolley are input. And Thereby, appropriate control according to each timing can be performed.

[0024]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a cable crane control system according to the present invention will be described below with reference to the accompanying drawings. 1 and 2 show a first embodiment of a control system for a cable crane according to the present invention. FIG. 1 is a schematic diagram showing an overall configuration of the present invention, and FIG. 2 is a block diagram showing a system configuration. In this embodiment, the same or corresponding parts as those in the related art are denoted by the same reference numerals.

The cable crane is basically similar to the conventional one, and is suspended on the main rope 2 extending along the longitudinal direction of the dam 1 constructed on the mountain along the longitudinal direction thereof. A trolley 3 that can travel along the trolley 3, a towing 4 for towing the trolley 3, a concrete bucket 6 suspended below the trolley 3 via a hanging cable 5, and the towing 4 A traverse winch 7 for towing and reciprocating between a transfer start position A where the traverse trolley 3 is provided on the mountain side and a transfer end position B set at an arbitrary position at the bottom of the dam 1, and winding and unwinding the hanging rope 5. Vertical winch 8 for raising and lowering the bucket 6, and the position of the horizontal trolley 3 and the bucket 6
And an operation room 9 for controlling the position of the winches 7 and 8 and controlling the driving of the winches 7 and 8.

At a transfer start position A, a transfer car 10 for transferring concrete made by a batcher plant (not shown) travels in a direction perpendicular to the paper surface, and a concrete hopper 11 is installed at a transfer end position B. .

The operating room 9 has a console 20 for driving the winches 7 and 8, a control unit 22 for instructing each of the winches 7 and 8 in various drive modes, and performs calculations necessary for issuing various instructions. An operation unit 2 that gives the operation result to the control unit 22
4 and a wireless device 26. The operation unit 24 calculates the CP
U and a computer including a memory, a hard disk device, a display, and the like.

At the base of the main rope 2, an inclination angle detecting device 2
8 are provided. The inclination angle detecting device 28 detects the degree of inclination of the main rope 4 at the approach position of the trolley 3.

The horizontal winch 7 and the vertical winch 8 are
It is arranged in the machine room 32 in the vicinity of the main rope 2 and, as shown in FIG. The drive control devices 34 and 36 are connected to the control unit 22, and drive the winches 7 and 8 to rotate forward / reverse and accelerate / decelerate in response to a command from the control unit 22.

Each of the winches 7, 8 has a motor 7
a and 8a are rotatably linked via brakes 7b and 8b and reduction gears 7c and 8c, and have drums 7d and 8d for winding and unwinding the towing line 4 and the hanging line 5, respectively. The transverse winch 7 winds up the towing line 4 in an endless manner, and winds both ends of the towing line 4 while being wound around the intermediate drum 7d-1 and the drum 7d.

Each of the motors 7a, 8a has a speed detector 7e,
8e are provided, and these detected values are transmitted to the speed controller 2
The feedback to the control unit 22
Is controlled to the appropriate rotation direction and speed in accordance with the traveling command from the vehicle. Each of the drums 7d and 8d is provided with an encoder X and Z, respectively. The encoders X and Z can detect the lateral movement of the trolley 3 and the downward movement of the bucket 6. These encoders X,
All the detection results of Z are input to the control unit 22. In the present embodiment, the speed detectors 7e and 8e and the encoders X and Z are used supplementarily.

A landing confirmation switch 42 is provided on the bunker line at the transfer start position A, an area sensor 44 is disposed near the switch 42, and a control panel 46 is disposed near the switch 42. The landing confirmation switch 42 detects the bottom of the bucket 6 and an area sensor 44.
Is a control sensor when the bucket 6 has landed, and can be landed within the detection range of the sensor 44.
Further, the control panel 46 controls the release of concrete from the carriage 10 to the bucket 6.

Below the bucket 6, there are provided a gate which is opened and closed by a hydraulic cylinder (not shown), an open / close detection limit switch 48, and an ultrasonic area sensor 50. Above the bucket 6, a radio 52, a gyro-type deflection angle detector 54, a control panel 56, a battery 58 for driving these movable parts, and a solar-type charging device 60 are arranged. As shown in FIG. 2, the operation room 9 is controlled through the control panel 52 and the radios 52 and 26.
Is transferred to the control unit 22 on the side. In the present embodiment, the gyro-type deflection angle detector 54 is used in an auxiliary manner.

The hopper 11 is supported by a support base 62 installed on the transfer end position B. Below the hopper 11, a gate which is opened and closed by a hydraulic cylinder (not shown) and an opening / closing detection limit switch 64 are provided. I have.
The leg of the support base 62 is provided with a manual switch 6 for discharging concrete at a position where the driver's seat of the dump truck 66 which stops below the hopper 11 is easily visible and operable.
8, a display device 70, a control panel 72 and the like are arranged.

The trolley 3 and the bucket 6 are equipped with GPS (Global Positioning System) receivers 80 and 82, respectively. Each GPS receiver 8
Numerals 0 and 82 receive in real time radio waves transmitted from a plurality of artificial satellites 84 in the sky, and calculate the current position coordinates of each of the trolley 3 and the bucket 6 as three-dimensional coordinates in real time based on the reception results. The calculation result is transmitted to the control unit 22 of the operation room 9 through the radio 52 above the bucket 6 and the radio 53 above the trolley 3 respectively.
Send to

The arithmetic section 24 stores programs of many modeled operation patterns. This operation pattern is based on the transfer start position A and the transfer end position B, the degree of bending of the main rope 2, the extension length of the towing line 4 and the extension length of the hanging line 5, and the main rope 4, the trolley 3, This is obtained by analyzing the behavior of the bucket 6 in advance,
The program is modeled so that the transport time is the shortest. In addition, the operation unit 24 includes the trolley 3
And a function for calculating a control amount and timing for canceling out the shake in accordance with the shake angle and angular velocity of the bucket 6 with respect to.

The program contents obtained by the above analysis are shown in FIG.
As shown in (a), the target area of the dam 1 is divided into several small blocks, and the operation speed of the traversing trolley 3 and the lifting / lowering speed of the bucket 6 are determined for each block in consideration of the steady rest. The driving pattern in time is calculated, and the driving speed Vx of the traversing trolley accelerates from the start coordinates as shown in FIG. 3 (b), then becomes constant, and then becomes zero in the target coordinates by deceleration. The pattern has been set. The lifting speed Vz of the hanging cable 5 of the bucket 6 is shown in FIG.
The driving pattern is set in accordance with the driving pattern of the trolley 3 as shown in FIG.

The degree of deflection of the main rope 2 depends on the tension of the main rope 2 and the total load applied to the main rope 2. However, if the tension of the main rope 2 is measured and fixed at a known value, the operation time and operation pattern according to the program are determined by inputting a load as a variable. The loads on the main ropes 2, the traversing trolley 3, and the bucket 6 are known values, and are determined according to the weight of the concrete put into the bucket 6.

This concrete is mortar, medium-mixed concrete or solid-mixed concrete depending on the place to be poured and the type of construction. When the capacity of the bucket 6 is fixed, the concrete differs depending on the specific gravity. The concrete manufactured in the batcher plant is transported on the bunker line by the transport trolley 10, and its kind information is also provided to the operation room 9 side and the bucket 6 side, and the operation is executed based on this information.

When transporting the bucket 6, the control unit 22
The current position of the bucket 6 is set as the transfer start position A and the GP
Obtained through the S receiver 82. And the operation unit 24
Selects an appropriate operation pattern from a plurality of operation patterns based on the current position of the bucket 6 and the designated transfer end position B according to a predetermined algorithm. The control unit 22 determines, according to the selected driving pattern,
While driving the winches 7 and 8 based on the input concrete type information and moving the trolley 3,
The bucket 6 is automatically transported from the transport start position A to the transport end position B.

When the trolley 3 accelerates and decelerates, a swing occurs due to a delay in the response of the speed of the bucket 6 to the trolley 3, and the control unit 22 performs feedback control to cancel the shake. Here, the arithmetic unit 24 sequentially measures the current positions of the trolley 3 and the bucket 6 in real time by the GPS receivers 80 and 82 mounted on the trolley 3 and the bucket 6, and based on the positioning result, the speed of the trolley 3 and The swing angle and the angular velocity of the bucket 6 with respect to the trolley 3 are calculated. Specifically, the speed of the trolley 3 is calculated from the displacement amount based on the position information sequentially acquired from the GPS receiver 80 and the time difference. Also, regarding the swing angle of the bucket 6, the GPS
The angular velocity of the bucket 6 is calculated from the displacement amount and the time difference based on the positional information sequentially acquired from the GPS receiver 82, and is calculated from the displacement amount and the displacement direction based on the positional information sequentially acquired from the receiver 82. The calculation unit 24 calculates these values in real time. Then, the calculation unit 24 calculates the control voltage for steadying by applying the calculated values to a predetermined equation of motion for steadying.

FIGS. 4 and 5 show a control procedure at the time of acceleration, and a relationship between a speed according to the control contents and a state of the swing of the bucket 6. FIG. As shown in FIG. 4, at the time when one stage of acceleration of the traversing trolley 3 is completed after the operation is started,
Positioning or detection of the position and speed of the traversing trolley 3 and the swing angle and angular speed of the bucket 6 are performed. Based on these, a control voltage for steadying is calculated, and a control start time is calculated. A standby state is set (steps 101 to 107).

[0043] In this state shown in FIG. 5 (a), when the time rate of the transverse trolley 3 has reached the constant speed v ₁ from operation start to t _1, the bucket 6 swings are caused by a response delay, shake It becomes pendulum-like sinusoidal swings to the right and left indicated by the width v _2, the period is constant if a constant length of the slings 5, and the maximum amplitude determined by its length. Based on this, a point in time t ₂ at which v ₂ = 0 is obtained after time t _1, and the second-stage acceleration corresponding to v ₂ = max is applied from this point for a predetermined time to offset the shake. Become. Start time t ₂ has if started primary feedback control turned, giving a drive device 34 a control voltage for acceleration in the transverse trolley 3, measures the degree runout result, calculates the subsequent shake state. If the result is within the allowable value, the feedback control ends (steps 108 and 109).

The state up to time t ₃ primary feedback control is performed is shown in Figure 5 (b). During this time (time t ₂
If v ₂ = max <permissible value in the period from t to t ₃ ), the feedback control ends.

[0045] In contrast, if the exceeds the allowable value, when the secondary feedback start time t ₄ calculated by the same procedure described became start time Step 1
In addition to applying the control voltage output in step 09 in the third stage of acceleration for a predetermined time, the runout is measured (steps 110 to 11)
4).

FIG. 5C shows a state in which the secondary feedback control has been performed. Also during this period (time _t 3 ~t
_If v ₂ = max <permissible value in (during ₄ ), the feedback control ends, but if it exceeds the permissible value, the flow returns to step 110 again until the convergence to the permissible value, and the same feedback control is repeated. The control at the time of deceleration is the same, but the control direction is different, and the run-out is canceled by the stepwise deceleration pattern.

It is desirable that the position where the shake completely stops is right above the transfer start position A or the transfer end position B. However, by applying feedback control, the travel of the traverse trolley 3 relative to the actual target position is performed. Since there may be a case where the number of legs is insufficient or the vehicle goes too far, after the control is completed, the position is corrected by moving at a very low speed, and if the bucket 6 is lowered, the transfer operation is completed.

When the bucket 6 is lowered on the outward path, the vertical and horizontal automatic fine adjustment operations are performed by the ultrasonic area sensors 50 and 76 provided on the bucket 6 and the hopper 11, for example. After that, it stops on the hopper 11, opens the gate, discharges the concrete, and completes the whole work on the outward path.

Similarly, when the bucket 6 is lowered on the return path, the bucket 6 reaches just above the bunker line by the fine adjustment after the feedback control.
And the ultrasonic area sensor 50 provided on the bunker line,
At step 44, the vertical and horizontal automatic fine adjustment operations are performed and complemented. Thereafter, when the vehicle landed on the bunker line and was confirmed by the switch 42, it again enters the concrete receiving standby state.

Next, a second embodiment of the cable crane control system according to the present invention will be described. FIG.
4 shows a second embodiment of the control system for a cable crane according to the present invention. Here, a case will be described in which the control system of the present invention is applied to a track-type cable crane. Here, the same components as those of the above-described embodiment are denoted by the same reference numerals in principle, and the description of the same components as those of the above-described embodiment will be omitted. I do.

This track-type cable crane is provided for constructing a dam 1 by casting concrete in a valley of a mountain. Rail cable 92 stretched between main towers 90 and 91
And a traveling trolley 93 traveling along the track 92.
A traveling rope 94 for pulling the traveling trolley 93; and a traveling winch 97 for retracting the traveling rope 94 to move the traveling trolley 93 along the track 92. Main rope 2
Has one end connected to the traveling trolley 93 and the other end connected to the dam 1
Is connected to the fixed tower 95 on the other side of the mountain, and is stretched between them. A main cable adjusting cable 96 is interposed between the main cable 2 and the traveling trolley 93, and is pulled by a main cable adjusting winch 98 to adjust the deflection of the main cable 2. In addition, the trolley 3 and the towing 4
, A hanging line 5, a bucket 6, a transverse winch 7, and a vertical winch 8.

The track 92 has one end fixed to one main tower 90 and the other end fixed to the other main tower 91 via a track tensioning device (not shown). ,
It is suspended with a predetermined tension between the members 91.

The traveling cable 94 has two main towers 90, 9 at both ends.
1, and the traveling trolley 95 is arbitrarily moved in both directions along the track 92 by being pulled by the traveling winch. The traveling rope 94 has one end fixed to a main tower via a traveling rope tensioning device (not shown) so as to maintain a predetermined tension.

The main rope 2 has one end connected to the main rope adjusting device and the other end connected and fixed to a fixed tower 95. The main rope 2 is suspended between the traveling trolley 93 and the fixed tower 95. As the trolley 93 moves, the trolley 93 moves so as to cover a substantially fan-shaped area around the fixed tower 95.

The main rope adjusting device 99 includes a plurality of winding pulleys, and the main rope adjusting rope 96 is sequentially wound on the winding pulley. The main rope adjusting winch 98 is a main rope adjusting winch 98.
The length of the main rope adjusting device 99 is adjusted by the rotation of the main rope, whereby the main rope 2 attached to one end of the main rope adjusting device 99 is adjusted.
However, the variation of the deflection due to the movement of the traveling trolley 93 is adjusted.

The operation room 9 installed adjacent to the periphery of the fixed tower 95 is provided with a drive control device for each of the winches 7, 8, 97, 98, an operation console for operating points, an operation pattern to be operated and analyzed, and data to be stored. An arithmetic unit including a computer, a wireless device, and the like are provided. Each winch 7, 8, 97, 98
Each is provided with a drum, a motor, a brake, a speed reducer, a control device, and the like. The drum is rotationally driven by a command from a drive control device of the operation room 17, and the cables 4, 5, 94, 96 are pulled.

The GPS receiver is mounted on the traveling trolley 93 and the main cable adjusting device together with the traversing trolley 3 and the bucket 6. Each GPS receiver includes a trolley 3, a traveling trolley 93, a bucket 6, and a main rope adjusting device 99.
Are calculated in real time as three-dimensional coordinates, and the calculation results are respectively transmitted to the wireless devices 52 and 53.
The data is transmitted to the control unit of the operation room 9 through the like.

The arithmetic unit stores a large number of modeled operation pattern programs as in the case described above. However, the stored operation patterns include the transfer start position A and the transfer end position B, the position of the traversing trolley 3, the connection position between the main rope adjusting device cable 96 and the main cable 2, the main cable adjusting device 99 and the traveling trolley 93. From the static equilibrium equation at each contact point such as the connection position of the traveling trolley 3 on the track 92 and the position of the traveling trolley 3, the extension length of the traveling rope 94 corresponding to each position of the bucket 6, The transport starts based on the extension length, the extension length of the towing line 4, the extension length of the suspension line 5, and the extension speed of the ropes 4, 5, 94, and 96 as calculation elements and based on the equation of motion of the pendulum. At each stop position of the bucket 6 such as the bunker portion 20 which is the position or the concrete placing position which is the transfer end position, the bucket 6 does not run out.
Since the combination of the running speeds of the traveling cable 94, the main cable adjusting cable 96, the towing cable 4, and the suspension cable 5 is analyzed, the model is modeled from the results of these analysis. When operating the cable crane, the calculation unit selects the modeled operation pattern according to the set conditions, and travels to the target point, the main rope adjustment rope 8, the towing rope 10, and the suspension rope 11 Is calculated as a function of time and stored in the memory of the computer.

The arithmetic unit gives instructions to the control devices of the traveling winch 97, the main rope adjusting winch 96, the horizontal winch 7, and the vertical winch 8 based on the information of the driving pattern stored in the memory. By controlling the feeding speed at 8, 96, and 97, automatic operation is performed from the start position to the target position in consideration of the steady rest. At this time, the arithmetic unit operates the trolley 3 through each GPS receiver.
And the current position of the bucket 6, the traveling trolley 93 and the main rope adjusting device 99 are sequentially measured in real time,
Is sequentially monitored as to whether or not is moving along a predetermined operation pattern as scheduled. On the return path from the concrete placement position to the bunker section 20, the driving pattern may be such that the traveling trolley 93 is not moved.

Here, the calculation unit is provided to cancel the swing of the bucket 6 with respect to the trolley 3 when the trolley 3 is accelerating, decelerating, or stopping.
Feedback control based on well-known fuzzy inference as disclosed in JP-A-35281 or the like is performed. Specifically, "length of suspension cable", "speed of traversing trolley", "deflection angle of bucket", "deflection direction", "deviation from deceleration start position",
"Shake after stop / acceleration (indicating how much stop or acceleration swing)", "Shift in stop position (indicating how much deviation from target position when bucket stops)", etc. For each element of, a membership function is defined in which the contents of the fuzzy inference correspond to the measured values.

When the trolley 3 is accelerating and decelerating, the current position of the trolley 3 and the bucket 6 is sequentially determined in real time through each GPS receiver, and based on the positioning result, the operation of the trolley 3 is performed. speed,
In addition, the swing angle and the angular velocity of the bucket 6 with respect to the transverse trolley 3 are calculated, and the calculation results are input to a previously defined membership function, and appropriate feedback control for canceling the swing of the bucket 6 is inferred. Execute The speed of the traverse trolley 3, the swing angle of the bucket 6 with respect to the traverse trolley 3, and the angular velocity thereof are calculated by the above-described method.

Here, when the trolley 3 is accelerated, the swing angle and the swing direction of the bucket 6 and the speed of the trolley 3 are inputted to perform acceleration.
When the trolley 3 is stopped, the swing angle and swing direction of the bucket 6 and the speed and position of the trolley 3 are input. When the trolley 3 stops, the swing angle and swing direction of the bucket 6 and the speed and position of the trolley 3 are input. It is done by doing.

As described above, by performing the control for canceling the swing of the bucket 6 by the fuzzy inference, a quick and smooth automatic operation becomes possible, and the accurate positioning operation at the transfer end position is easily performed. Will be.

=== Other Embodiments === (1) The speed detectors 7e and 8e, the encoders X and
The Z and the lightwave range finder 30 are used for detecting the position of a traverse trolley or a bucket when the GPS receiver is unable to perform positioning due to some trouble.

(2) The present invention can be applied to other types of cable cranes other than the above-described type of cable crane, such as a parallel-moving type or an arc type cable crane.

(3) In the control system of the cable crane shown in FIG. 1, control based on the well-known phage inference disclosed in Japanese Patent No. 2684939 may be performed.
Further, in the control system of the track-type cable crane shown in FIG. 6, the steadying control of the bucket as disclosed in JP-A-11-35280 may be performed.

[0067]

According to the control systems for the first and second cable cranes according to the present invention, the GPS receivers are mounted on the buckets, the traversing trolleys, and the like, respectively.
By measuring the current position of the traversing trolley, bucket, etc. through the S receiver, it is possible to avoid the adverse effects of stretching, slipping, weather, etc. of wires such as main ropes, towings, and hanging ropes as in the past, and to measure Speed increases and accuracy improves.

The transport start position and the transport end position of the bucket, the degree of bending of the main rope, the degree of bending of the main rope, the extension length of the tow line, the extension length of the suspension rope, the extension length of the traveling rope, From a number of modeled driving patterns obtained by preliminarily analyzing the behavior of the main rope, traversing trolley, bucket, and track based on the extension length of the rope, the GP
In accordance with the current position information of the bucket and the traversing trolley detected through the S receiver, an appropriate operation pattern is selected, and the respective winches are driven and controlled to transport the bucket according to the movement pattern. Can quickly and accurately reach the destination in a short time, and the bucket transport efficiency can be improved as much as possible.

When the trolley is accelerating or decelerating, the speed of the trolley and the swing angle and angular velocity of the bucket can be accurately calculated, and control can be performed at an appropriate timing and with an appropriate feedback amount. Therefore, the swing of the bucket can be sufficiently offset.

Further, in the control system of the second cable crane, assuming that the track, the traveling rope, the main rope adjusting rope, the main rope, the towing rope, and the suspension rope are suspension curves, By analyzing the behavior of the rope, the trolley, and the bucket to model the operation pattern, more accurate positioning and steadying can be performed.

Further, in this system, the control for canceling the swing of the bucket performed when the trolley is accelerated and decelerated is performed by accelerating or decelerating the trolley in the same direction in a stepwise manner. The run-out can be efficiently canceled without applying unnecessary load not only to the trolley and the bucket but also to the entire cable crane.

Further, by performing control for canceling the swing of the bucket performed during acceleration and deceleration of the traverse trolley by fuzzy inference, quick and smooth automatic operation becomes possible, and at the transfer end position. Accurate positioning work can be easily performed.

Here, feedback control by fuzzy inference at the time of acceleration and deceleration of the traverse trolley is performed by inputting the swing angle and swing direction of the bucket at the time of acceleration and the speed of the trolley at the time of deceleration. It is performed by inputting the swing angle and swing direction of the bucket and the speed and position of the traversing trolley, and when stopping, by inputting the swing angle and swing direction of the bucket and the speed and position of the traversing trolley. Thus, appropriate control corresponding to each timing can be performed.

[Brief description of the drawings]

FIG. 1 is an overall explanatory diagram showing one embodiment of a control system for a cable crane according to the present invention.

FIG. 2 is a block diagram showing one embodiment of a system configuration of a cable crane control system according to the present invention.

FIG. 3 is an explanatory diagram showing a bucket conveyance control method of the cable crane control system according to the present invention.

FIG. 4 is a flowchart illustrating an example of a processing procedure when accelerating a bucket in the cable crane control system according to the present invention.

FIG. 5 is an explanatory diagram showing a relationship between a run-out and a speed at the time of bucket acceleration in the cable crane control system according to the present invention.

FIG. 6 is an overall explanatory view showing an embodiment in which the control system for a cable crane according to the present invention is applied to a track-type cable crane.

FIG. 7 is an explanatory diagram showing an example of a conventional cable crane control system.

[Explanation of symbols]

1 dam 90, 91
Main tower 2 Main rope 92 Track 3 Traversing trolley 93 Traveling trolley 4 Towing 94 Traveling rope 5 Suspension rope 95 Fixed tower 6 Concrete bucket 96 Main rope adjustment rope 7 Horizontal winch 97 Travel winch 8 Vertical winch 98 Main rope adjustment winch 22 Control unit 99 Main cable adjustment device 34, 36 Drive control device 80, 82 GPS receiver 84 Artificial satellite

Claims (10)

[Claims] 1. A traverse trolley that can travel along a main rope stretched between two points, a traverse winch that reciprocates the traverse trolley along the main rope via a traction line, and the traverse trolley. A bucket suspended under a suspension cable at a lower portion of the vehicle, a vertical winch for moving the bucket up and down via the suspension cable, and a winch control device capable of individually controlling the drive of the two winches. In the cable crane, the bucket and the traversing trolley have GPS respectively.
A cable crane control system comprising a receiver and sequentially measuring the current positions of the bucket and the traverse trolley through these two GPS receivers. 2. The winch control device according to claim 1, wherein the transport start position and the transport end position of the bucket, the degree of bending of the main rope, the extension length of the traction line, and the extension length of the suspension rope are calculated elements. The main rope, the traversing trolley, and a large number of operation patterns that are modeled by analyzing the behavior of the bucket in advance are stored. When the bucket moves, the current position of the bucket is measured through the GPS receiver. The cable crane according to claim 1, wherein an appropriate operation pattern is selected from the operation patterns based on the positioning result, and the winches are driven and controlled to transport the bucket according to the movement pattern. Control system. 3. The operation pattern is modeled by assuming that the main rope, the towing line, and the suspension line are suspension curves, and analyzing the behavior of the main line, the traversing trolley, and the bucket. The cable crane control system according to claim 2, wherein: 4. A track stretched between two points while sandwiching a structure to be constructed such as a dam, a traveling trolley capable of traveling along the track, and a traveling rope for towing the traveling trolley. A main rope connected at one end to the traveling trolley via a main rope adjusting device, and connected at the other end to a fixed tower on the other side with the dam interposed therebetween; A traveling trolley that can be traveled, and towing of the traversing trolley,
A bucket suspended below the transverse trolley via a suspension cable, a traveling winch for pulling the traveling cable and reciprocating the traveling trolley along the track, and adjusting a main cable of the main cable adjusting device. A main rope adjusting winch for pulling the rope to adjust the deflection of the main rope, a traverse winch for pulling the traction rope to reciprocate the traverse trolley along the main rope, and winding and unwinding the hanging rope In a track-type cable crane equipped with a vertical winch for raising and lowering a bucket and a winch control device capable of individually controlling each winch,
A GPS receiver is mounted on each of the bucket, the traverse trolley, the traveling trolley, and the main rope adjusting device, and the bucket, the traversing trolley, the traveling trolley, and the main rope adjusting device are mounted through the four GPS receivers. A cable crane control system characterized by sequentially measuring the current position. 5. The winch control device according to claim 1, wherein the transport start position and the transport end position, the extension length of the traveling rope, the extension length of the main rope adjustment rope, the extension length of the towing rope, and the length of the suspension rope. The payout length, and these payout speeds as calculation elements, the track, the main rope, the traversing trolley and the behavior of the bucket are preliminarily analyzed and stored in a large number of operating patterns, and the bucket is stored. When moving, the current position of the bucket is measured through the GPS receiver, an appropriate operation pattern is selected from the operation patterns based on the positioning result, and the bucket is transported according to the operation pattern. The control system for a cable crane according to claim 4, wherein the winch is drive-controlled. 6. The driving pattern is based on the assumption that the track, the traveling rope, the main rope adjusting rope, the main rope, the towing, and the suspension rope are suspension curves. The cable crane control system according to claim 5, wherein the behavior of the rope, the traversing trolley, and the bucket is analyzed and modeled. 7. When the trolley is accelerating or decelerating, the speed of the trolley and the swing behavior of the bucket are detected based on the current position of the bucket and the trolley measured through the GPS receiver. The drive control of each of the winches is performed so as to cancel the swing of the bucket.
A control system for a cable crane according to any one of the above. 8. A control for canceling a swing of a bucket performed during acceleration and deceleration of the traversing trolley,
The cable crane control system according to claim 7, wherein the trolley is accelerated or decelerated in the same direction in a stepwise manner. 9. The cable crane control system according to claim 7, wherein the control for canceling the swing of the bucket performed during acceleration and deceleration of the traverse trolley is performed by fuzzy inference. 10. The feedback control by fuzzy inference at the time of acceleration and deceleration of the traverse trolley is performed by inputting the swing angle and swing direction of the bucket at the time of acceleration and the speed of the trolley at the time of deceleration. The swing angle and swing direction of the bucket and the speed and position of the traversing trolley are performed, and when stopped, the swing angle and swing direction of the bucket and the speed and position of the traversing trolley are input. The control system for a cable crane according to claim 9, wherein: