JP2015091729A - Hanging position detection device and hanging position detection method of floating crane - Google Patents

Hanging position detection device and hanging position detection method of floating crane Download PDF

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JP2015091729A
JP2015091729A JP2014028515A JP2014028515A JP2015091729A JP 2015091729 A JP2015091729 A JP 2015091729A JP 2014028515 A JP2014028515 A JP 2014028515A JP 2014028515 A JP2014028515 A JP 2014028515A JP 2015091729 A JP2015091729 A JP 2015091729A
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turning
jib
crane
gps antenna
orientation
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JP6226274B2 (en
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典昭 守屋
Noriaki Moriya
典昭 守屋
俊司 帯田
Shunji Obita
俊司 帯田
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Penta Ocean Construction Co Ltd
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Abstract

PROBLEM TO BE SOLVED: To provide a hanging position detection device and a hanging position detection method of a floating crane capable of easily attaching a GPS antenna to a floating crane such as a self-propelling grab hopper barge, and capable of measuring an accurate position of a tip of a jib.SOLUTION: A hanging position detection device of a floating crane 1 includes: a GPS antenna 11 removably fixed to an arbitrary position of a crane turn part 3; position and direction measuring means for measuring a position and direction of the GPS antenna 11; jib elevation angle measuring means for measuring an elevation angle β of a jib 4; and calculation means for calculating a position of a jib tip part 4a on the basis of the position and direction of the GPS antenna 11 acquired by the position and direction measuring means, the jib elevation angle β acquired by the jib elevation angle measuring means, a relative position of the GPS antenna 11 to a turning center C of the crane turn part 3, a GPS antenna fitting angle, the length of the jib 4, and a horizontal distance between the base end of the jib and the turning center C.

Description

本発明は、ガット船等のクレーン船のクレーン操作支援及び操船支援に用いられるクレーン船の吊り位置検出装置及び吊り位置検出方法に関する。   The present invention relates to a crane boat suspension position detection apparatus and suspension position detection method used for crane operation support and ship handling support for crane ships such as gut ships.

水中構造物の基礎となる捨石マウンドの造成に際しては、台船上に旋回可能に設置されたクレーン旋回部と、クレーン旋回部に上下に回動可能に支持されたジブと、ジブ先端より繰り出されるワイヤーとを備えたガット船等のクレーン船を使用し、クレーンによりワイヤーの先端に吊り持ちさせたグラブバケットを操作し、捨石を投入する作業が行われている。   When constructing a rubble mound, which is the foundation of an underwater structure, a crane turning part installed on a trolley to be able to turn, a jib supported to be turned up and down on the crane turning part, and a wire fed from the tip of the jib Using a crane ship such as a gut ship equipped with, a grab bucket that is suspended from the tip of a wire by a crane is operated to throw rubble.

従来、この捨石投入作業においては、捨石を投入する位置に旗等の目印を設置し、その目印を目安にして操作者がクレーンを操作する方法が一般的であったが、この方法においては、潮流等により旗等の目印が移動してしまう虞や目視に頼るクレーン操作には熟練を要する等の問題があった。   Conventionally, in this rubble throwing work, a method such as installing a flag or the like at a position where a rubble is thrown and a crane is operated by an operator using the mark as a guideline, but in this method, There was a problem that a marker such as a flag may be moved due to a tidal current or the like, and that a crane operation that relies on visual observation requires skill.

一方、近年においては、ジブの先端部にＧＰＳアンテナを固定し、そのＧＰＳアンテナの位置を計測することによりジブ先端部の正確な位置を特定し、そのジブ先端部より垂下された位置にあるグラブバケットの位置を検出する吊り位置検出装置が開発され、その吊り位置検出装置による検出データに基づいて効率的且つ容易に捨石投入作業等を行えるようになっている（例えば、特許文献１を参照）。   On the other hand, in recent years, a GPS antenna is fixed to the tip of the jib, the position of the GPS antenna is measured to determine the exact position of the jib tip, and the grab at the position suspended from the tip of the jib is determined. A suspension position detection device that detects the position of the bucket has been developed, and it is possible to efficiently and easily carry out a rubble throwing operation based on data detected by the suspension position detection device (for example, see Patent Document 1). .

尚、このクレーン船の吊り位置検出装置では、グラブバケット等の吊り体の位置を正確に検出するためにジブ先端部の正確な位置を測定する必要があり、その為、海上を移動する台船の位置に影響されずにジブ先端部の位置を計測できるように位置計測手段を構成するＧＰＳアンテナをジブ先端部に直接固定するようにしていた。   In this crane ship suspension position detection device, it is necessary to measure the exact position of the tip of the jib in order to accurately detect the position of a suspended body such as a grab bucket. The GPS antenna constituting the position measuring means is directly fixed to the jib tip so that the position of the jib tip can be measured without being influenced by the position of the jib.

特開２００９−２４４００号公報JP 2009-24400 A

しかしながら、上述の位置計測手段を構成するＧＰＳアンテナをジブ先端部に固定する作業は、高所での危険な作業を伴うとともに、作業が煩雑で多大な時間を要するという問題があった。   However, the work of fixing the GPS antenna that constitutes the above-described position measuring means to the tip of the jib has a problem that it involves a dangerous work at a high place and is complicated and requires a lot of time.

また、捨石投入作業に使用できるガット船は、稼働スケジュールによって日毎に異なるという特殊な事情があり、そのため、吊り位置検出装置を使用毎に設置及び撤去する必要が生じ、その度に危険且つ煩雑なジブ先端部に対するＧＰＳアンテナの固定作業を行うため、非常に効率が悪いとう問題があった。   In addition, gut ships that can be used for rubble throwing work have special circumstances that differ from day to day depending on the operation schedule, so it is necessary to install and remove the hanging position detection device each time it is used, which is dangerous and complicated each time. Since the GPS antenna is fixed to the tip of the jib, there is a problem that it is very inefficient.

更に、このような吊り位置検出装置では、台船の姿勢を検出することはできず、台船の操船に関しては、別個に台船専用の位置検出装置を必要とするものであった。   Furthermore, with such a suspended position detection device, the attitude of the trolley cannot be detected, and for maneuvering the trolley, a position detection device dedicated to the trolley is required separately.

本発明は、このような従来の問題に鑑み、ＧＰＳアンテナをガット船等のクレーン船に容易に取り付けられ、且つ、ジブ先端部の正確な位置を計測可能なクレーン船の吊り位置検出装置及び吊り位置検出方法の提供を目的としてなされたものである。   In view of such a conventional problem, the present invention provides a crane ship suspension position detection apparatus and suspension device in which a GPS antenna can be easily attached to a crane ship such as a gut ship and the accurate position of a jib tip can be measured. The purpose is to provide a position detection method.

上述の如き従来の問題を解決するための請求項1に記載の発明の特徴は、台船上に旋回可能に設置されたクレーン旋回部と、該クレーン旋回部に上下に回動可能に支持されたジブと、該ジブの先端より繰り出されるワイヤーとを備えたクレーン船にあって、前記ジブ先端部の位置に基づいて前記ワイヤーの先端に吊り持ちさせた吊り体の位置を検出するようにしたクレーン船の吊り位置検出装置において、前記クレーン旋回部の任意の位置に着脱可能に固定されるＧＰＳアンテナと、該ＧＰＳアンテナの位置及び方位を計測する位置方位計測手段と、前記ジブの仰角を計測するジブ仰角計測手段と、前記位置方位計測手段より得られる前記ＧＰＳアンテナの位置及び方位、前記ジブ仰角計測手段より得られるジブの仰角、前記ＧＰＳアンテナの前記クレーン旋回部の旋回中心に対する相対位置、前記ＧＰＳアンテナの前記ジブに対する取付け角度、前記ジブの長さ及び前記ジブの基端と前記旋回中心との間の水平方向距離に基づいて前記ジブ先端部の位置を算出する演算手段とを備えたクレーン船の吊り位置検出装置にある。   The feature of the invention according to claim 1 for solving the above-described conventional problems is that a crane turning unit is installed on a carriage so as to be capable of turning, and is supported by the crane turning unit so as to be rotatable up and down. A crane ship comprising a jib and a wire fed out from the tip of the jib, wherein the crane detects the position of a suspended body suspended from the tip of the wire based on the position of the tip of the jib In the ship hanging position detection device, a GPS antenna that is detachably fixed to an arbitrary position of the crane turning unit, a position / orientation measuring unit that measures a position and an orientation of the GPS antenna, and an elevation angle of the jib are measured. Jib elevation angle measuring means, position and orientation of the GPS antenna obtained from the position / orientation measuring means, jib elevation angle obtained from the jib elevation angle measuring means, The jib tip based on the relative position of the crane turning part with respect to the turning center, the mounting angle of the GPS antenna to the jib, the length of the jib and the horizontal distance between the base end of the jib and the turning center And a crane ship hanging position detecting device including a calculation means for calculating the position of the crane ship.

請求項２に記載の発明の特徴は、請求項１に加え、前記位置方位計測手段を前記ＧＰＳアンテナと一体に備え、該位置方位計測手段を前記クレーン旋回部の任意の位置に着脱可能に固定することにある。   According to a second aspect of the present invention, in addition to the first aspect, the position / orientation measuring means is provided integrally with the GPS antenna, and the position / orientation measuring means is detachably fixed to an arbitrary position of the crane turning portion. There is to do.

請求項３に記載の発明の特徴は、請求項１又は２の構成に加え、前記クレーン旋回部の前記台船に対する所望の旋回位置を検出する旋回基準検出手段を備え、前記演算手段は、前記所望の旋回位置における前記ＧＰＳアンテナの位置及び方位に基づいて前記台船の位置及び方位を算出するようにしたことにある。   According to a third aspect of the present invention, in addition to the configuration of the first or second aspect, the invention further includes a turning reference detection unit that detects a desired turning position of the crane turning unit with respect to the carriage, The position and direction of the trolley are calculated based on the position and direction of the GPS antenna at a desired turning position.

請求項４に記載の発明の特徴は、請求項３の構成に加え、前記台船に船倉部を備え、該船倉部上に前記ジブが位置する際の前記クレーン旋回部の台船に対する旋回位置を旋回基準検出手段で検出するようにしたことにある。   According to a fourth aspect of the present invention, in addition to the configuration of the third aspect, the trolley includes a hold portion, and the turning position of the crane turning portion with respect to the trolley when the jib is located on the hold portion. Is detected by the turning reference detecting means.

請求項５に記載の発明の特徴は、請求項３又は４のいずれか１項の構成に加え、前記旋回基準検出手段は、前記クレーン旋回部又は台船の何れか一方に固定された近接センサを備え、該近接センサは、前記クレーン旋回部又は前記台船の何れか他方に固定され、前記クレーン旋回部の旋回に伴って前記近接センサに対し旋回方向で相対移動する検出対象体の接近を検出するようにしたことにある。   According to a fifth aspect of the present invention, in addition to the configuration according to any one of the third or fourth aspect, the turning reference detecting means is a proximity sensor fixed to either the crane turning portion or the carriage. The proximity sensor is fixed to either the crane turning part or the base boat, and moves closer to the detection object that moves relative to the proximity sensor in the turning direction with the turning of the crane turning part. It is to be detected.

請求項６に記載の発明の特徴は、請求項１又は２の構成に加え、前記台船上の任意の位置に設置された台船位置計測用ＧＰＳアンテナの位置を計測する台船位置計測手段を備え、前記演算手段は、前記位置方位計測手段より得られる前記ＧＰＳアンテナの位置及び方位と、前記ＧＰＳアンテナの前記クレーン旋回部の旋回中心に対する相対位置とに基づき前記クレーン旋回部の旋回中心位置を算出するとともに、該旋回中心位置と、前記計測された台船位置計測用ＧＰＳアンテナの位置と、該台船位置計測用ＧＰＳアンテナと台船との相対位置に基づいて前記台船の方位を算出するようにしたことにある。   According to a sixth aspect of the present invention, in addition to the configuration of the first or second aspect, a trolley position measuring means for measuring a position of a GPS antenna for measuring a trolley position installed at an arbitrary position on the trolley is provided. And the computing means determines the turning center position of the crane turning part based on the position and orientation of the GPS antenna obtained from the position / orientation measuring means and the relative position of the GPS antenna to the turning center of the crane turning part. And calculating the azimuth of the barge based on the turning center position, the measured position of the GPS antenna for measuring the ship position, and the relative position of the GPS antenna for measuring the ship position and the ship. There is in doing so.

請求項７に記載の発明の特徴は、台船上に旋回可能に設置されたクレーン旋回部と、該クレーン旋回部に上下に回動可能に支持されたジブと、該ジブの先端より繰り出されるワイヤーとを備えたクレーン船のジブ先端部の位置に基づいて前記ワイヤーの先端に吊り持ちさせた吊り体の位置を検出するクレーン船の吊り位置検出方法において、前記クレーン旋回部の任意の位置に着脱可能に固定されるＧＰＳアンテナと、該ＧＰＳアンテナの位置及び方位を計測する位置方位計測手段と、前記ジブの仰角を計測するジブ仰角計測手段とを備えた吊り位置検出装置を使用し、前記ＧＰＳアンテナの位置及び方位を計測するとともに、前記ジブの仰角を計測し、前記ＧＰＳアンテナの位置及び方位と、前記ジブの仰角と、事前に設定された前記ＧＰＳアンテナの前記クレーン旋回部の旋回中心に対する相対位置と、前記ＧＰＳアンテナの前記ジブに対する取付け角度と、前記ジブの長さ及び前記ジブの基端と前記旋回中心との間の水平方向距離とに基づいて前記ジブ先端部の位置を算出するクレーン船の吊り位置検出方法にある。   The feature of the invention described in claim 7 is that a crane turning part installed on a trolley so as to be turnable, a jib supported so as to be turnable up and down on the crane turn part, and a wire fed from the tip of the jib In a crane ship suspension position detection method for detecting the position of a suspended body suspended from the tip of the wire based on the position of a jib tip of a crane ship equipped with A suspension position detection apparatus comprising: a GPS antenna that can be fixed, a position / orientation measurement unit that measures the position and orientation of the GPS antenna, and a jib elevation angle measurement unit that measures the elevation angle of the jib, The antenna position and orientation are measured, the elevation angle of the jib is measured, the GPS antenna position and orientation, the elevation angle of the jib, and the GP set in advance. Based on the relative position of the antenna with respect to the turning center of the crane turning portion, the mounting angle of the GPS antenna with respect to the jib, the length of the jib and the horizontal distance between the base end of the jib and the turning center Then, there is a hanging position detection method for a crane ship that calculates the position of the jib tip.

請求項８に記載の発明の特徴は、請求項７の構成に加え、前記クレーン旋回部の前記台船に対する所望の旋回位置を旋回基準検出手段により検出し、前記所望の旋回位置における前記ＧＰＳアンテナの位置及び方位に基づいて前記台船の位置及び方位を算出することにある。   According to an eighth aspect of the present invention, in addition to the configuration of the seventh aspect, a desired turning position of the crane turning portion with respect to the carriage is detected by turning reference detecting means, and the GPS antenna at the desired turning position is detected. The position and direction of the trolley are calculated on the basis of the position and direction.

請求項９に記載の発明の特徴は、請求項８の構成に加え、前記台船に船倉部を備えるとともに、該船倉部上に前記ジブが位置する際の前記クレーン旋回部の台船に対する旋回位置を前記旋回基準検出手段で検出し、前記ジブが船倉部上に移動する毎に前記台船の位置及び方位を算出することにある。   According to a ninth aspect of the present invention, in addition to the structure of the eighth aspect, the trolley includes a hold part, and the crane turning part turns with respect to the pedestal when the jib is positioned on the hold part. The position is detected by the turning reference detecting means, and the position and orientation of the trolley are calculated each time the jib moves on the hold.

請求項１０に記載の発明の特徴は、請求項７の構成に加え、前記台船上の任意の位置に設置された台船位置計測用ＧＰＳアンテナの位置を計測し、前記位置方位計測手段より得られる前記ＧＰＳアンテナの位置及び方位と、前記ＧＰＳアンテナの前記クレーン旋回部の旋回中心に対する相対位置とに基づき前記クレーン旋回部の旋回中心位置を算出するとともに、該旋回中心位置と、前記計測された台船位置計測用ＧＰＳアンテナの位置と、該台船位置計測用ＧＰＳアンテナと台船との相対位置に基づいて前記台船の方位を算出することにある。   According to a tenth aspect of the present invention, in addition to the configuration of the seventh aspect, the position of a GPS antenna for measuring the position of a trolley installed at an arbitrary position on the trolley is measured and obtained from the position and direction measuring means. The turning center position of the crane turning unit is calculated based on the position and orientation of the GPS antenna and the relative position of the GPS antenna with respect to the turning center of the crane turning unit, and the turning center position and the measured The azimuth of the barge is calculated based on the position of the GPS antenna for measuring the ship position and the relative position of the GPS antenna for measuring the ship position and the barge.

本発明に係るクレーン船の吊り位置検出装置は、上述したように、台船上に旋回可能に設置されたクレーン旋回部と、該クレーン旋回部に上下に回動可能に支持されたジブと、該ジブの先端より繰り出されるワイヤーとを備えたクレーン船にあって、前記ジブ先端部の位置に基づいて前記ワイヤーの先端に吊り持ちさせた吊り体の位置を検出するようにしたクレーン船の吊り位置検出装置において、前記クレーン旋回部の任意の位置に着脱可能に固定されるＧＰＳアンテナと、該ＧＰＳアンテナの位置及び方位を計測する位置方位計測手段と、前記ジブの仰角を計測するジブ仰角計測手段と、前記位置方位計測手段より得られる前記ＧＰＳアンテナの位置及び方位、前記ジブ仰角計測手段より得られるジブの仰角、前記ＧＰＳアンテナの前記クレーン旋回部の旋回中心に対する相対位置、前記ＧＰＳアンテナの前記ジブに対する取付け角度、前記ジブの長さ及び前記ジブの基端と前記旋回中心との間の水平方向距離に基づいて前記ジブ先端部の位置を算出する演算手段とを備えたことにより、取付けが容易なクレーン旋回部に固定されたＧＰＳアンテナを用いてジブ先端部の位置を正確に検出することができ、危険且つ煩雑なジブ先端部へのＧＰＳアンテナの取付けを必要とせず、装置をクレーン船間で容易に載せ替えることができる。   As described above, the crane ship suspension position detecting device according to the present invention includes a crane turning unit that is installed to be turnable on a carriage, a jib that is supported on the crane turning unit so as to be able to turn up and down, A crane ship provided with a wire fed from the tip of the jib, and a crane ship suspension position that detects the position of a suspended body suspended from the tip of the wire based on the position of the tip of the jib In the detection apparatus, a GPS antenna that is detachably fixed to an arbitrary position of the crane turning unit, a position / orientation measuring unit that measures the position and orientation of the GPS antenna, and a jib elevation angle measuring unit that measures the elevation angle of the jib And the position and orientation of the GPS antenna obtained from the position and orientation measuring means, the elevation angle of the jib obtained from the jib elevation angle measuring means, and the GPS antenna Based on the relative position of the lane turning part with respect to the turning center, the mounting angle of the GPS antenna to the jib, the length of the jib and the horizontal distance between the base end of the jib and the turning center, It is possible to accurately detect the position of the jib tip using a GPS antenna fixed to the crane turning part that is easy to install, and to calculate the position. There is no need to install a GPS antenna on the device, and the device can be easily transferred between crane ships.

また、本発明において、前記位置方位計測手段を前記ＧＰＳアンテナと一体に備え、該位置方位計測手段を前記クレーン旋回部の任意の位置に着脱可能に固定することにより、装置をクレーン船間で容易に載せ替えることができる。   In the present invention, the position / orientation measuring means is provided integrally with the GPS antenna, and the position / orientation measuring means is detachably fixed to an arbitrary position of the crane turning section, thereby making it easy to connect the apparatus between crane ships. Can be replaced.

更に、本発明において、前記クレーン旋回部の前記台船に対する所望の旋回位置を検出する旋回基準検出手段を備え、前記演算手段は、前記所望の旋回位置における前記ＧＰＳアンテナの位置及び方位に基づいて前記台船の位置及び方位を算出するようにしたことにより、台船専用の位置検出装置を用いずに台船の姿勢を検出でき、装置を簡略化できる。   Further, in the present invention, a turning reference detecting means for detecting a desired turning position of the crane turning portion with respect to the carriage is provided, and the computing means is based on the position and orientation of the GPS antenna at the desired turning position. By calculating the position and direction of the carriage, the attitude of the carriage can be detected without using a position detection device dedicated to the carriage, and the apparatus can be simplified.

また、本発明において、前記台船に船倉部を備え、該船倉部上に前記ジブが位置する際の前記クレーン旋回部の台船に対する旋回位置を旋回基準検出手段で検出するようにしたことにより、台船移動時でも台船専用の位置検出装置を用いずに台船の姿勢を検出することができる。   Further, in the present invention, the trolley includes a hold part, and the turning position of the crane turning part with respect to the stand ship when the jib is positioned on the hold part is detected by a turning reference detecting means. Even when the carriage is moving, the attitude of the carriage can be detected without using a position detection device dedicated to the carriage.

また、本発明において、前記旋回基準検出手段は、前記クレーン旋回部又は台船の何れか一方に固定された近接センサを備え、該近接センサは、前記クレーン旋回部又は前記台船の何れか他方に固定され、前記クレーン旋回部の旋回に伴って前記近接センサに対し旋回方向で相対移動する検出対象体の接近を検出するようにしたことにより、旋回基準検出手段を簡素化することができる。   In the present invention, the turning reference detection means includes a proximity sensor fixed to either the crane turning part or the base boat, and the proximity sensor is either the crane turning part or the base boat. It is possible to simplify the turning reference detection means by detecting the approach of the detection object that is fixed to the crane and that moves relative to the proximity sensor in the turning direction as the crane turns.

また、本発明において、前記台船上の任意の位置に設置された台船位置計測用ＧＰＳアンテナの位置を計測する台船位置計測手段を備え、前記演算手段は、前記位置方位計測手段より得られる前記ＧＰＳアンテナの位置及び方位と、前記ＧＰＳアンテナの前記クレーン旋回部の旋回中心に対する相対位置とに基づき前記クレーン旋回部の旋回中心位置を算出するとともに、該旋回中心位置と、前記計測された台船位置計測用ＧＰＳアンテナの位置と、該台船位置計測用ＧＰＳアンテナと台船との相対位置に基づいて前記台船の方位を算出するようにしたことにより、簡素な装置で台船の姿勢を検出できる。   Further, in the present invention, it is provided with a trolley position measuring means for measuring a position of a GPS antenna for trolley position measurement installed at an arbitrary position on the trolley, and the calculation means is obtained from the position / orientation measuring means. The turning center position of the crane turning unit is calculated based on the position and orientation of the GPS antenna and the relative position of the GPS antenna with respect to the turning center of the crane turning unit, and the turning center position and the measured table By calculating the azimuth of the barge based on the position of the GPS antenna for ship position measurement and the relative position of the GPS antenna for position measurement of the ship and the barge, the attitude of the barge with a simple device Can be detected.

本発明に係るクレーン船の吊り位置検出方法は、上述したように、台船上に旋回可能に設置されたクレーン旋回部と、該クレーン旋回部に上下に回動可能に支持されたジブと、該ジブの先端より繰り出されるワイヤーとを備えたクレーン船のジブ先端部の位置に基づいて前記ワイヤーの先端に吊り持ちさせた吊り体の位置を検出するクレーン船の吊り位置検出方法において、前記クレーン旋回部の任意の位置に着脱可能に固定されるＧＰＳアンテナと、該ＧＰＳアンテナの位置及び方位を計測する位置方位計測手段と、前記ジブの仰角を計測するジブ仰角計測手段とを備えた吊り位置検出装置を使用し、前記ＧＰＳアンテナの位置及び方位を計測するとともに、前記ジブの仰角を計測し、前記ＧＰＳアンテナの位置及び方位と、前記ジブの仰角と、事前に設定された前記ＧＰＳアンテナの前記クレーン旋回部の旋回中心に対する相対位置と、前記ＧＰＳアンテナの前記ジブに対する取付け角度と、前記ジブの長さ及び前記ジブの基端と前記旋回中心との間の水平方向距離とに基づいて前記ジブ先端部の位置を算出することにより、ジブ先端部にＧＰＳアンテナを設置せずとも、取付けが容易なクレーン旋回部に固定されたＧＰＳアンテナを用いてジブ先端部の位置を正確に検出し、ジブ先端部下に垂下されたグラブバケット等の吊り体の位置を検出することができる。   As described above, the crane ship suspension position detection method according to the present invention includes a crane turning unit that is installed to be turnable on a carriage, a jib that is supported on the crane turning unit so as to be rotatable up and down, In the crane ship suspension position detection method for detecting the position of a suspended body suspended at the tip of the wire based on the position of the tip of the jib of the crane ship provided with a wire fed out from the tip of the jib, the crane turning Suspension position detection comprising: a GPS antenna that is detachably fixed at an arbitrary position of the unit; a position / orientation measurement unit that measures the position and orientation of the GPS antenna; and a jib elevation angle measurement unit that measures the elevation angle of the jib The device is used to measure the position and orientation of the GPS antenna, and the elevation angle of the jib is measured to determine the position and orientation of the GPS antenna and the elevation of the jib. A preset relative position of the GPS antenna with respect to the turning center of the crane turning portion, an attachment angle of the GPS antenna with respect to the jib, a length of the jib, a base end of the jib, and the turning center By calculating the position of the jib tip based on the horizontal distance between the two, using a GPS antenna fixed to the crane turning part that is easy to install without installing a GPS antenna at the jib tip The position of the jib tip can be accurately detected, and the position of a suspended body such as a grab bucket suspended below the jib tip can be detected.

また、本発明において、前記クレーン旋回部の前記台船に対する所望の旋回位置を旋回基準検出手段により検出し、前記所望の旋回位置における前記ＧＰＳアンテナの位置及び方位に基づいて前記台船の位置及び方位を算出することにより、台船専用の位置検出手段を用いずに台船の位置及び方位を検出することができる。   Further, in the present invention, a desired turning position of the crane turning unit with respect to the carriage is detected by a turning reference detection means, and the position of the carriage and the position of the carriage are determined based on the position and orientation of the GPS antenna at the desired turning position. By calculating the azimuth, the position and azimuth of the trolley can be detected without using the position detection means dedicated to the trolley.

更に、本発明において、前記台船に船倉部を備えるとともに、該船倉部上に前記ジブが位置する際の前記クレーン旋回部の台船に対する旋回位置を前記旋回基準検出手段で検出し、前記ジブが船倉部上に移動する毎に前記台船の位置及び方位を算出することにより、随時台船の位置及び方位を検出することができる。   Further, in the present invention, the trolley includes a hold part, and a turning position of the crane turning part with respect to the stand ship when the jib is positioned on the hold part is detected by the turning reference detection means, and the jib By calculating the position and orientation of the trolley whenever it moves over the hold, the position and azimuth of the trolley can be detected at any time.

また、本発明において、前記台船上の任意の位置に設置された台船位置計測用ＧＰＳアンテナの位置を計測し、前記位置方位計測手段より得られる前記ＧＰＳアンテナの位置及び方位と、前記ＧＰＳアンテナの前記クレーン旋回部の旋回中心に対する相対位置とに基づき前記クレーン旋回部の旋回中心位置を算出するとともに、該旋回中心位置と、前記計測された台船位置計測用ＧＰＳアンテナの位置と、該台船位置計測用ＧＰＳアンテナと台船との相対位置に基づいて前記台船の方位を算出することにより、簡素な装置で台船の姿勢を検出できる。   Further, in the present invention, the position and orientation of the GPS antenna obtained from the position and orientation measuring means, the position of the GPS antenna for measuring the position of the carriage installed at an arbitrary position on the carriage, and the GPS antenna are measured. Based on the relative position of the crane turning part with respect to the turning center of the crane turning part, and calculating the turning center position of the crane turning part, the position of the measured GPS position of the trolley position, and the platform By calculating the azimuth of the ship based on the relative position between the ship position measuring GPS antenna and the ship, the attitude of the ship can be detected with a simple device.

本発明に係るクレーン船の吊り位置検出装置を備えたクレーン船の概略を示す平面図である。It is a top view which shows the outline of the crane ship provided with the hanging position detection apparatus of the crane ship which concerns on this invention. 同正面図である。It is the same front view. 本発明に係る本発明に係るクレーン船の吊り位置検出装置の概要を示す概略図である。It is the schematic which shows the outline | summary of the hanging position detection apparatus of the crane ship which concerns on this invention which concerns on this invention. （ａ）は図３中の旋回基準検出手段の一例を示す部分拡大正面図、（ｂ）は同ａ−ａ線断面図である。(A) is the elements on larger scale which show an example of the turning reference | standard detection means in FIG. 3, (b) is the sectional view on the aa line. 本発明に係るクレーン船の吊り位置検出方法の原理を説明する為のクレーン部分の概略図である。It is the schematic of the crane part for demonstrating the principle of the hanging position detection method of the crane ship which concerns on this invention. 本発明に係るクレーン船の吊り位置検出装置を備えたクレーン船の他の実施例の概略を示す平面図である。It is a top view which shows the outline of the other Example of the crane ship provided with the hanging position detection apparatus of the crane ship which concerns on this invention.

次に、本発明に係るクレーン船の吊り位置検出装置及び吊り位置検出方法の実施の態様を図１〜図６に示した実施例に基づいて説明する。   Next, an embodiment of the crane boat suspension position detection apparatus and suspension position detection method according to the present invention will be described based on the embodiments shown in FIGS.

ここで、図中に示す座標系は、直角座標で位置を表示する場合のために策定された平面直角座標系であって、所定の経緯度が示す点を座標系原点とし、この座標系原点における子午線に一致する軸をｘ軸、当該ｘ軸と直交する軸をｙ軸とし、それぞれ真北に向かう方向、真東に向かう方向を正とする。   Here, the coordinate system shown in the figure is a planar rectangular coordinate system formulated for displaying positions in rectangular coordinates, and a point indicated by a predetermined longitude and latitude is the coordinate system origin, and this coordinate system origin The axis that coincides with the meridian at x is the x axis, the axis that is orthogonal to the x axis is the y axis, and the direction toward true north and the direction toward true east are positive.

図中符号１は、捨石マウンド造成時の捨石投入に使用されるガット船等のクレーン船であって、本発明に係る吊り位置検出装置１０は、このようなクレーン船１にあって、ジブ先端部４ａの位置Ｐ（ｘ，ｙ，ｚ）を算出し、その結果に基づいてジブ先端部４ａより垂下された位置にあるグラブバケット６等の吊り体の位置を検出するようになっている。   Reference numeral 1 in the figure denotes a crane ship such as a gut ship used for throwing rubble at the time of rubble mound construction. The suspension position detecting device 10 according to the present invention is in such a crane ship 1 and has a jib tip. The position P (x, y, z) of the part 4a is calculated, and the position of a suspended body such as the grab bucket 6 at the position suspended from the jib tip 4a is detected based on the result.

クレーン船１は、図１、図２に示すように、台船２上の端部中央に旋回可能に支持されたクレーン旋回部３と、クレーン旋回部３に上下に回動可能に支持されたジブ４と、ジブ４の先端より繰り出されるワイヤー５とを備え、ワイヤー５の先端に吊り体としてグラブバケット６が吊り持ちされている。   As shown in FIGS. 1 and 2, the crane ship 1 is supported by a crane turning part 3 that is turnably supported at the center of the end part on the carriage 2, and is supported by the crane turning part 3 so as to be turnable up and down. A jib 4 and a wire 5 fed out from the tip of the jib 4 are provided, and a grab bucket 6 is suspended from the tip of the wire 5 as a suspended body.

クレーン旋回部３は、台船２上面より突出した旋回台部７を介して台船２に支持され、旋回台部７上で旋回するようになっている。また、クレーン旋回部３には、クレーン操作のための操作室８を備えている。   The crane turning section 3 is supported by the carriage 2 via a turntable section 7 protruding from the upper surface of the carriage 2 and turns on the turntable section 7. Moreover, the crane turning part 3 is provided with an operation room 8 for crane operation.

尚、この操作室８上及びジブ４の基端部へは、作業者が梯子やリフト装置等からなる昇降手段によって安全に昇降できるようになっている。   It should be noted that the operator can safely ascend and descend on the operation chamber 8 and the base end of the jib 4 by elevating means such as a ladder or a lift device.

台船２は、船幅方向に一定の幅を有する平面視矩形状の船倉部９を備え、クレーン旋回部３の旋回動作及びジブ４の回動動作によりジブ先端部４ａが船倉部９上の任意の位置に移動でき、ワイヤー５の繰り出し動作によりグラブバケット６が船倉部９内の任意の位置に吊り下ろされて捨石等の積載物を掴めるようになっている。   The trolley 2 has a rectangular plan view of the hold 9 having a certain width in the ship width direction, and the jib tip 4 a is on the hold 9 by the turning operation of the crane turning portion 3 and the turning operation of the jib 4. The grab bucket 6 can be hung at an arbitrary position in the hold 9 and can hold a load such as rubble.

また、ジブ４の長手方向が船倉部９の側縁と平行となる際には、ジブ先端部４ａが船倉部９幅方向中央、即ち、台船２の中心軸ＳＣ線上に位置するようになっている（クレーン原位置）。   Further, when the longitudinal direction of the jib 4 is parallel to the side edge of the hold 9, the jib tip 4 a is positioned in the center of the hold 9 in the width direction, that is, on the center axis SC line of the carriage 2. (Crane original position).

吊り位置検出装置１０は、ＧＰＳアンテナ１１，１２と、ＧＰＳアンテナ１１の位置Ｐ１（ｘ１，ｙ１，ｚ１）及び方位（ｘ軸を基準とし、時計回り方向を正とする方位角α）を計測する位置方位計測手段１３と、ジブ４の仰角βを計測するジブ仰角計測手段１４と、位置方位計測手段１３及びジブ仰角計測手段１４による計測データに基づいてジブ先端部４ａの位置Ｐ（ｘ，ｙ，ｚ）を算出する演算手段１５とを備え、稼働スケジュールによって日毎に使用できるクレーン船１が異なるという特殊な事情を鑑み、クレーン船１に対し着脱可能に設置されている。   The hanging position detection apparatus 10 measures the GPS antennas 11 and 12, and the position P1 (x1, y1, z1) and orientation (azimuth angle α with the x axis as a reference and the clockwise direction as positive). The position P (x, y) of the jib tip 4a based on the measurement data by the position / orientation measurement means 13, the jib elevation angle measurement means 14 for measuring the elevation angle β of the jib 4, and the position / azimuth measurement means 13 and the jib elevation angle measurement means 14. , Z) and a computing means 15 that calculates the crane ship 1 that can be used every day depending on the operation schedule.

また、この吊り位置検出装置１０は、クレーン旋回部３の台船２に対する所望の旋回位置を検出する旋回基準検出手段１６を備え、演算手段１５は、当該所望の旋回位置におけるＧＰＳアンテナ１１の位置Ｐ１（ｘ１，ｙ１，ｚ１）及び方位（方位角α）に基づいて台船２の位置及び方位を算出するようになっている。   The suspension position detecting device 10 includes a turning reference detecting unit 16 that detects a desired turning position of the crane turning unit 3 with respect to the carriage 2, and the calculating unit 15 is a position of the GPS antenna 11 at the desired turning position. The position and orientation of the carriage 2 are calculated based on P1 (x1, y1, z1) and the orientation (azimuth angle α).

ＧＰＳアンテナ１１，１２は、固定用部材１７を介してクレーン旋回部３の任意の位置、例えば、昇降手段を用いてアクセスし易い操作室８の上面部等に互いに所望の間隔を置いて着脱可能に固定される。   The GPS antennas 11 and 12 can be attached to and detached from the arbitrary position of the crane turning part 3 via the fixing member 17, for example, the upper surface part of the operation room 8 that can be easily accessed by using the lifting means. Fixed to.

固定用部材１７の態様は、特に限定されないが、例えば、固定用部材１７の下面部に磁石を備え、クレーン旋回部３上の鉄板部分に磁力により固定できるようしたものや、クレーン旋回部３上に設置された手摺等の固定物に着脱可能なアタッチメントを備えたもの等がある。また、固定用部材１７をＧＰＳアンテナ１１，１２の本体に対し着脱可能とし、複数種の固定用部材１７を状況に応じて交換できるようにしてもよい。   Although the aspect of the fixing member 17 is not particularly limited, for example, a magnet is provided on the lower surface portion of the fixing member 17 so that it can be fixed to the iron plate portion on the crane turning portion 3 by magnetic force, or on the crane turning portion 3 There are those equipped with attachments that can be attached to and detached from fixed objects such as handrails. Further, the fixing member 17 may be detachable from the main body of the GPS antennas 11 and 12, and a plurality of types of fixing members 17 may be exchanged depending on the situation.

この両ＧＰＳアンテナ１１，１２の相対位置関係については、ジブ４に対する取付け角度γ、即ち、ジブ４の長手方向を基準とし、時計回りを正とする両ＧＰＳアンテナ１１，１２方向とジブ４長手方向とが成す水平方向角度を実際の計測等により求め、演算手段１５に設定する。   As for the relative positional relationship between the GPS antennas 11 and 12, the mounting angle γ with respect to the jib 4, that is, the direction of the GPS antennas 11 and 12 with respect to the longitudinal direction of the jib 4, and the longitudinal direction of the jib 4 with the clockwise direction being positive. The horizontal angle formed by is obtained by actual measurement or the like and set in the calculation means 15.

尚、両ＧＰＳアンテナ１１，１２は、両ＧＰＳアンテナ１１，１２間方向がジブ４長手方向と平行（γ＝０）となるように固定すれば、取付け角度γの計測を省くことができる。   If the GPS antennas 11 and 12 are fixed so that the direction between the GPS antennas 11 and 12 is parallel to the longitudinal direction of the jib 4 (γ = 0), the measurement of the mounting angle γ can be omitted.

一方、ＧＰＳアンテナ１１と旋回中心Ｃとの相対位置は、それぞれＧＰＳアンテナ１１と旋回中心Ｃとを結ぶ直線を斜辺とする直角三角形の互いに直交する各辺の距離ｄ１，ｄ２で表され、距離ｄ１，ｄ２を実際に計測する等して求め、それを演算手段１５に設定する。尚、当該直角三角形の直交する各辺は、ジブ４に対しそれぞれ平行又は直交するように設定することが望ましいが、ＧＰＳアンテナ１１と旋回中心Ｃとを結ぶ直線を斜辺とする直角三角形であれば、その向きは限定されず、例えば、何れか一辺をｘ軸方向と平行に設定したものであってもよい。   On the other hand, the relative position between the GPS antenna 11 and the turning center C is represented by the distances d1 and d2 of the right-angled triangles each having a hypotenuse with a straight line connecting the GPS antenna 11 and the turning center C, and the distance d1. , D2 is actually measured and set in the computing means 15. It should be noted that the orthogonal sides of the right triangle are preferably set so as to be parallel or orthogonal to the jib 4, but if they are right triangles with the straight line connecting the GPS antenna 11 and the turning center C as the hypotenuse, The direction is not limited. For example, any one of the sides may be set parallel to the x-axis direction.

位置方位計測手段１３は、両ＧＰＳアンテナ１１，１２が有線で接続されたＧＰＳ受信処理機本体１８を備え、このＧＰＳ受信処理機本体１８においてＧＰＳアンテナ１１，１２で受信した電波に基づく各ＧＰＳアンテナ１１の位置座標を計測するとともに、両ＧＰＳアンテナ１１，１２の位置関係に基づいて両ＧＰＳアンテナ１１，１２間方向、即ち、一方のＧＰＳアンテナ１１を基点とした方位（方位角α）を計測し、そのＧＰＳアンテナ１１の位置Ｐ１（ｘ１，ｙ１，ｚ１）及び方位（方位角α）の計測データをＧＰＳ受信処理機本体１８より有線又は無線により演算手段１５に出力するようになっている。   The position / orientation measuring means 13 includes a GPS reception processor main body 18 to which both GPS antennas 11 and 12 are connected by wire, and each GPS antenna based on radio waves received by the GPS antennas 11 and 12 in the GPS reception processor main body 18. 11 position coordinates, and based on the positional relationship between the two GPS antennas 11 and 12, the direction between the two GPS antennas 11 and 12, that is, the azimuth (azimuth angle α) relative to one GPS antenna 11 is measured. The measurement data of the position P1 (x1, y1, z1) and azimuth (azimuth angle α) of the GPS antenna 11 is output from the GPS reception processor body 18 to the computing means 15 by wire or wirelessly.

尚、ＧＰＳ受信処理機本体１８は、両ＧＰＳアンテナ１１，１２と別体である場合、クレーン操作室８内に着脱可能に設置してもよく、ＧＰＳアンテナ１１，１２とともに操作室８上面部等のクレーン旋回部３の任意の位置に着脱可能に固定するようにしてもよい。   When the GPS reception processor body 18 is separate from both GPS antennas 11 and 12, the GPS reception processor body 18 may be detachably installed in the crane operation room 8. You may make it fix to the arbitrary positions of the crane turning part 3 of this.

また、位置方位計測手段１３の態様は、上述の実施例に限定されず、方位計測にジャイロコンパス等の真方位計を使用するものであってもよく、両ＧＰＳアンテナ１１，１２を用いた方位計測とジャイロコンパス等の真方位計とを併用するものであってもよい。   Further, the mode of the position / orientation measuring means 13 is not limited to the above-described embodiment, and a true azimuth meter such as a gyrocompass may be used for azimuth measurement, and the direction using both GPS antennas 11 and 12 is used. The measurement and a true azimuth meter such as a gyrocompass may be used in combination.

更に、位置方位計測手段１３は、ＧＰＳアンテナ１１を一体に備えたもの、例えば、両ＧＰＳアンテナ１１，１２とＧＰＳ受信処理機本体１８とをユニット化したものを使用してもよく、その場合、ＧＰＳアンテナ１１，１２とＧＰＳ受信処理機本体１８とが一体化された位置方位計測手段１３をクレーン旋回部３の任意の位置に着脱可能に固定する。   Further, the position / orientation measuring means 13 may be provided with the GPS antenna 11 integrally, for example, a unit in which the GPS antennas 11 and 12 and the GPS reception processor main body 18 are unitized. The position / orientation measuring means 13 in which the GPS antennas 11 and 12 and the GPS reception processor main body 18 are integrated is detachably fixed to an arbitrary position of the crane turning portion 3.

ジブ仰角計測手段１４は、昇降手段によりアクセスし易いジブ４の基端部に着脱可能に固定される傾斜計１９を備え、その計測値を有線又は無線で演算手段１５に出力する。   The jib elevation angle measuring means 14 includes an inclinometer 19 that is detachably fixed to the proximal end portion of the jib 4 that is easily accessible by the elevating means, and outputs the measured value to the calculating means 15 by wire or wirelessly.

旋回基準検出手段１６は、図４に示すように、クレーン旋回部３の下面に着脱可能に固定された近接センサ２０を備え、この近接センサ２０によって、台船２の旋回台部７外周部に固定されてクレーン旋回部３の旋回に伴って近接センサ２０に対し旋回方向で相対移動する鉄板等の検出対象体２１の接近を検出し、その検出情報を有線又は無線により演算手段１５に出力する。   As shown in FIG. 4, the turning reference detection means 16 includes a proximity sensor 20 that is detachably fixed to the lower surface of the crane turning portion 3. The approach of the detection target body 21 such as an iron plate that is fixed and moves relative to the proximity sensor 20 in the turning direction with the turning of the crane turning unit 3 is detected, and the detected information is output to the computing means 15 by wire or wirelessly. .

近接センサ２０及び検出対象体２１は、船倉部９上にジブ４が位置する際、望ましくは、ジブ先端部４ａがクレーン原位置、即ち、台船２の中心軸ＳＣ線上に位置する際を検出するように取り付ける。例えば、近接センサ２０をクレーン旋回部３下面のジブ４の基端位置に固定し、検出対象体２１を旋回台部７の台船中心軸ＳＣ線上に位置するように固定する。   The proximity sensor 20 and the detection target body 21 detect when the jib 4 is positioned on the hold 9, preferably when the jib tip 4 a is positioned on the crane original position, that is, on the central axis SC line of the carriage 2. Attach as shown. For example, the proximity sensor 20 is fixed to the base end position of the jib 4 on the lower surface of the crane turning part 3, and the detection target body 21 is fixed so as to be located on the carriage center axis SC line of the turning base part 7.

尚、ジブ４の長手方向と台船２の中心軸ＳＣとが平行となる旋回位置を検出できるように旋回基準検出手段を設置し、ジブ４の長手方向とＧＰＳアンテナ１１の方位とが平行となるようにＧＰＳアンテナ１１をクレーン旋回部の任意の位置に取り付けることにより、台船２の方位とＧＰＳアンテナ１１の方位（方位角α）とが一致するので、台船２の方位をＧＰＳアンテナ１１の方位（方位角α）のみに基づいて検出することができる。   A turning reference detecting means is installed so that a turning position where the longitudinal direction of the jib 4 and the central axis SC of the carriage 2 are parallel can be detected, and the longitudinal direction of the jib 4 and the orientation of the GPS antenna 11 are parallel. By attaching the GPS antenna 11 to an arbitrary position of the crane turning portion so that the orientation of the carriage 2 and the orientation of the GPS antenna 11 (azimuth angle α) coincide with each other, the orientation of the carriage 2 is set to the GPS antenna 11. Can be detected based only on the azimuth (azimuth angle α).

演算手段１５には、例えば、モニターＭ等の表示手段を備えたノートパソコンやタブレットＰＣ等の持ち運び可能なコンピュータ端末を使用し、位置方位計測手段１３及びジブ仰角計測手段１４から送られた計測情報及び予め演算手段１５に設定されたＧＰＳアンテナ１１のクレーン旋回部３の旋回中心Ｃに対する相対位置を示す長さｄ１，ｄ２、ＧＰＳアンテナ１１のジブ４に対する取付け角度γ、ジブ４の長さＬ、ジブ４の基端と旋回中心Ｃとの間の水平方向距離Ａ及びジブ４基端とＧＰＳアンテナ１１との間の鉛直方向距離Ｂとに基づいてジブ先端部４ａの位置Ｐ（ｘ，ｙ，ｚ）を算出できるようになっている。   For the calculation means 15, for example, a portable computer terminal such as a notebook computer or tablet PC provided with display means such as a monitor M is used, and measurement information sent from the position / orientation measurement means 13 and the jib elevation angle measurement means 14 is used. And lengths d1 and d2 indicating the relative position of the GPS antenna 11 with respect to the turning center C of the crane turning unit 3 set in advance in the calculation means 15, the mounting angle γ of the GPS antenna 11 with respect to the jib 4, the length L of the jib 4; Based on the horizontal distance A between the base end of the jib 4 and the turning center C and the vertical distance B between the base end of the jib 4 and the GPS antenna 11, the position P (x, y, z) can be calculated.

また、演算手段１５は、算出されたジブ先端部４ａの位置Ｐ（ｘ，ｙ，ｚ）とワイヤー５の繰り出し量等に基づいてグラブバケット６等の吊り体の位置を検出できるようになっている。   Further, the calculation means 15 can detect the position of a suspended body such as the grab bucket 6 based on the calculated position P (x, y, z) of the jib tip 4a, the amount of feeding of the wire 5, and the like. Yes.

ジブ４の長さＬ、ジブ４の基端と旋回中心Ｃとの間の水平方向距離Ａ、ジブ４の基端とＧＰＳアンテナ１１との間の鉛直方向距離Ｂの情報については、一定値であるので、クレーン船１の設計図等から取得して或いは実際に計測して演算手段１５に設定し、ＧＰＳアンテナ１１のクレーン旋回部３の旋回中心Ｃに対する相対位置を示す距離ｄ１，ｄ２及びジブ４に対するＧＰＳアンテナ１１の取付け角度γについては、ＧＰＳアンテナ１１，１２の取り付け後に計測等により設定する。   Information on the length L of the jib 4, the horizontal distance A between the base end of the jib 4 and the turning center C, and the vertical distance B between the base end of the jib 4 and the GPS antenna 11 are constant values. Therefore, the distance d1, d2 and the jib indicating the relative position of the GPS antenna 11 with respect to the turning center C of the crane turning part 3 are obtained from the design drawing of the crane ship 1 or actually measured and set in the calculation means 15. 4 is set by measurement or the like after the GPS antennas 11 and 12 are attached.

また、演算手段１５は、台船２に対する旋回中心Ｃの位置及び当該所望の旋回位置におけるＧＰＳアンテナ１１と台船２の相対位置関係は常に一定であるので、演算手段１５に台船の寸法及び台船２と旋回中心Ｃとの位置関係を入力することにより、所望の旋回位置を検知した際のＧＰＳアンテナ１１の位置Ｐ１（ｘ１，ｙ１、ｚ１）及び方位（方位角α）に基づいて台船２の位置及び方位を算出できるようになっている。   In addition, since the calculation means 15 always keeps the position of the turning center C relative to the carriage 2 and the relative positional relationship between the GPS antenna 11 and the carriage 2 at the desired turning position, the calculation means 15 determines the size and the size of the carriage. By inputting the positional relationship between the trolley 2 and the turning center C, the pedestal is based on the position P1 (x1, y1, z1) and direction (azimuth angle α) of the GPS antenna 11 when a desired turning position is detected. The position and direction of the ship 2 can be calculated.

このように構成された吊り位置検出装置１０は、クレーン旋回部３の任意の位置に固定されたＧＰＳアンテナ１１の位置Ｐ１（ｘ１，ｙ１，ｚ１）及び方位（方位角α）と、ジブ仰角βとを計測し、その計測結果に基づいてジブ先端部４ａの位置Ｐ（ｘ，ｙ，ｚ）を正確に算出できるので、危険且つ煩雑なジブ先端部４ａへのＧＰＳアンテナ１１の取付けを回避でき、安全且つ効率的にグラブバケット６等の吊り体の位置を検出することができる。   The suspension position detection apparatus 10 configured as described above includes a position P1 (x1, y1, z1) and an azimuth (azimuth angle α) of the GPS antenna 11 fixed at an arbitrary position of the crane turning unit 3 and a jib elevation angle β. Since the position P (x, y, z) of the jib tip 4a can be accurately calculated based on the measurement result, it is possible to avoid mounting the GPS antenna 11 to the dangerous and complicated jib tip 4a. The position of a suspended body such as the grab bucket 6 can be detected safely and efficiently.

また、このように構成された吊り位置検出装置１０は、ＧＰＳアンテナ１１、位置方位計測手段１３、ジブ仰角計測手段１４及び演算手段１５がそれぞれ高所や危険個所での取付け作業を必要とせず、クレーン船１に対して容易に着脱できるので、装置全体のクレーン船間の載せ替えを容易に行うことができる。   Further, in the suspension position detection device 10 configured in this way, the GPS antenna 11, the position / orientation measurement means 13, the jib elevation angle measurement means 14 and the calculation means 15 do not require attachment work at a high place or a dangerous place, Since it can be easily attached to and detached from the crane ship 1, the entire apparatus can be easily replaced between the crane ships.

尚、上述の実施例では、ジブ仰角計測手段１４にジブ４基端部に着脱可能に固定する傾斜計１９を使用した例について説明したが、ジブ仰角計測手段１４には、ジブ４の台船２に対する傾斜角度を計測する角度計等を使用してもよい。   In the above-described embodiment, the example in which the inclinometer 19 that is detachably fixed to the base end of the jib 4 is used as the jib elevation angle measuring means 14 is described. An angle meter or the like that measures an inclination angle with respect to 2 may be used.

尚、ジブ仰角計測手段１４に角度計を用いる場合には、台船２の水面に対する傾斜角を計測する船体傾斜計を併せて使用し、角度計と船体傾斜計とによりジブ４の正確な仰角を計測することが好ましい。   When an angle meter is used as the jib elevation angle measuring means 14, a hull inclinometer that measures the inclination angle of the carriage 2 with respect to the water surface is used together, and the accurate elevation angle of the jib 4 is determined by the angle meter and the hull inclinometer. Is preferably measured.

また、上述の実施例では、旋回基準検出手段１６に近接センサ２０を使用した例について説明したが、角度センサ等を用いて台船２に対するクレーン旋回部３の相対角度を計測するようにし、当該計測値よりクレーン旋回部３の台船２に対する所望の旋回位置を検出するものであってもよい。また、旋回基準検出手段１６は、検出する所望の旋回位置を複数設定するようにしてもよい。   In the above-described embodiment, the example in which the proximity sensor 20 is used for the turning reference detection unit 16 has been described. However, the relative angle of the crane turning unit 3 with respect to the carriage 2 is measured using an angle sensor or the like, and You may detect the desired turning position with respect to the carrier 2 of the crane turning part 3 from a measured value. Further, the turning reference detection means 16 may set a plurality of desired turning positions to be detected.

次に、上述の吊り位置検出装置１０を使用したクレーン船の吊り位置検出方法について図５に基づいて説明する。尚、上述の実施例と同様の構成には同一符号を付して説明を省略する。   Next, a crane ship suspension position detection method using the suspension position detection apparatus 10 described above will be described with reference to FIG. In addition, the same code | symbol is attached | subjected to the structure similar to the above-mentioned Example, and description is abbreviate | omitted.

まず、事前準備として、クレーン船１に吊り位置検出装置１０を設置する。即ち、ＧＰＳアンテナ１１，１２をクレーン旋回部３の任意の位置、例えば、作業者が梯子やリフト装置等の昇降手段を用いて操作室８上に昇り、操作室８の上面部に固定するとともに、作業者が梯子やリフト装置等の昇降手段を用いてジブ４の基端部に昇りジブ仰角計測手段１４を構成する傾斜計１９をジブ４の基端部に固定する。   First, as a preliminary preparation, the suspension position detection device 10 is installed on the crane ship 1. That is, the GPS antennas 11 and 12 are moved to an arbitrary position of the crane turning unit 3, for example, an operator ascends on the operation room 8 using elevating means such as a ladder or a lift device and is fixed to the upper surface of the operation room 8. Then, the operator ascends to the base end portion of the jib 4 using lifting means such as a ladder or a lift device and fixes the inclinometer 19 constituting the jib elevation angle measuring means 14 to the base end portion of the jib 4.

また、ＧＰＳ受信処理機本体１８及びコンピュータからなる演算手段１５をそれぞれ操作室８等に設置し、ＧＰＳ受信処理機本体１８に接続ケーブルを介して両ＧＰＳアンテナ１１，１２を接続する。   Further, the GPS receiving processor main body 18 and the computing means 15 including a computer are installed in the operation room 8 and the like, and both the GPS antennas 11 and 12 are connected to the GPS receiving processor main body 18 via a connection cable.

そして、ＧＰＳアンテナ１１の固定を終えたら、ＧＰＳアンテナ１１の旋回中心Ｃに対する相対位置を示す距離ｄ１，ｄ２及びジブ４に対する取付け角度γを計測し、ＧＰＳアンテナ１１の旋回中心Ｃに対する相対位置を示す距離ｄ１，ｄ２及び取付け角度γを演算手段１５に入力設定するとともに、クレーン船１の設計図等から知得したジブ４の長さＬ、ジブ４基端から旋回中心Ｃまでの水平方向距離Ａ及びジブ４基端からＧＰＳアンテナ１１（クレーン旋回部上面）までの鉛直方向距離Ｂを演算手段１５に入力設定する。   When the GPS antenna 11 is fixed, the distances d1 and d2 indicating the relative position of the GPS antenna 11 with respect to the turning center C and the attachment angle γ with respect to the jib 4 are measured to indicate the relative position of the GPS antenna 11 with respect to the turning center C. The distances d1 and d2 and the mounting angle γ are input and set to the computing means 15, and the length L of the jib 4 obtained from the design drawing of the crane ship 1 and the horizontal distance A from the base end of the jib 4 to the turning center C The vertical distance B from the base end of the jib 4 to the GPS antenna 11 (upper surface of the crane turning portion) is input and set to the calculation means 15.

尚、ジブ４の長さＬ、ジブ４基端から旋回中心Ｃまでの水平方向距離Ａ、ＧＰＳアンテナ１１の旋回中心Ｃに対する相対位置を示す距離ｄ１，ｄ２の設定は、手動入力により設定してもよく、特別な方法を用いて自動で設定してもよい。   The length L of the jib 4, the horizontal distance A from the base end of the jib 4 to the turning center C, and the distances d1 and d2 indicating the relative positions of the GPS antenna 11 with respect to the turning center C are set by manual input. Alternatively, it may be set automatically using a special method.

次に、実際にグラブバケット６等の吊り体の位置の検出を開始すると、位置方位計測手段１３によりＧＰＳアンテナ１１の位置Ｐ１（ｘ１，ｙ１，ｚ１）及び方位（方位角α）が計測されるとともに、ジブ仰角計測手段１４によりジブ仰角βが計測され、それぞれ随時演算手段１５に出力され、演算手段１５の記憶部に記憶される。   Next, when the detection of the position of a suspended body such as the grab bucket 6 is actually started, the position and direction measuring means 13 measures the position P1 (x1, y1, z1) and the direction (azimuth angle α) of the GPS antenna 11. At the same time, the jib elevation angle β is measured by the jib elevation angle measurement means 14, is output to the calculation means 15 as needed, and is stored in the storage unit of the calculation means 15.

そして、ＧＰＳアンテナ１１の旋回中心Ｃに対する相対位置を示す距離ｄ１，ｄ２は既知であるので、演算手段１５は、旋回中心Ｃの位置Ｐ２（ｘ２，ｙ２，ｚ２）と入力されたＧＰＳアンテナ１１の位置Ｐ１（ｘ１，ｙ１，ｚ１）との関係から、ＧＰＳアンテナ１１の位置Ｐ１（ｘ１，ｙ１，ｚ１）に基づき例えば、以下の式より旋回中心Ｃの位置Ｐ２（ｘ２，ｙ２，ｚ２）を算出する。   Since the distances d1 and d2 indicating the relative position of the GPS antenna 11 with respect to the turning center C are known, the calculation means 15 inputs the position P2 (x2, y2, z2) of the turning center C of the GPS antenna 11 input. Based on the position P1 (x1, y1, z1) of the GPS antenna 11 from the relationship with the position P1 (x1, y1, z1), for example, the position P2 (x2, y2, z2) of the turning center C is calculated from the following equation: To do.

Figure 2015091729
Figure 2015091729

よって、演算手段１５は、ジブ４の長さＬ、ジブ４基端から旋回中心Ｃまでの水平方向距離Ａは既知であるので、ジブ４の旋回半径をＲとすると、ジブ先端部位置Ｐ（ｘ，ｙ，ｚ）と旋回中心Ｃの位置Ｐ２（ｘ２，ｙ２，ｚ２）との関係よりジブ先端部位置Ｐ（ｘ，ｙ，ｚ）を入力されたＧＰＳアンテナ１１の位置Ｐ１（ｘ１，ｙ１，ｚ１）及び方位（方位角α）とジブ仰角βとに基づいて、例えば、以下の式より随時算出し、その結果をモニターＭ等の表示手段に表示する。   Therefore, since the length L of the jib 4 and the horizontal direction distance A from the base end of the jib 4 to the turning center C are known, the calculation means 15 has a jib tip position P ( The position P1 (x1, y1) of the GPS antenna 11 to which the jib tip position P (x, y, z) is input based on the relationship between the x, y, z) and the position P2 (x2, y2, z2) of the turning center C , Z1) and the azimuth (azimuth angle α) and the jib elevation angle β, for example, are calculated from the following formula as needed, and the result is displayed on the display means such as the monitor M.

Figure 2015091729
Figure 2015091729

そして、演算手段１５は、このジブ先端部４ａの位置Ｐ（ｘ，ｙ，ｚ）とワイヤー５の繰り出し量等に基づいて、ジブ先端部４ａより垂下された位置にあるグラブバケット６等の吊り体の位置を演算により検出し、その結果をモニターＭ等の表示手段に表示するとともに記憶部に記憶する。   Then, the calculation means 15 suspends the grab bucket 6 or the like at a position suspended from the jib tip portion 4a based on the position P (x, y, z) of the jib tip portion 4a and the feed amount of the wire 5 or the like. The position of the body is detected by calculation, and the result is displayed on the display means such as the monitor M and stored in the storage unit.

また、演算手段１５は、クレーン旋回部３の台船２に対する所望の旋回位置を旋回基準検出手段１６により検出し、所望の旋回位置におけるＧＰＳアンテナ１１の位置Ｐ１（ｘ１，ｙ１，ｚ１）及び方位（方位角α）に基づいて台船２の位置及び方位を算出し、その結果を算出する毎にモニターＭ等の表示手段に表示するとともに記憶部に記憶する。   Further, the calculation means 15 detects a desired turning position of the crane turning section 3 relative to the carriage 2 by the turning reference detection means 16, and the position P1 (x1, y1, z1) and direction of the GPS antenna 11 at the desired turning position. Based on (azimuth angle α), the position and orientation of the carriage 2 are calculated, and each time the result is calculated, it is displayed on the display means such as the monitor M and stored in the storage unit.

即ち、台船２の真方位は、所望の旋回位置における台船２の中心軸ＳＣとＧＰＳアンテナ１１の方位との相対関係により算出され、例えば、所望の旋回位置をジブ４が中心軸ＳＣ上にある位置とすると、台船２の方位角はα−γとなる。   That is, the true direction of the carriage 2 is calculated by the relative relationship between the center axis SC of the carriage 2 and the orientation of the GPS antenna 11 at the desired turning position. For example, the jib 4 is located on the center axis SC at the desired turning position. The azimuth angle of the carriage 2 is α−γ.

従って、演算手段１５は、台船２の姿勢をクレーン旋回部３の旋回中心Ｃの位置Ｐ２（ｘ２，ｙ２，ｚ２）及び台船２の方位と、演算手段１５に入力された台船２の寸法とに基づいて検出でき、その結果をモニターＭに表示するとともに記憶部に記憶する。   Accordingly, the calculation means 15 determines the attitude of the carriage 2 based on the position P2 (x2, y2, z2) of the turning center C of the crane turning section 3 and the orientation of the carriage 2, and the position of the carriage 2 input to the calculation means 15. Detection is possible based on the dimensions, and the result is displayed on the monitor M and stored in the storage unit.

尚、船倉部９の台船中心軸線ＳＣ上にジブ先端部４ａが位置する際のクレーン旋回部３の台船２に対する旋回位置を旋回基準検出手段１６で検出し、ジブ先端部４ａが当該船倉部９上に移動する毎に台船２の位置及び方位を算出するようにすれば、船倉部９内の積荷をグラブバケット６で掴み、その状態からクレーン旋回部３を旋回するとともにジブ４を回動させ、ジブ先端部４ａを投石位置に移動させて投石作業を行い、然る後、再度クレーン旋回部３及びジブ４を動作させて原位置に復帰する一連のクレーン作業をする毎に台船２の位置及び方位が検出でき、その結果に基づいて効率的に操船及びクレーン操作を行うことができる。   Note that the turning reference detecting means 16 detects the turning position of the crane turning part 3 relative to the carriage 2 when the jib tip 4a is positioned on the center axis SC of the ship 9 and the jib tip 4a is located in the hold. If the position and orientation of the carrier 2 are calculated each time the vehicle moves on the section 9, the load in the hold section 9 is grasped by the grab bucket 6, and the crane turning section 3 is turned from that state and the jib 4 is moved. Rotate and move the jib tip 4a to the stoned position to perform the stonework, and then operate the crane turning part 3 and jib 4 again to return to the original position each time a series of crane work is performed. The position and orientation of the ship 2 can be detected, and the ship maneuvering and crane operation can be performed efficiently based on the result.

また、台船２を移動させる際、ジブ４を台船２の中心軸ＳＣ上に位置するように収納した状態とし、或いは、船倉部９内の積荷を投石作業の際にグラブバケット６で掴み易くするための均し作業等を行うようにすれば、台船専用の位置検出装置を用いずとも、操船に必要な台船２の姿勢、即ち、旋回中心位置Ｃと台船の方位が随時得られる。   Further, when the carriage 2 is moved, the jib 4 is stored so as to be positioned on the central axis SC of the carriage 2, or the load in the hold 9 is grabbed by the grab bucket 6 at the time of stonework. If a leveling operation is performed to facilitate the operation, the attitude of the carriage 2 that is necessary for maneuvering, that is, the turning center position C and the orientation of the carriage can be changed at any time without using a position detection device dedicated to the carriage. can get.

尚、上述の実施例では、捨石マウンド造成時の捨石投入作業等に使用されるガット船を例に説明したが、クレーン船１はガット船に限定されず、グラブ浚渫船等にも適用できる。   In the above-described embodiment, a gut ship used for a rubble throwing operation when creating a rubble mound is described as an example. However, the crane ship 1 is not limited to a gut ship, and can also be applied to a grab dredger.

更に、上述の実施例では、吊り体としてグラブバケットを挙げたが、吊り体の態様はグラブバケットに限定されず、オレンジピールバケット等の他のバケットでもよく、バケット以外の物であってもよい。   Furthermore, although the grab bucket was mentioned as a suspended body in the above-mentioned Example, the aspect of a suspended body is not limited to a grab bucket, Other buckets, such as an orange peel bucket, may be things other than a bucket. .

また、本発明においては、上述した旋回基準検出手段１６に換えて図６に示す如き台船位置計測手段を備えるようにしてもよい。尚、本実施例では、上述の実施例と同様の構成には同一符号を付して説明を省略する。   Further, in the present invention, instead of the above-described turning reference detecting means 16, a trolley position measuring means as shown in FIG. 6 may be provided. In the present embodiment, the same components as those in the above-described embodiment are denoted by the same reference numerals and description thereof is omitted.

台船位置計測手段には、例えばＤＧＰＳやＲＴＫ−ＧＰＳが使用され、台船２上の任意の位置に設置された台船位置計測用ＧＰＳアンテナ３０の位置座標Ｐ３（ｘ３，ｙ３，ｚ３）を計測するようになっている。   For example, DGPS or RTK-GPS is used as the trolley position measurement means, and the position coordinates P3 (x3, y3, z3) of the trolley position measurement GPS antenna 30 installed at an arbitrary position on the trolley 2 are used. It comes to measure.

また、演算手段１５は、位置方位計測手段１３より得られるＧＰＳアンテナ１１の位置Ｐ１（ｘ１，ｙ１，ｚ１）及び方位（方位角α）と、ＧＰＳアンテナ１１のクレーン旋回部３の旋回中心Ｃに対する相対位置関係を示す長さｄ１，ｄ２とに基づいてクレーン旋回部３の旋回中心位置Ｐ２（ｘ２，ｙ２，ｚ２）を算出するとともに、旋回中心位置Ｐ２（ｘ２，ｙ２，ｚ２）と計測された台船位置計測用ＧＰＳアンテナ３０の位置Ｐ３（ｘ３，ｙ３，ｚ３）とに基づいて台船２の位置及び絶対方位（方位角φ）を算出するようになっている。   Further, the calculation means 15 is based on the position P1 (x1, y1, z1) and azimuth (azimuth angle α) of the GPS antenna 11 obtained from the position / orientation measurement means 13 and the turning center C of the crane turning portion 3 of the GPS antenna 11. The turning center position P2 (x2, y2, z2) of the crane turning unit 3 is calculated based on the lengths d1, d2 indicating the relative positional relationship, and the turning center position P2 (x2, y2, z2) is measured. The position and absolute azimuth (azimuth angle φ) of the trolley 2 are calculated based on the position P3 (x3, y3, z3) of the GPS antenna 30 for trolley position measurement.

尚、台船位置計測用ＧＰＳアンテナ３０と旋回中心Ｃとの相対位置関係は、それぞれ台船位置計測用ＧＰＳアンテナ３０と旋回中心Ｃとを結ぶ直線を斜辺とする直角三角形の互いに直交する各辺の距離ｄ３，ｄ４で表され、距離ｄ３，ｄ４を実際に計測する等して求め、それを演算手段１５に設定する。尚、当該直角三角形の直交する各辺は、台船２の全長方向に対しそれぞれ平行又は直交するように設定することが望ましい。   The relative position relationship between the GPS antenna 30 for measuring the position of the carriage and the turning center C is such that each of the right-angled triangles each having a straight line connecting the GPS antenna 30 for measuring the position of the carriage and the turning center C is orthogonal to each other. The distances d3 and d4 are obtained by actually measuring and set in the computing means 15. In addition, it is desirable to set the orthogonal sides of the right triangle to be parallel or orthogonal to the full length direction of the carriage 2 respectively.

この台船位置計測手段を用いて台船２の位置及び方位を算出するには、まず、事前準備として、台船２上の任意の位置に台船位置計測用ＧＰＳアンテナ３０を取り付け、台船位置計測用ＧＰＳアンテナ３０と旋回中心Ｃとの相対位置関係を示す距離ｄ３，ｄ４を実際に測量し、その結果を演算手段１５に入力する。   In order to calculate the position and direction of the trolley 2 using this trolley position measuring means, first, as a preliminary preparation, a trolley position measurement GPS antenna 30 is attached to an arbitrary position on the trolley 2, and the trolley 2 The distances d3 and d4 indicating the relative positional relationship between the position measuring GPS antenna 30 and the turning center C are actually measured, and the result is input to the calculation means 15.

次に、実際にグラブバケット６等の吊り体の位置の検出を開始すると、位置方位計測手段１３によりＧＰＳアンテナ１１の位置Ｐ１（ｘ１，ｙ１，ｚ１）及び方位（方位角α）が計測されるとともに、ジブ仰角計測手段１４によりジブ仰角βが計測され、それぞれ随時演算手段１５に出力され、演算手段１５の記憶部に記憶される。   Next, when the detection of the position of a suspended body such as the grab bucket 6 is actually started, the position and direction measuring means 13 measures the position P1 (x1, y1, z1) and the direction (azimuth angle α) of the GPS antenna 11. At the same time, the jib elevation angle β is measured by the jib elevation angle measurement means 14, is output to the calculation means 15 as needed, and is stored in the storage unit of the calculation means 15.

そして、ＧＰＳアンテナ１１の旋回中心Ｃに対する相対位置を示す距離ｄ１，ｄ２は既知であるので、演算手段１５は、図５に示すように、入力されたＧＰＳアンテナ１１の位置Ｐ１（ｘ１，ｙ１，ｚ１）との関係から、例えば、上述の数式１により旋回中心Ｃの位置Ｐ２（ｘ２，ｙ２，ｚ２）を算出する。   Since the distances d1 and d2 indicating the relative position of the GPS antenna 11 with respect to the turning center C are known, the calculation means 15 can receive the input position P1 (x1, y1, x1) of the GPS antenna 11 as shown in FIG. From the relationship with z1), for example, the position P2 (x2, y2, z2) of the turning center C is calculated by the above-described mathematical formula 1.

更に、演算手段１５は、ジブ４の長さＬ、ジブ４基端から旋回中心Ｃまでの水平方向距離Ａは既知であるので、ジブ４の旋回半径をＲとすると、ジブ先端部位置Ｐ（ｘ，ｙ，ｚ）と旋回中心Ｃの位置Ｐ２（ｘ２，ｙ２，ｚ２）との関係よりジブ先端部位置Ｐ（ｘ，ｙ，ｚ）を入力されたＧＰＳアンテナ１１の位置Ｐ１（ｘ１，ｙ１，ｚ１）及び方位（方位角α）とジブ仰角βとに基づいて、例えば、上述の数式１より随時算出し、その結果をモニターＭ等の表示手段に表示する。   Further, since the length L of the jib 4 and the horizontal direction distance A from the base end of the jib 4 to the turning center C are known, the calculating means 15 has the jib tip position P ( The position P1 (x1, y1) of the GPS antenna 11 to which the jib tip position P (x, y, z) is input based on the relationship between the x, y, z) and the position P2 (x2, y2, z2) of the turning center C , Z1) and the azimuth (azimuth angle α) and the jib elevation angle β, for example, are calculated from time to time according to Equation 1, and the result is displayed on a display means such as the monitor M.

一方、台船２上の任意の位置に設置された台船位置計測用ＧＰＳアンテナ３０の位置座標Ｐ３（ｘ３，ｙ３，ｚ３）が台船位置計測手段により計測され、その計測データが随時演算手段１５に出力され、演算手段１５の記憶部に記憶される。   On the other hand, the position coordinate P3 (x3, y3, z3) of the GPS antenna 30 for measuring the position of the ship installed at an arbitrary position on the carriage 2 is measured by the carriage position measuring means, and the measurement data is calculated as needed. 15 and stored in the storage unit of the calculation means 15.

ここで、台船位置計測用ＧＰＳアンテナ３０と旋回中心Ｃとの相対位置関係を示す距離ｄ３，ｄ４は既知であり、旋回中心位置Ｐ２は上述のジブ先端位置Ｐ（ｘ，ｙ，ｚ）を算出する過程で随時算出されるので、旋回中心Ｃの位置座標Ｐ２（ｘ２，ｙ２，ｚ２）と入力された台船位置計測用ＧＰＳアンテナ３０の位置座標Ｐ３（ｘ３，ｙ３，ｚ３）との関係から、例えば、次式により台船２の絶対方位（方位角φ）を算出する。   Here, distances d3 and d4 indicating the relative positional relationship between the GPS antenna 30 for measuring the ship position and the turning center C are known, and the turning center position P2 is the above-described jib tip position P (x, y, z). Since it is calculated at any time during the calculation process, the relationship between the position coordinate P2 (x2, y2, z2) of the turning center C and the position coordinate P3 (x3, y3, z3) of the input GPS antenna 30 for the trolley position From, for example, the absolute azimuth (azimuth angle φ) of the carriage 2 is calculated by the following equation.

Figure 2015091729
Figure 2015091729

また、台船２全体の状態は、旋回中心位置Ｐ２又は台船位置計測用ＧＰＳアンテナ３０の位置座標Ｐ３と、算出された台船２の絶対方位（方位角φ）と、予め演算手段１５に入力された台船２の寸法とに基づいて検出でき、その結果をモニターＭに表示するとともに記憶部に記憶する。   In addition, the state of the entire carrier 2 is determined by the calculation means 15 in advance, the turning center position P2 or the position coordinate P3 of the GPS antenna 30 for measuring the carrier location, the calculated absolute azimuth (azimuth angle φ) of the carrier 2 The detection can be made based on the inputted dimensions of the carriage 2 and the result is displayed on the monitor M and stored in the storage unit.

尚、上述の各位置計測に使用する座標系は、上述の実施例に示す直角平面座標系に限定されず、その他の位置計測用に策定された座標系を用いてもよく、独自に設定した座標系を用いてもよい。   In addition, the coordinate system used for each position measurement described above is not limited to the rectangular plane coordinate system shown in the above-described embodiment, and other coordinate systems established for position measurement may be used, which are set uniquely. A coordinate system may be used.

また、ジブ先端部４ａの位置Ｐ（ｘ，ｙ，ｚ）、旋回中心Ｃの位置Ｐ２（ｘ２，ｙ２，ｚ２）、台船２の絶対方位角φ等の算出に使用する各計算式は、上述の実施例に示した各計算式に限定されず、他の数学的手法に基づく計算式を適用してもよい。   Each calculation formula used for calculating the position P (x, y, z) of the jib tip 4a, the position P2 (x2, y2, z2) of the turning center C, the absolute azimuth angle φ of the carriage 2, etc. is as follows: It is not limited to each calculation formula shown to the above-mentioned Example, You may apply the calculation formula based on another mathematical method.

Ｌ ジブ長さ
Ａ ジブ基端と旋回中心との間の水平方向距離
Ｂ ジブ基端とＧＰＳアンテナとの間の鉛直方向距離
Ｃ 旋回中心
α ＧＰＳアンテナの方位角
β ジブの仰角
γ ジブに対するＧＰＳアンテナの取付け角度
φ 台船の方位角
Ｒ ジブの旋回半径
１ クレーン船
２ 台船
３ クレーン旋回部
４ ジブ
５ ワイヤー
６ グラブバケット
７ 旋回台部
８ 操作室
９ 船倉部
１０ 吊り位置検出装置
１１，１２ ＧＰＳアンテナ
１３ 位置方位計測手段
１４ ジブ仰角計測手段
１５ 演算手段
１６ 旋回基準検出手段
１７ 固定用部材
１８ ＧＰＳ受信処理機本体
１９ 傾斜計
２０ 近接センサ
２１ 検出対象体
３０ 台船位置計測用ＧＰＳアンテナ L Jib length A Horizontal distance between jib base and turning center B Vertical distance between jib base and GPS antenna C Turning center α GPS antenna azimuth β Jib elevation angle γ GPS antenna for jib Attached angle φ Azimuth angle of the carriage R Jib turning radius 1 Crane ship 2 Boat 3 Crane turning part 4 Jib 5 Wire 6 Grab bucket 7 Swivel part 8 Operation room 9 Hull part 10 Hanging position detection device 11, 12 GPS Antenna 13 Position / orientation measurement means 14 Jib elevation angle measurement means 15 Calculation means 16 Turning reference detection means 17 Fixing member 18 GPS reception processor main body
19 Inclinometer 20 Proximity sensor 21 Target object 30 GPS antenna for ship position measurement

Claims (10)

台船上に旋回可能に設置されたクレーン旋回部と、該クレーン旋回部に上下に回動可能に支持されたジブと、該ジブの先端より繰り出されるワイヤーとを備えたクレーン船にあって、前記ジブ先端部の位置に基づいて前記ワイヤーの先端に吊り持ちさせた吊り体の位置を検出するようにしたクレーン船の吊り位置検出装置において、
前記クレーン旋回部の任意の位置に着脱可能に固定されるＧＰＳアンテナと、
該ＧＰＳアンテナの位置及び方位を計測する位置方位計測手段と、
前記ジブの仰角を計測するジブ仰角計測手段と、
前記位置方位計測手段より得られる前記ＧＰＳアンテナの位置及び方位、前記ジブ仰角計測手段より得られるジブの仰角、前記ＧＰＳアンテナの前記クレーン旋回部の旋回中心に対する相対位置、前記ＧＰＳアンテナの前記ジブに対する取付け角度、前記ジブの長さ及び前記ジブの基端と前記旋回中心との間の水平方向距離に基づいて前記ジブ先端部の位置を算出する演算手段とを備えたことを特徴としてなるクレーン船の吊り位置検出装置。 A crane ship provided with a crane turning part installed on a pedestal so as to be turnable, a jib supported so as to be turnable up and down on the crane turn part, and a wire fed from the tip of the jib, In the hanging position detection device for a crane ship that detects the position of a suspended body suspended at the tip of the wire based on the position of the jib tip,
A GPS antenna detachably fixed to an arbitrary position of the crane turning unit;
Position and orientation measuring means for measuring the position and orientation of the GPS antenna;
Jib elevation angle measuring means for measuring the elevation angle of the jib;
The position and orientation of the GPS antenna obtained from the position / orientation measurement means, the elevation angle of the jib obtained from the jib elevation angle measurement means, the relative position of the GPS antenna to the turning center of the crane turning portion, and the GPS antenna relative to the jib A crane ship comprising: an arithmetic unit that calculates a position of the tip end of the jib based on a mounting angle, a length of the jib, and a horizontal distance between the base end of the jib and the turning center. Hanging position detector. 前記位置方位計測手段に前記ＧＰＳアンテナを一体に備え、該位置方位計測手段を前記クレーン旋回部の任意の位置に着脱可能に固定するようにした請求項１に記載のクレーン船の吊り位置検出装置。   2. The crane ship suspension position detection device according to claim 1, wherein the GPS antenna is integrated with the position / orientation measuring means, and the position / orientation measuring means is detachably fixed to an arbitrary position of the crane turning portion. . 前記クレーン旋回部の前記台船に対する所望の旋回位置を検出する旋回基準検出手段を備え、前記演算手段は、前記所望の旋回位置における前記ＧＰＳアンテナの位置及び方位に基づいて前記台船の位置及び方位を算出するようにした請求項１又は２に記載のクレーン船の吊り位置検出装置。   A turning reference detecting means for detecting a desired turning position of the crane turning portion with respect to the carriage is provided, and the computing means is configured to determine the position of the carriage and the position of the carriage based on the position and orientation of the GPS antenna at the desired turning position. The crane ship hanging position detecting device according to claim 1 or 2, wherein the bearing is calculated. 前記台船に船倉部を備え、該船倉部上に前記ジブが位置する際の前記クレーン旋回部の台船に対する旋回位置を前記旋回基準検出手段で検出するようにした請求項３に記載のクレーン船の吊り位置検出装置。   The crane according to claim 3, wherein the trolley includes a hold part, and the turning reference detection means detects a turning position of the crane turning part with respect to the stand ship when the jib is positioned on the hold part. Ship hanging position detector. 前記旋回基準検出手段は、前記クレーン旋回部又は台船の何れか一方に固定された近接センサを備え、該近接センサは、前記クレーン旋回部又は前記台船の何れか他方に固定され、前記クレーン旋回部の旋回に伴って前記近接センサに対し旋回方向で相対移動する検出対象体の接近を検出するようにした請求項３又は４のいずれか１項に記載のクレーン船の吊り位置検出装置。   The turning reference detecting means includes a proximity sensor fixed to either the crane turning part or the base ship, and the proximity sensor is fixed to either the crane turning part or the base ship, and the crane The suspension position detection apparatus of the crane ship of any one of Claim 3 or 4 which detected the approach of the detection target body which moves relatively in a turning direction with respect to the said proximity sensor with turning of a turning part. 前記台船上の任意の位置に設置された台船位置計測用ＧＰＳアンテナの位置を計測する台船位置計測手段を備え、
前記演算手段は、前記位置方位計測手段より得られる前記ＧＰＳアンテナの位置及び方位と、前記ＧＰＳアンテナの前記クレーン旋回部の旋回中心に対する相対位置とに基づき前記クレーン旋回部の旋回中心位置を算出するとともに、
該旋回中心位置と、前記計測された台船位置計測用ＧＰＳアンテナの位置と、該台船位置計測用ＧＰＳアンテナと台船との相対位置に基づいて前記台船の方位を算出するようにした請求項１又は２に記載のクレーン船の吊り位置検出装置。 A trolley position measuring means for measuring the position of a GPS antenna for trolley position measurement installed at an arbitrary position on the trolley,
The calculation means calculates the turning center position of the crane turning part based on the position and orientation of the GPS antenna obtained from the position / orientation measuring means and the relative position of the GPS antenna with respect to the turning center of the crane turning part. With
The azimuth of the barge is calculated based on the turning center position, the measured position of the GPS antenna for measuring the position of the barge, and the relative position of the GPS antenna for measuring the position of the barge and the barge. The crane ship hanging position detection device according to claim 1 or 2. 台船上に旋回可能に設置されたクレーン旋回部と、該クレーン旋回部に上下に回動可能に支持されたジブと、該ジブの先端より繰り出されるワイヤーとを備えたクレーン船のジブ先端部の位置に基づいて前記ワイヤーの先端に吊り持ちさせた吊り体の位置を検出するクレーン船の吊り位置検出方法において、
前記クレーン旋回部の任意の位置に着脱可能に固定されるＧＰＳアンテナと、該ＧＰＳアンテナの位置及び方位を計測する位置方位計測手段と、前記ジブの仰角を計測するジブ仰角計測手段とを備えた吊り位置検出装置を使用し、前記ＧＰＳアンテナの位置及び方位を計測するとともに、前記ジブの仰角を計測し、
前記ＧＰＳアンテナの位置及び方位と、前記ジブの仰角と、事前に設定された前記ＧＰＳアンテナの前記クレーン旋回部の旋回中心に対する相対位置と、前記ＧＰＳアンテナの前記ジブに対する取付け角度と、前記ジブの長さ及び前記ジブの基端と前記旋回中心との間の水平方向距離とに基づいて前記ジブ先端部の位置を算出することを特徴としてなるクレーン船の吊り位置検出方法。 A crane turning part installed on a trolley so as to be turnable, a jib supported so as to be turnable up and down on the crane turning part, and a wire fed out from the tip of the jib, In the hanging position detection method of a crane ship for detecting the position of a suspended body suspended at the tip of the wire based on the position,
A GPS antenna that is detachably fixed to an arbitrary position of the crane turning unit, a position / orientation measurement unit that measures the position and orientation of the GPS antenna, and a jib elevation angle measurement unit that measures the elevation angle of the jib. Using a hanging position detector, measuring the position and orientation of the GPS antenna, measuring the elevation angle of the jib,
The position and orientation of the GPS antenna, the elevation angle of the jib, the preset relative position of the GPS antenna with respect to the turning center of the crane turning portion, the mounting angle of the GPS antenna with respect to the jib, A crane ship hanging position detection method, comprising: calculating a position of the tip end of the jib based on a length and a horizontal distance between a base end of the jib and the turning center. 前記クレーン旋回部の前記台船に対する所望の旋回位置を旋回基準検出手段により検出し、前記所望の旋回位置における前記ＧＰＳアンテナの位置及び方位に基づいて前記台船の位置及び方位を算出する請求項７に記載のクレーン船の吊り位置検出方法。   A desired turning position of the crane turning part with respect to the carriage is detected by turning reference detection means, and the position and orientation of the carriage are calculated based on the position and orientation of the GPS antenna at the desired turning position. 8. A method for detecting a suspended position of a crane ship according to 7. 前記台船に船倉部を備えるとともに、該船倉部上に前記ジブが位置する際の前記クレーン旋回部の台船に対する旋回位置を前記旋回基準検出手段で検出し、前記ジブが船倉部上に移動する毎に前記台船の位置及び方位を算出する請求項８に記載のクレーン船の吊り位置検出方法。   The trolley includes a hold part, and the turning position of the crane turning part with respect to the stand ship when the jib is located on the hold part is detected by the turning reference detection means, and the jib moves on the hold part. The method for detecting a suspended position of a crane ship according to claim 8, wherein the position and orientation of the carriage are calculated each time. 前記台船上の任意の位置に設置された台船位置計測用ＧＰＳアンテナの位置を計測し、前記位置方位計測手段より得られる前記ＧＰＳアンテナの位置及び方位と、前記ＧＰＳアンテナの前記クレーン旋回部の旋回中心に対する相対位置とに基づき前記クレーン旋回部の旋回中心位置を算出するとともに、
該旋回中心位置と、前記計測された台船位置計測用ＧＰＳアンテナの位置と、該台船位置計測用ＧＰＳアンテナと台船との相対位置に基づいて前記台船の方位を算出する請求項７に記載のクレーン船の吊り位置検出方法。
The position of a GPS antenna for measuring the position of a trolley installed at an arbitrary position on the trolley is measured, and the position and azimuth of the GPS antenna obtained from the position azimuth measuring means, and the crane turning portion of the GPS antenna Based on the relative position with respect to the turning center and calculating the turning center position of the crane turning portion,
8. The azimuth of the barge is calculated based on the turning center position, the measured position of the GPS antenna for measuring the position of the barge, and the relative position of the GPS antenna for measuring the position of the barge and the barge. The crane ship hanging position detection method according to claim 1.
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