JP7100319B2 - Lifting method and lifting assist system for suspended cargo on board - Google Patents

Lifting method and lifting assist system for suspended cargo on board Download PDF

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JP7100319B2
JP7100319B2 JP2018142553A JP2018142553A JP7100319B2 JP 7100319 B2 JP7100319 B2 JP 7100319B2 JP 2018142553 A JP2018142553 A JP 2018142553A JP 2018142553 A JP2018142553 A JP 2018142553A JP 7100319 B2 JP7100319 B2 JP 7100319B2
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suspended load
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直幸 加藤
武美智 青山
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Toray Engineering Co Ltd
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Toyo Construction Co Ltd
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本発明は、船上に設置されたクレーンによる船上の吊り荷の吊り上げ方法、及び、船上の吊り荷の吊り上げ補助システムに関するものである。 The present invention relates to a method for lifting a suspended load on a ship by a crane installed on the ship, and a lifting assist system for the suspended load on the ship.

クレーン作業により吊り荷を吊り上げるときには、吊り荷を斜めに吊り上げると吊り荷が揺れてしまい、構造物や他の吊り荷等と接触する虞がある。このため、吊り荷がクレーンブーム先端のシーブの直下の位置関係にあるときに地切りを行い、吊り荷を鉛直に吊り上げる必要がある。吊り荷とシーブとの位置関係を鉛直にする方法としては、玉掛け時にクレーンフックを吊り荷の近くへ誘導する際に、合図者の指示によりクレーンフックの位置を調整する方法が良く行われる。そして、吊り荷を吊り上げるときには、合図者により、吊り荷が鉛直に吊り上がるようにシーブの位置を調整・確認してから、吊り上げの指示を行う。このようなクレーン作業を補助することを目的として、種々の発明が発案されている（例えば特許文献１参照）。 When hoisting a suspended load by crane work, if the suspended load is lifted diagonally, the suspended load may shake and come into contact with structures or other suspended loads. For this reason, it is necessary to cut the ground and lift the suspended load vertically when the suspended load is located directly below the sheave at the tip of the crane boom. As a method of making the positional relationship between the suspended load and the sheave vertical, a method of adjusting the position of the crane hook according to the instruction of the signaler when guiding the crane hook to the vicinity of the suspended load at the time of slinging is often performed. Then, when lifting the suspended load, the signal person adjusts and confirms the position of the sheave so that the suspended load can be lifted vertically, and then gives an instruction to lift the load. Various inventions have been proposed for the purpose of assisting such crane work (see, for example, Patent Document 1).

特開２０１６－１１３２１８号公報Japanese Unexamined Patent Publication No. 2016-11218

ここで、上述したようなクレーン作業は、例えば図５に示すような、海上起重機船等の船１２上に設置されたクレーン１４によっても行われ、この場合は、陸上では考慮する必要のなかった波の影響によって、船１２が動揺する中でのクレーン作業となる。このような波の影響下では、船体と一緒に動揺するクレーンブーム１６の先端にあるシーブ１８の鉛直下方位置が、船体上で常に変化する。このため、船体の動揺を考慮して、合図者Ｐは、クレーンブーム１６先端のシーブ１８の位置と吊り荷５０の位置とが、鉛直の関係になるタイミングを見計らって、クレーン操縦者に地切りを実行させる。しかしながら、船体が動揺する中で、シーブ１８と吊り荷５０との位置関係を目視により把握するには限界があり、地切りのタイミングを計るには、相当な熟練を要するものであった。更に、上述した従来の発明は、陸上でのクレーン作業を前提としたものであり、波の影響によってクレーン自体が揺れることを想定したものではなかった。 Here, the crane work as described above is also performed by the crane 14 installed on the ship 12 such as a marine hoist ship as shown in FIG. 5, and in this case, it is not necessary to consider it on land. Crane work is performed while the ship 12 is shaken by the influence of the waves. Under the influence of such waves, the vertically downward position of the sheave 18 at the tip of the crane boom 16 that sways with the hull constantly changes on the hull. Therefore, in consideration of the sway of the hull, the signaler P decides to cut the ground to the crane operator at the timing when the position of the sheave 18 at the tip of the crane boom 16 and the position of the suspended load 50 have a vertical relationship. To execute. However, while the hull is shaking, there is a limit to visually grasping the positional relationship between the sheave 18 and the suspended load 50, and considerable skill is required to measure the timing of ground cutting. Further, the above-mentioned conventional invention is premised on crane work on land, and is not intended to shake the crane itself due to the influence of waves.

本発明は上記課題に鑑みてなされたものであり、その目的とするところは、船体の動揺の如何を問わず適切なタイミングで地切りを行うことで、吊り荷の動揺を最小限に抑制することにある。 The present invention has been made in view of the above problems, and an object of the present invention is to minimize the sway of the suspended load by cutting the ground at an appropriate timing regardless of the sway of the hull. There is something in it.

（発明の態様）
以下の発明の態様は、本発明の構成を例示するものであり、本発明の多様な構成の理解を容易にするために、項別けして説明するものである。各項は、本発明の技術的範囲を限定するものではなく、発明を実施するための最良の形態を参酌しつつ、各項の構成要素の一部を置換し、削除し、又は、更に他の構成要素を付加したものについても、本願発明の技術的範囲に含まれ得るものである。 (Aspect of the invention)
The following aspects of the invention exemplify the configurations of the present invention and are described separately in order to facilitate understanding of the various configurations of the present invention. Each section does not limit the technical scope of the present invention, and some of the components of each section are replaced, deleted, or further while taking into consideration the best mode for carrying out the invention. Those to which the constituent elements of the above are added can also be included in the technical scope of the present invention.

（１）船上に設置されたクレーンによる船上の吊り荷の吊り上げ方法であって、前記クレーンのブーム先端に設けられたシーブの両側方に、船の揺れの状態の如何に関わらず、常に鉛直下方を向くように２つのレーザ光照射手段を取り付け、前記シーブから吊り下げられたワイヤ先端のフックに前記吊り荷を掛止する際に、前記２つのレーザ光照射手段からレーザ光を照射し、該レーザ光の照射中心位置と前記吊り荷の重心位置との位置関係に基づいて、前記吊り荷の重心位置の鉛直上方に前記シーブが位置するように、前記クレーンのブーム先端の位置を調整し、前記吊り荷を地切りする際に、前記２つのレーザ光照射手段からレーザ光を照射しながら、前記レーザ光の照射中心位置が前記吊り荷の重心位置と重なるタイミングで地切りを行う船上の吊り荷の吊り上げ方法（請求項１）。 (1) A method of lifting suspended loads on a ship by a crane installed on the ship, which is always vertically downward on both sides of the sheave provided at the boom tip of the crane, regardless of the shaking state of the ship. Two laser light irradiating means are attached so as to face the above, and when the suspended load is hooked on the hook at the tip of the wire suspended from the sheave, the laser light is irradiated from the two laser light irradiating means. Based on the positional relationship between the irradiation center position of the laser beam and the position of the center of gravity of the suspended load, the position of the boom tip of the crane is adjusted so that the sheave is located vertically above the position of the center of gravity of the suspended load. When the suspended load is ground-cut, the suspension on the ship is performed at the timing when the irradiation center position of the laser light overlaps with the center of gravity position of the suspended load while irradiating the laser light from the two laser light irradiation means. A method of lifting a load (claim 1).

本項に記載の船上の吊り荷の吊り上げ方法は、船上に設置されたクレーンのブーム先端に設けられたシーブの両側方に、２つのレーザ光照射手段を取り付ける。この際、波の影響等による船の揺れの状態の如何に関わらず、２つのレーザ光照射手段が、常に、シーブの両側方から鉛直下方を向くように、適切な保持手段を利用して取り付ける。そして、クレーン作業時に、シーブから吊り下げられたワイヤ先端のフックに対して、船上の吊り荷を掛止する際に、シーブ両側方の２つのレーザ光照射手段からレーザ光を照射し、このレーザ光を拠り所にして、クレーンのブーム先端の位置を調整する。すなわち、２つのレーザ光照射手段は、常に鉛直下方を向くように取り付けられているため、２つのレーザ光照射手段から照射された２つのレーザ光は、常にシーブの鉛直下方を照射している。 In the method of lifting a suspended load on a ship described in this section, two laser light irradiation means are attached to both sides of a sheave provided at the boom tip of a crane installed on the ship. At this time, regardless of the shaking state of the ship due to the influence of waves, the two laser beam irradiation means are always attached by using appropriate holding means so as to face vertically downward from both sides of the sheave. .. Then, during crane work, the hooks at the ends of the wires suspended from the sheave are irradiated with laser light from the two laser light irradiation means on both sides of the sheave when the suspended load on the ship is stopped, and this laser is used. Adjust the position of the boom tip of the crane based on the light. That is, since the two laser light irradiating means are always attached so as to face vertically downward, the two laser beams radiated from the two laser light irradiating means always irradiate the vertical lower side of the sheave.

そこで、これらのレーザ光の照射中心位置と、吊り荷の重心位置との位置関係に基づいて、吊り荷の重心位置の鉛直上方にシーブが位置するように、ブーム先端の位置を調整する。この際、水上の波が比較的穏やかで、船がほとんど揺れていない場合は、レーザ光の照射中心位置が吊り荷の重心位置と重なるように、ブーム先端位置を調整すればよい。一方、波の影響で船が揺れている場合は、常にシーブの鉛直下方を照射するレーザ光が、船上で動いているように見えるため、そのレーザ光の照射位置が描く軌跡の中心位置が、吊り荷の重心位置と重なるように、ブーム先端位置を調整すればよい。これにより、船体の動揺の如何に関わらず、吊り荷の重心位置の鉛直上方にシーブが位置することになる。なお、２つのレーザ光照射手段からのレーザ光の照射中心位置は、船上や吊り荷上に照射されている２つのレーザ光の間の中心位置を目視で把握すればよく、又、吊り荷の重心位置は、吊り荷の形状等に基づいて目視で把握すればよい。 Therefore, based on the positional relationship between the irradiation center position of these laser beams and the position of the center of gravity of the suspended load, the position of the boom tip is adjusted so that the sheave is located vertically above the position of the center of gravity of the suspended load. At this time, if the waves on the water are relatively calm and the ship hardly shakes, the boom tip position may be adjusted so that the irradiation center position of the laser beam overlaps with the center of gravity position of the suspended load. On the other hand, when the ship is shaking due to the influence of waves, the laser beam that always irradiates vertically below the sheave seems to be moving on the ship, so the center position of the trajectory drawn by the irradiation position of the laser beam is The boom tip position may be adjusted so as to overlap the position of the center of gravity of the suspended load. As a result, the sheave is positioned vertically above the position of the center of gravity of the suspended load regardless of the sway of the hull. As for the center position of the laser beam irradiation from the two laser beam irradiation means, the center position between the two laser beams irradiating on the ship or on the suspended load may be visually grasped, and the suspended load The position of the center of gravity may be visually grasped based on the shape of the suspended load or the like.

更に、上記のようにブーム先端位置を調整し、クレーンのフックに吊り荷を掛止した後に、吊り荷を地切りする際、２つのレーザ光照射手段からレーザ光を照射しながら、それらのレーザ光の照射中心位置が、吊り荷の重心位置と重なるタイミングを計る。すなわち、波の影響で船が揺れている場合は、上述したブーム先端位置の調整の結果、２つのレーザ光照射手段からのレーザ光が、船上及び吊り荷上に、吊り荷の重心位置を中心とする照射軌跡を描いているように見える。このため、２つのレーザ光の中心位置が、吊り荷の重心位置と重なる位置まで移動したタイミングを見計らい、このタイミングで地切りを行うことで、シーブの位置と吊り荷の重心位置とが鉛直関係になった瞬間に、地切りが行われることになる。このように、船体の動揺の如何を問わず、適切なタイミングで地切りが行われるため、吊り荷の動揺が最小限に抑制されるものとなる。更に、２つのレーザ光照射手段からレーザ光を照射することによって、シーブと吊り荷の重心位置との位置関係が明確になるため、ブーム先端位置の調整や地切りのタイミングの把握が、従来よりも容易かつ正確に行われるものである。 Further, after adjusting the boom tip position as described above and suspending the suspended load on the hook of the crane, when the suspended load is grounded, those lasers are irradiated while irradiating the laser light from the two laser light irradiation means. The timing at which the position of the center of light irradiation overlaps with the position of the center of gravity of the suspended load is measured. That is, when the ship is shaking due to the influence of waves, as a result of the above-mentioned adjustment of the boom tip position, the laser light from the two laser light irradiation means is centered on the ship and on the suspended load, centering on the position of the center of gravity of the suspended load. It seems that the irradiation trajectory is drawn. For this reason, the position of the sheave and the position of the center of gravity of the suspended load are vertically related by timing the timing at which the center positions of the two laser beams move to the position where they overlap with the position of the center of gravity of the suspended load. The moment it becomes, the ground will be cut. In this way, regardless of the sway of the hull, the ground is cut at an appropriate timing, so that the sway of the suspended load is minimized. Furthermore, by irradiating the laser beam from the two laser beam irradiation means, the positional relationship between the sheave and the position of the center of gravity of the suspended load is clarified. Is easy and accurate.

（２）上記（１）項において、前記２つのレーザ光照射手段の各々から、照射形状が十字形のレーザ光を、前記十字形を成す一方の線分同士が直線状に並ぶ向きで照射する船上の吊り荷の吊り上げ方法（請求項２）。
本項に記載の船上の吊り荷の吊り上げ方法は、２つのレーザ光照射手段の各々から、照射形状が十字形のレーザ光を照射し、この際、レーザ光の十字形を成す一方の線分が、２つのレーザ光同士で直線状に並ぶ向きで照射する。このため、２つのレーザ光の照射中心位置は、直線状に並んだ線分上或いはそれらの線分の延長線上の、２つの十字形の交点間の中央に位置することになる。これにより、２つのレーザ光の照射中心位置が、直感的に把握されるため、レーザ光の照射中心位置と吊り荷の重心位置との位置関係が、容易に把握されるものとなる。 (2) In the above item (1), laser light having a cross-shaped irradiation shape is irradiated from each of the two laser light irradiating means in a direction in which one of the line segments forming the cross is linearly arranged. A method for lifting a suspended load on a ship (claim 2).
The method for lifting a suspended load on a ship described in this section irradiates a laser beam having a cross-shaped irradiation shape from each of the two laser beam irradiation means, and at this time, one line segment forming a cross-shaped laser beam. However, the two laser beams irradiate in a linearly aligned direction. Therefore, the irradiation center positions of the two laser beams are located at the center between the intersections of the two crosses on the line segments arranged in a straight line or on the extension lines of those line segments. As a result, the positions of the irradiation centers of the two laser beams are intuitively grasped, so that the positional relationship between the positions of the irradiation centers of the laser beams and the position of the center of gravity of the suspended load can be easily grasped.

（３）船上に設置されたクレーンと、２つのレーザ光照射手段と、前記クレーンのブーム先端に設けられたシーブの両側方において、前記２つのレーザ光照射手段を、船の揺れの状態の如何に関わらず、常に鉛直下方を向くように保持する２つの保持手段と、を含み、前記２つのレーザ光照射手段の各々は、照射形状が十字形のレーザ光を照射するものであり、前記十字形を成す一方の線分同士が直線状に並ぶ向きで、前記２つの保持手段により保持されている船上の吊り荷の吊り上げ補助システム（請求項３）。
本項に記載の船上の吊り荷の吊り上げ補助システムは、船上に設置されたクレーンと、２つのレーザ光照射手段と、２つの保持手段とを含むものである。２つの保持手段は、２つのレーザ光照射手段を、クレーンのブーム先端に設けられたシーブの両側方において、船の揺れの状態の如何に関わらず、常に鉛直下方を向くように保持する。又、２つのレーザ光照射手段の各々は、照射形状が十字形のレーザ光を照射するものであり、更に、その十字形を成す一方の線分が、２つのレーザ光照射手段同士で直線状に並ぶような向きで、２つの保持手段により保持されている。 (3) The crane installed on the ship, the two laser beam irradiation means, and the two laser beam irradiation means on both sides of the sheave provided at the boom tip of the crane, depending on the shaking state of the ship. Regardless of the above, each of the two laser light irradiating means includes two holding means for holding the laser light so as to always face vertically downward, and each of the two laser light irradiating means irradiates a laser beam having a cross-shaped irradiation shape. A lifting assist system for suspended loads on a ship held by the two holding means in a direction in which one of the line segments forming a character is arranged in a straight line (claim 3).
The lifting assist system for suspended loads described in this section includes a crane installed on the ship, two laser beam irradiation means, and two holding means. The two holding means hold the two laser beam irradiating means so as to always face vertically downward on both sides of the sheave provided at the boom tip of the crane, regardless of the shaking state of the ship. Further, each of the two laser light irradiating means irradiates the laser light having a cross-shaped irradiation shape, and further, one of the line segments forming the cross shape is linear between the two laser light irradiating means. It is held by two holding means so as to line up with each other.

上記のような構成により、２つの保持手段によって常に鉛直下方を向くように保持されている、２つのレーザ光照射手段からレーザ光が照射されると、それらのレーザ光は、常にシーブの鉛直下方を照射することになる。このため、例えば、シーブから吊り下げられたワイヤ先端のフックに吊り荷を掛止する際に、上記の如くレーザ光が照射されることで、このレーザ光を拠り所にして、クレーンのブーム先端の位置が調整される。すなわち、レーザ光の照射中心位置と、吊り荷の重心位置との位置関係に基づいて、吊り荷の重心位置の鉛直上方にシーブが位置するように、ブーム先端の位置が調整される。これにより、船体の動揺の如何に関わらず、吊り荷の重心位置の鉛直上方に、容易にシーブの位置が調整されることになる。 With the above configuration, when the laser light is emitted from the two laser light irradiation means, which are held so as to always face vertically downward by the two holding means, the laser light is always vertically downward of the sheave. Will be irradiated. Therefore, for example, when a suspended load is hooked on the hook at the tip of the wire suspended from the sheave, the laser beam is irradiated as described above, and the laser beam is used as a base for the boom tip of the crane. The position is adjusted. That is, the position of the boom tip is adjusted so that the sheave is positioned vertically above the position of the center of gravity of the suspended load based on the positional relationship between the position of the irradiation center of the laser beam and the position of the center of gravity of the suspended load. As a result, the position of the sheave can be easily adjusted vertically above the position of the center of gravity of the suspended load regardless of the shaking of the hull.

加えて、上記のようにブーム先端位置が調整され、クレーンのフックに吊り荷が掛止された後、吊り荷が地切りされる際にも、２つのレーザ光照射手段からレーザ光が照射されることで、それらのレーザ光が利用されて、地切りのタイミングが計られる。すなわち、２つのレーザ光照射手段からのレーザ光の照射中心位置が、吊り荷の重心位置と重なるタイミングで、地切りが実行されることにより、シーブの位置と吊り荷の重心位置とが鉛直関係になった瞬間に、地切りが行われることになる。これにより、船体の動揺の如何を問わず、適切なタイミングで地切りが行われることになるため、吊り荷の動揺が最小限に抑制されるものとなる。しかも、２つのレーザ光照射手段から照射されるレーザ光は、上述したように、十字形が直線状に並ぶように照射されるため、レーザ光の照射中心位置が直感的に把握され、延いては、レーザ光の照射中心位置と吊り荷の重心位置との位置関係が、容易に把握されるものである。 In addition, after the boom tip position is adjusted as described above and the suspended load is stopped on the hook of the crane, the laser light is irradiated from the two laser light irradiating means even when the suspended load is ground-cut. By doing so, those laser beams are used to measure the timing of ground cutting. That is, the position of the sheave and the position of the center of gravity of the suspended load are in a vertical relationship by executing the ground cutting at the timing when the position of the center of gravity of the laser light from the two laser light irradiating means overlaps with the position of the center of gravity of the suspended load. The moment it becomes, the ground will be cut. As a result, regardless of the sway of the hull, the ground cutting is performed at an appropriate timing, so that the sway of the suspended load is minimized. Moreover, as described above, the laser light emitted from the two laser light irradiation means is irradiated so that the crosses are lined up in a straight line, so that the position of the irradiation center of the laser light can be intuitively grasped and extended. In, the positional relationship between the position of the irradiation center of the laser beam and the position of the center of gravity of the suspended load can be easily grasped.

（４）上記（３）項において、前記２つの保持手段の各々は、前記レーザ光照射手段を鉛直下方に向けるための可動部に、オイルダンパーが用いられている船上の吊り荷の吊り上げ補助システム（請求項４）。
本項に記載の船上の吊り荷の吊り上げ補助システムは、２つの保持手段の各々の、レーザ光照射手段を鉛直下方に向けるための可動部に、オイルダンパーが用いられているものである。これにより、船体の動揺に合わせて、レーザ光照射手段が鉛直下方を向くように、保持手段の可動部が作動する際、船体の揺れの衝撃がオイルダンパーにより低減されながら、レーザ光照射手段の向きが適切な速度で変えられることになる。更に、船体の揺れの衝撃だけでなく、風等の他の要因による揺れの衝撃も、オイルダンパーにより低減されるため、レーザ光照射手段の故障発生が抑制されるものとなる。 (4) In the above item (3), each of the two holding means is a lifting assist system for a suspended load on a ship in which an oil damper is used as a movable part for directing the laser light irradiation means vertically downward. (Claim 4).
In the lifting assist system for suspended cargo on board as described in this section, an oil damper is used for the movable part of each of the two holding means for directing the laser light irradiation means vertically downward. As a result, when the movable part of the holding means operates so that the laser light irradiating means faces vertically downward in accordance with the sway of the hull, the impact of the swaying of the hull is reduced by the oil damper, and the laser light irradiating means The orientation will be changed at an appropriate speed. Further, not only the impact of the shaking of the hull but also the impact of the shaking due to other factors such as wind is reduced by the oil damper, so that the occurrence of failure of the laser light irradiation means can be suppressed.

本発明は上記のような構成であるため、船体の動揺の如何を問わず適切なタイミングで地切りを行うことができ、吊り荷の動揺を最小限に抑制することが可能となる。 Since the present invention has the above-mentioned configuration, it is possible to perform ground cutting at an appropriate timing regardless of the sway of the hull, and it is possible to minimize the sway of the suspended load.

本発明の実施の形態に係る船上の吊り荷の吊り上げ補助システムの概要を示す模式図である。It is a schematic diagram which shows the outline of the lifting assist system of the suspended load on a ship which concerns on embodiment of this invention. ２つのレーザ光照射手段から吊り荷にレーザ光が照射された様子を示すイメージ図である。It is an image diagram which shows the state that the laser beam was irradiated to the suspended load from two laser beam irradiation means. 本発明の実施の形態に係る船上の吊り荷の吊り上げ方法の一例を示すフロー図である。It is a flow diagram which shows an example of the method of lifting a suspended load on a ship which concerns on embodiment of this invention. ２つのレーザ光照射手段から照射されたレーザ光が吊り荷に対して揺れているように見える様子を示すイメージ図である。It is an image diagram which shows the appearance that the laser light emitted from two laser light irradiation means is shaking with respect to a suspended load. 船上に設置されたクレーンにより船上の吊り荷を吊り上げる様子を示すイメージ図である。It is an image diagram showing how a crane installed on a ship lifts a suspended load on the ship.

以下、本発明を実施するための形態を、添付図面に基づき説明する。ここで、従来技術と同一部分、若しくは相当する部分については、詳しい説明を省略することとし、又、図面の全体にわたって、同一部分若しくは対応する部分は、同一の符号で示している。
図１は、本発明の実施の形態に係る船上の吊り荷の吊り上げ補助システム１０の構成を概略的に示している。図示のように、吊り荷の吊り上げ補助システム１０は、クレーン１４と、２つのレーザ光照射手段３０と、２つの保持手段４０とを有している。クレーン１４は、例えば図５に示したような起重機船等の船１２上に設置されたものであり、図５も参照して、ブーム１６、ブーム１６の先端に設置されたシーブ１８、シーブ１８からワイヤ２０を介して吊り下げられているフック２２等を備えたものである。又、これに限定されるものではないが、一例を挙げると、ブーム１６の長さが５０ｍ程度のクレーン１４が想定される。 Hereinafter, embodiments for carrying out the present invention will be described with reference to the accompanying drawings. Here, detailed description of the same parts or the corresponding parts as in the prior art will be omitted, and the same parts or the corresponding parts are indicated by the same reference numerals throughout the drawings.
FIG. 1 schematically shows a configuration of a lifting assist system 10 for a suspended load on a ship according to an embodiment of the present invention. As shown in the figure, the lifting assist system 10 for a suspended load includes a crane 14, two laser beam irradiating means 30, and two holding means 40. The crane 14 is installed on a ship 12 such as a hoist ship as shown in FIG. 5, and the boom 16 and the sheave 18 installed at the tip of the boom 16 are also referred to with reference to FIG. It is provided with a hook 22 or the like suspended from the wire 20 via a wire 20. Further, although not limited to this, for example, a crane 14 having a boom 16 having a length of about 50 m is assumed.

図１に戻り、２つのレーザ光照射手段３０は、所定の方向へレーザ光３２を照射するものであり、各々が保持手段４０によって保持されている。２つの保持手段４０は、クレーン１４のシーブ１８の両側方において、２つのレーザ光照射手段３０を保持している。より詳しくは、保持手段４０の各々は、船１２（図５参照）の揺れの状態の如何に関わらず、レーザ光照射手段３０が常に鉛直下方に向くように保持している。そして、保持手段４０は、図１の左上のブロック図に示すように、レーザ光照射手段３０を鉛直下方へ向けるための可動部に、オイルダンパー４２が用いられている。このような保持手段４０の例として、クレーンカメラを保持するための保持具を利用することが挙げられる。なお、本発明の実施の形態に係る船上の吊り荷の吊り上げ補助システム１０は、常に鉛直下方に向くようにレーザ光照射手段３０を保持するものであれば、保持手段４０が図示の例に限定されるものではなく、例えばオイルダンパー４２を備えていなくてもよい。又、図示の便宜上、図１には、一方のレーザ光照射手段３０及び保持手段４０についてのみ、ブロック図でも構成を示しているが、他方のレーザ光照射手段３０及び保持手段４０の構成もこれと同様である。 Returning to FIG. 1, the two laser light irradiating means 30 irradiate the laser light 32 in a predetermined direction, and each of them is held by the holding means 40. The two holding means 40 hold the two laser light irradiating means 30 on both sides of the sheave 18 of the crane 14. More specifically, each of the holding means 40 holds the laser light irradiating means 30 so as to always face vertically downward regardless of the shaking state of the ship 12 (see FIG. 5). As shown in the block diagram on the upper left of FIG. 1, the holding means 40 uses an oil damper 42 as a movable portion for directing the laser light irradiating means 30 vertically downward. An example of such a holding means 40 is the use of a holder for holding a crane camera. If the lifting assist system 10 for the suspended load on board according to the embodiment of the present invention holds the laser beam irradiating means 30 so as to always face vertically downward, the holding means 40 is limited to the illustrated example. It does not have to be provided with, for example, an oil damper 42. Further, for convenience of illustration, FIG. 1 shows the configuration of only one laser light irradiating means 30 and the holding means 40 in the block diagram, but the configuration of the other laser light irradiating means 30 and the holding means 40 is also the same. Is similar to.

２つのレーザ光照射手段３０の各々は、図示の例では十字形のレーザ光３２を照射するものが利用されている。すなわち、各レーザ光照射手段３０から照射されるレーザ光３２は、２つの線分３２ａ、３２ｂが直角に交わる十字形を成している。更に、２つのレーザ光照射手段３０は、十字形を成す一方の線分３２ａ同士が直線状に並ぶ向きで、２つの保持手段４０により保持されている。このようなレーザ光３２が、例えば図５に示すような位置関係で、シーブ１８の側方から船上の吊り荷５０へ照射された様子を、図２に示している。図２において、符号３２ｃは、２つのレーザ光３２の照射中心位置を示しており、符号５０ｃは、吊り荷５０の重心位置を示している。 As each of the two laser light irradiating means 30, the one that irradiates the cross-shaped laser light 32 is used in the illustrated example. That is, the laser light 32 emitted from each laser light irradiating means 30 forms a cross shape in which two line segments 32a and 32b intersect at right angles. Further, the two laser light irradiating means 30 are held by the two holding means 40 in a direction in which one of the cross-shaped line segments 32a is arranged in a straight line. FIG. 2 shows how such a laser beam 32 is irradiated from the side of the sheave 18 to the suspended load 50 on the ship in a positional relationship as shown in FIG. 5, for example. In FIG. 2, reference numeral 32c indicates the irradiation center position of the two laser beams 32, and reference numeral 50c indicates the position of the center of gravity of the suspended load 50.

なお、図１及び図２の例では、２つのレーザ光３２の一方の線分３２ａ間に隙間が無く、１つの線分に見えるように照射されているが、一方の線分３２ａ間に隙間があってもよい。その場合は、線分３２ａ間の隙間の中央位置が、２つのレーザ光３２の照射中心位置３２ｃとなる。又、図１では、レーザ光３２の照射形状を分かりやすく示すために、シーブ１８から僅かに下方の位置にレーザ光３２が照射された状態を示している。レーザ光照射手段３０には、レーザ光を照射する各種装置から、クレーン１４の大きさ、レーザ光３２の明るさや色等が考慮され、照射先において視認可能なレーザ光３２を照射することができる、適切な装置が選定されて使用される。 In the examples of FIGS. 1 and 2, there is no gap between one line segment 32a of the two laser beams 32, and the irradiation is performed so as to be seen as one line segment, but there is a gap between the one line segment 32a. There may be. In that case, the center position of the gap between the line segments 32a is the irradiation center position 32c of the two laser beams 32. Further, FIG. 1 shows a state in which the laser beam 32 is irradiated at a position slightly below the sheave 18 in order to show the irradiation shape of the laser beam 32 in an easy-to-understand manner. The laser light irradiating means 30 can irradiate the laser light 32 that can be visually recognized at the irradiation destination in consideration of the size of the crane 14, the brightness and color of the laser light 32, and the like from various devices that irradiate the laser light. , Appropriate equipment is selected and used.

続いて、図３に示すフロー図の流れに沿って、上述したような構成の船上の吊り荷の吊り上げ補助システム１０を利用する、本発明の実施の形態に係る船上の吊り荷の吊り上げ方法について説明する。ここでは、吊り荷５０として、図２や図５に示した消波ブロックを吊り上げる例を説明するが、本発明の実施の形態に係る船上の吊り荷の吊り上げ方法によって吊り上げる吊り荷５０は、船上に載置されたものであれば、その大きさや形状等は特に限定されるものではない。例えば、吊り荷５０は、起重機船のクレーン１４で吊り上げることを想定した吊り荷全般であり、大きいものであれば、水中に施工された基礎杭と組み合わされて足場等を構築するジャケットであってもよい。なお、船上の吊り荷の吊り上げ補助システム１０の構成等は、適宜、図１及び図５を参照のこと。 Subsequently, a method for lifting the suspended load on the ship according to the embodiment of the present invention, which utilizes the lifting assist system 10 for the suspended load on the ship having the above-described configuration along the flow of the flow chart shown in FIG. explain. Here, an example of lifting the wave-dissipating block shown in FIGS. 2 and 5 will be described as the suspended load 50, but the suspended load 50 to be lifted by the method of lifting the suspended load according to the embodiment of the present invention is onboard. The size, shape, and the like are not particularly limited as long as they are placed on the surface. For example, the suspended load 50 is a general suspended load that is assumed to be lifted by a crane 14 of a hoisting vessel, and if it is large, it is a jacket that is combined with a foundation pile constructed underwater to construct a scaffold or the like. May be good. Please refer to FIGS. 1 and 5 as appropriate for the configuration of the lifting assist system 10 for suspended loads on board.

Ｓ１０（レーザ光照射手段取付）：クレーン１４のシーブ１８の両側方に、夫々に保持手段４０を用いて、２つのレーザ光照射手段３０を取り付ける。保持手段４０のシーブ１８側方への取付方法は、保持手段４０の形状や構成に合わせて任意の方法を採用できる。保持手段４０を介して取り付けられることにより、レーザ光照射手段３０の各々は、クレーン１４が動揺しても常に鉛直下方を向くように設置される。なお、レーザ光照射手段３０の取付作業は、使用するクレーン１４毎に１度だけ行えばよいが、必要に応じた任意のタイミングで、レーザ光照射手段３０を設置及び撤去することとしてもよい。 S10 (Laser light irradiating means attachment): Two laser light irradiating means 30 are attached to both sides of the sheave 18 of the crane 14 by using holding means 40, respectively. As the method of attaching the holding means 40 to the side of the sheave 18, any method can be adopted according to the shape and configuration of the holding means 40. By being attached via the holding means 40, each of the laser light irradiating means 30 is installed so as to always face vertically downward even if the crane 14 is shaken. The laser light irradiating means 30 may be attached only once for each crane 14 used, but the laser light irradiating means 30 may be installed and removed at an arbitrary timing as needed.

Ｓ２０（玉掛作業準備）：吊り上げ対象の吊り荷５０に対する玉掛け用のワイヤロープの取り付け等、玉掛作業を行う上で必要な準備を行う。
Ｓ３０（レーザ光照射開始）：２つのレーザ光照射手段３０からのレーザ光３２の照射を開始する。レーザ光３２の照射開始は、例えば、有線或いは無線でレーザ光照射手段３０と接続された操作手段（図示省略）を介して、レーザ光３２を照射する操作を入力する等して行うものとする。レーザ光照射の操作入力は、操作手段の設置位置等に応じて、合図者Ｐやクレーン操縦者等の任意の作業者により実施できる。 S20 (Preparation for slinging work): Make necessary preparations for slinging work, such as attaching a wire rope for slinging to the suspended load 50 to be lifted.
S30 (Laser light irradiation start): Irradiation of the laser light 32 from the two laser light irradiation means 30 is started. The irradiation of the laser beam 32 is started, for example, by inputting an operation of irradiating the laser beam 32 via an operating means (not shown) connected to the laser beam irradiating means 30 by wire or wirelessly. .. The operation input of the laser light irradiation can be performed by any operator such as the signaler P or the crane operator depending on the installation position of the operation means and the like.

Ｓ４０（クレーン誘導）：合図者Ｐによりクレーン１４の誘導を行う。具体的には、２つのレーザ光照射手段３０から照射されているレーザ光３２を目安にして、クレーン１４のブーム１６先端に設置されたシーブ１８が、吊り荷５０の重心位置５０ｃ（図２参照）の鉛直上方に位置するように、換言すれば、２つのレーザ光３２の照射中心位置３２ｃが、吊り荷５０の重心位置５０ｃと重なるように、クレーン１４を誘導する。このとき、船１２が波の影響で動揺すること等により、船１２上のクレーン１４も動揺するため、常に鉛直下方を向くようにシーブ１８の両側方に取り付けられている、２つのレーザ光照射手段３０からのレーザ光３２は、その照射位置が定まらずに船１２上で揺れているように見える。 S40 (Crane guidance): The signaler P guides the crane 14. Specifically, the sheave 18 installed at the tip of the boom 16 of the crane 14 uses the laser light 32 emitted from the two laser light irradiating means 30 as a guide, and the sheave 18 is positioned at the center of gravity of the suspended load 50 (see FIG. 2). ), In other words, the crane 14 is guided so that the irradiation center position 32c of the two laser beams 32 overlaps with the center of gravity position 50c of the suspended load 50. At this time, since the crane 14 on the ship 12 also shakes due to the influence of the waves on the ship 12, the two laser beam irradiations attached to both sides of the sheave 18 so as to always face vertically downward. The laser beam 32 from the means 30 appears to be swaying on the ship 12 because its irradiation position is not fixed.

例えば、図４には、レーザ光３２が吊り荷５０の近傍で、図４における上下方向に揺れて見える様子を示しており、破線で図示されているレーザ光３２が最大に揺れた位置を、実線で図示されているレーザ光３２が揺れの略中心位置を、夫々示している。このような場合は、レーザ光３２の揺れの軌跡を目視で把握し、揺れの軌跡の中心位置が、吊り荷５０の重心位置５０ｃと重なるように、クレーン１４を誘導する。そして、クレーン操縦者は、合図者Ｐの誘導に従い、クレーン１４のシーブ１８の位置を調整すると共に、シーブ１８から吊り下げているワイヤ２０の長さを調整する。ここで、２つのレーザ光照射手段３０からのレーザ光３２の照射中心位置３２ｃは、船１２上や吊り荷５０上に照射されている２つのレーザ光３２の間の中心位置を目視で把握するものとし、又、吊り荷５０の重心位置５０ｃも、吊り荷５０の形状等に基づいて目視で把握するものとする。 For example, FIG. 4 shows how the laser beam 32 appears to sway in the vertical direction in FIG. 4 in the vicinity of the suspended load 50, and the position where the laser beam 32 shown by the broken line sways to the maximum is shown. The laser beam 32 shown by the solid line indicates the substantially center position of the shaking, respectively. In such a case, the sway trajectory of the laser beam 32 is visually grasped, and the crane 14 is guided so that the center position of the sway trajectory overlaps with the center of gravity position 50c of the suspended load 50. Then, the crane operator adjusts the position of the sheave 18 of the crane 14 and adjusts the length of the wire 20 suspended from the sheave 18 according to the guidance of the signaler P. Here, the irradiation center position 32c of the laser beam 32 from the two laser beam irradiating means 30 visually grasps the center position between the two laser beam 32 irradiating on the ship 12 or the suspended load 50. Further, the position of the center of gravity 50c of the suspended load 50 shall be visually grasped based on the shape of the suspended load 50 and the like.

Ｓ５０（シーブ位置判定）：上記Ｓ４０におけるクレーン１４の誘導の結果、クレーン１４のシーブ１８が、吊り荷５０の重心位置５０ｃの鉛直上方に位置しているか否かを、合図者Ｐにより判定する。この判定は、２つのレーザ光照射手段３０から照射されているレーザ光３２の照射中心位置３２ｃと、吊り荷５０の重心位置５０ｃとの位置関係を目安にして行えばよい。その結果、シーブ１８が吊り荷５０の重心位置５０ｃの鉛直上方に位置していると判定した場合（ＹＥＳ）は、Ｓ６０へ移行し、鉛直上方に位置していないと判定した場合（ＮＯ）は、上記Ｓ４０へ復帰する。すなわち、シーブ１８が吊り荷５０の重心位置５０ｃの鉛直上方に位置するまで、クレーン１４の誘導及び位置調整を繰り返し実行する。
Ｓ６０（吊り荷掛止）：玉掛け者により、クレーン１４のシーブ１８からワイヤ２０を介して吊り下げられているフック２２に対して、吊り荷５０に取り付けられている玉掛け用のワイヤロープを掛止する。なお、この吊り荷５０の掛止作業は、上記Ｓ４０及びＳ５０の実行中に行ってもよい。 S50 (determination of sheave position): As a result of the guidance of the crane 14 in S40, it is determined by the signaler P whether or not the sheave 18 of the crane 14 is located vertically above the center of gravity position 50c of the suspended load 50. This determination may be made with reference to the positional relationship between the irradiation center position 32c of the laser beam 32 irradiated from the two laser beam irradiating means 30 and the center of gravity position 50c of the suspended load 50. As a result, when it is determined that the sheave 18 is located vertically above the center of gravity position 50c of the suspended load 50 (YES), the process proceeds to S60, and when it is determined that the sheave 18 is not located vertically above (NO). , Return to the above S40. That is, the guidance and position adjustment of the crane 14 are repeatedly executed until the sheave 18 is located vertically above the center of gravity position 50c of the suspended load 50.
S60 (suspended load stop): The slinger hooks the sling wire rope attached to the suspended load 50 to the hook 22 suspended from the sheave 18 of the crane 14 via the wire 20. do. The suspension work of the suspended load 50 may be performed during the execution of S40 and S50.

Ｓ７０（地切りタイミング見極め）：合図者Ｐにより、吊り荷５０を地切りするタイミングを見極める。具体的には、クレーン１４のシーブ１８が、吊り荷５０の重心位置５０ｃの鉛直上方に位置するタイミング、換言すれば、２つのレーザ光照射手段３０からのレーザ光３２の照射中心位置３２ｃが、吊り荷５０の重心位置５０ｃと重なるタイミングを見極める。すなわち、上記Ｓ４０に記載したように、波の影響等によりクレーン１４が動揺することで、２つのレーザ光照射手段３０からのレーザ光３２は、例えば図４に示すように揺れている。そして、上記Ｓ４０及びＳ５０を経たことで、クレーン１４のシーブ１８の位置は、レーザ光３２の揺れの軌跡の中心位置が、吊り荷５０の重心位置５０ｃと重なるように調整されている。このため、レーザ光３２が揺れている中で、レーザ光３２の照射中心位置３２ｃが、吊り荷５０の重心位置５０ｃと重なるタイミングが存在する。本作業ステップでは、そのようなタイミングを見極めるものである。なお、レーザ光３２が、吊り荷５０の重心位置５０ｃを中心として、円形や楕円形の軌跡を描いているような場合には、レーザ光３２の揺れが単純な双方向の往復軌跡になるまで待機してもよく、或いは、レーザ光３２の照射中心位置３２ｃが、吊り荷５０の重心位置５０に最も近くなるタイミングを見極めることとしてもよい。 S70 (Determination of ground cutting timing): The signaler P determines the timing of ground cutting of the suspended load 50. Specifically, the timing at which the sheave 18 of the crane 14 is located vertically above the center of gravity position 50c of the suspended load 50, in other words, the irradiation center position 32c of the laser light 32 from the two laser light irradiating means 30. Determine the timing at which the suspended load 50 overlaps with the center of gravity position 50c. That is, as described in S40, the crane 14 is shaken due to the influence of waves and the like, and the laser light 32 from the two laser light irradiation means 30 is shaken, for example, as shown in FIG. After passing through S40 and S50, the position of the sheave 18 of the crane 14 is adjusted so that the center position of the trajectory of the shaking of the laser beam 32 overlaps with the center of gravity position 50c of the suspended load 50. Therefore, while the laser beam 32 is shaking, there is a timing at which the irradiation center position 32c of the laser beam 32 overlaps with the center of gravity position 50c of the suspended load 50. In this work step, such timing is determined. When the laser beam 32 draws a circular or elliptical locus around the center of gravity position 50c of the suspended load 50, until the shaking of the laser beam 32 becomes a simple bidirectional reciprocating locus. You may stand by, or you may determine the timing at which the irradiation center position 32c of the laser beam 32 is closest to the center of gravity position 50 of the suspended load 50.

Ｓ８０（地切り合図）：上記Ｓ７０におけるタイミング調整の結果、２つのレーザ光照射手段３０からのレーザ光３２の照射中心位置３２ｃが、吊り荷５０の重心位置５０ｃと重なったタイミングで、合図者Ｐからクレーン操縦者に対して地切り実行の合図を出す。例えば、レーザ光３２が図４に示すような軌跡で揺れている場合は、レーザ光３２が図４に実線で示されている位置になったタイミングで、地切り実行の合図を出す。
Ｓ９０（地切り）：上記Ｓ８０における合図者Ｐからの合図を受けて、クレーン操縦者によりクレーン１４を操縦し、吊り荷５０の地切りを実行する。 S80 (ground cutting signal): As a result of the timing adjustment in S70, the signaler P is at the timing when the irradiation center position 32c of the laser light 32 from the two laser light irradiation means 30 overlaps with the center of gravity position 50c of the suspended load 50. Gives a signal to the crane operator to execute the ground cutting. For example, when the laser beam 32 is swaying in the trajectory as shown in FIG. 4, a signal for executing ground cutting is given at the timing when the laser beam 32 reaches the position shown by the solid line in FIG.
S90 (ground cutting): In response to the signal from the signaler P in S80, the crane operator operates the crane 14 to perform ground cutting of the suspended load 50.

Ｓ１００（レーザ光照射終了）：２つのレーザ光照射手段３０からのレーザ光３２の照射を終了する。すなわち、合図者Ｐやクレーン操縦者等により、操作手段を介して操作を入力することで、レーザ光３２の照射を終了する。なお、レーザ光３２の照射終了操作は、上記Ｓ９０の地切りを実行した後であれば、任意のタイミングで行ってよい。又、図３の例に係る船上の吊り荷の吊り上げ方法は、本作業ステップで終了となるが、以降は、クレーン１４により吊り上げた吊り荷５０をフック２２から外すまで、通常の玉掛け作業を続ければよい。
ここで、本発明の実施の形態に係る船上の吊り荷の吊り上げ方法は、図３の構成に限定されるものではなく、作業ステップの一部が変更、追加、削除されたものであってもよい。又、２つのレーザ光照射手段３０の各々から照射するレーザ光３２の形状は、十字形に限定されるものではなく、他の形状であってもよい。 S100 (end of laser light irradiation): Irradiation of the laser light 32 from the two laser light irradiation means 30 is ended. That is, the irradiation of the laser beam 32 is terminated by inputting the operation by the signaler P, the crane operator, or the like via the operating means. The irradiation end operation of the laser beam 32 may be performed at any timing as long as after the ground cutting of S90 is executed. Further, the method of lifting the suspended load on the ship according to the example of FIG. 3 ends in this work step, but after that, the normal slinging work can be continued until the suspended load 50 lifted by the crane 14 is removed from the hook 22. Just do it.
Here, the method for lifting a suspended load on a ship according to an embodiment of the present invention is not limited to the configuration shown in FIG. 3, and even if a part of the work steps is changed, added, or deleted. good. Further, the shape of the laser beam 32 irradiated from each of the two laser beam irradiating means 30 is not limited to the cross shape, and may be another shape.

さて、上記構成をなす本発明の実施の形態によれば、次のような作用効果を得ることが可能である。すなわち、本発明の実施の形態に係る船上の吊り荷の吊り上げ補助システム１０は、図１及び図５に示すように、船１２上に設置されたクレーン１４と、２つのレーザ光照射手段３０と、２つの保持手段４０とを含むものである。２つの保持手段４０は、２つのレーザ光照射手段３０を、クレーン１４のブーム１６先端に設けられたシーブ１８の両側方において、船の揺れの状態の如何に関わらず、常に鉛直下方を向くように保持する。又、２つのレーザ光照射手段３０の各々は、図２も参照して、照射形状が十字形のレーザ光３２を照射するものであり、更に、その十字形を成す一方の線分３２ａが、２つのレーザ光照射手段３０同士で直線状に並ぶような向きで、２つの保持手段４０により保持されている。 Now, according to the embodiment of the present invention having the above configuration, it is possible to obtain the following effects. That is, as shown in FIGS. 1 and 5, the lifting assist system 10 for the suspended load on the ship according to the embodiment of the present invention includes the crane 14 installed on the ship 12 and the two laser light irradiation means 30. It includes two holding means 40. The two holding means 40 always face the two laser light irradiating means 30 vertically downward on both sides of the sheave 18 provided at the tip of the boom 16 of the crane 14, regardless of the shaking state of the ship. Hold on. Further, each of the two laser beam irradiating means 30 irradiates the laser beam 32 having a cross-shaped irradiation shape with reference to FIG. 2, and further, one of the line segments 32a forming the cross-shaped irradiation means. The two laser beam irradiating means 30 are held by the two holding means 40 so as to be aligned linearly with each other.

上記のような構成により、２つの保持手段４０によって常に鉛直下方を向くように保持されている、２つのレーザ光照射手段３０からレーザ光３２が照射されると、それらのレーザ光３２は、常にシーブ１８の鉛直下方を照射することになる。このため、例えば、シーブ１８から吊り下げられたワイヤ２０先端のフック２２に吊り荷５０を掛止する際に、上記の如くレーザ光３２が照射されることで、このレーザ光３２を拠り所にして、クレーン１４のブーム１６先端の位置を調整することができる。すなわち、レーザ光３２の照射中心位置３２ｃと、吊り荷５０の重心位置５０ｃとの位置関係に基づいて、吊り荷５０の重心位置５０ｃの鉛直上方にシーブ１８が位置するように、ブーム１６先端の位置が調整される。これにより、船体の動揺の如何に関わらず、吊り荷５０の重心位置５０ｃの鉛直上方に、容易にシーブ１８の位置を調整することができる。 When the laser light 32 is irradiated from the two laser light irradiating means 30 which are always held so as to face vertically downward by the two holding means 40 by the above-mentioned configuration, the laser light 32 always becomes the laser light 32. It will irradiate vertically below the sheave 18. Therefore, for example, when the suspended load 50 is hooked on the hook 22 at the tip of the wire 20 suspended from the sheave 18, the laser beam 32 is irradiated as described above, and the laser beam 32 is used as a base. , The position of the tip of the boom 16 of the crane 14 can be adjusted. That is, based on the positional relationship between the irradiation center position 32c of the laser beam 32 and the center of gravity position 50c of the suspended load 50, the sheave 18 is located vertically above the center of gravity position 50c of the suspended load 50 so that the tip of the boom 16 is located. The position is adjusted. As a result, the position of the sheave 18 can be easily adjusted vertically above the center of gravity position 50c of the suspended load 50 regardless of the shaking of the hull.

加えて、上記のようにブーム１６の先端位置が調整され、クレーン１４のフック２２に吊り荷５０が掛止された後、吊り荷５０が地切りされる際にも、２つのレーザ光照射手段３０からレーザ光３２が照射されることで、それらのレーザ光３２が利用されて、地切りのタイミングが計られる。すなわち、２つのレーザ光照射手段３０からのレーザ光３２の照射中心位置３２ｃが、吊り荷５０の重心位置５０ｃと重なるタイミングで、地切りが実行されることにより、シーブ１８の位置と吊り荷５０の重心位置５０ｃとが鉛直関係になった瞬間に、地切りを行うことができる。これにより、船体の動揺の如何を問わず、適切なタイミングで地切りを行うことができるため、吊り荷５０の動揺を最小限に抑制することが可能となる。 In addition, after the tip position of the boom 16 is adjusted as described above, the suspended load 50 is hooked on the hook 22 of the crane 14, and then the suspended load 50 is ground-cut, the two laser light irradiation means are also used. When the laser beam 32 is irradiated from 30, the laser beam 32 is used to measure the timing of ground cutting. That is, the position of the sheave 18 and the suspended load 50 are formed by executing the ground cutting at the timing when the irradiation center position 32c of the laser beam 32 from the two laser light irradiating means 30 overlaps with the center of gravity position 50c of the suspended load 50. At the moment when the position of the center of gravity of 50c is in a vertical relationship, the ground can be cut. As a result, regardless of the sway of the hull, the ground can be cut at an appropriate timing, so that the sway of the suspended load 50 can be minimized.

又、本発明の実施の形態に係る船上の吊り荷の吊り上げ補助システム１０は、図１に示すように、２つの保持手段４０の各々の、レーザ光照射手段３０を鉛直下方に向けるための可動部に、オイルダンパー４２が用いられているものである。これにより、船体の動揺に合わせて、レーザ光照射手段３０が鉛直下方を向くように、保持手段４０の可動部が作動する際、船体の揺れの衝撃をオイルダンパー４２により低減しながら、レーザ光照射手段３０の向きを適切な速度で変えることができる。更に、船体の揺れの衝撃だけでなく、風等の他の要因による揺れの衝撃も、オイルダンパー４２により低減することができるため、レーザ光照射手段３０の故障発生を抑制することが可能となる。 Further, as shown in FIG. 1, the lifting assist system 10 for the suspended load on the ship according to the embodiment of the present invention is movable for vertically downwardly pointing the laser light irradiating means 30 of each of the two holding means 40. An oil damper 42 is used in the portion. As a result, when the movable part of the holding means 40 operates so that the laser light irradiating means 30 faces vertically downward in accordance with the shaking of the hull, the impact of the shaking of the hull is reduced by the oil damper 42, and the laser light is emitted. The direction of the irradiation means 30 can be changed at an appropriate speed. Further, not only the impact of the shaking of the hull but also the impact of the shaking due to other factors such as wind can be reduced by the oil damper 42, so that it is possible to suppress the occurrence of failure of the laser light irradiation means 30. ..

他方、本発明の実施の形態に係る船上の吊り荷の吊り上げ方法は、図２に示すように、船１２上に設置されたクレーン１４のブーム１６先端に設けられたシーブ１８の両側方に、２つのレーザ光照射手段３０を取り付ける（Ｓ１０参照）。この際、波の影響等による船の揺れの状態の如何に関わらず、２つのレーザ光照射手段３０が、常に、シーブ１８の両側方から鉛直下方を向くように、保持手段４０を利用して取り付ける。そして、クレーン作業時に、シーブ１８から吊り下げられたワイヤ２０先端のフック２２に対して、船１２上の吊り荷５０を掛止する際に、シーブ１８両側方の２つのレーザ光照射手段３０からレーザ光３２を照射し、このレーザ光３２を拠り所にして、クレーン１４のブーム１６先端の位置を調整する（Ｓ３０～Ｓ５０参照）。すなわち、２つのレーザ光照射手段３０は、常に鉛直下方を向くように取り付けられているため、２つのレーザ光照射手段３０から照射された２つのレーザ光３２は、常にシーブ１８の鉛直下方を照射している。 On the other hand, the method for lifting the suspended load on the ship according to the embodiment of the present invention is as shown in FIG. 2, on both sides of the sheave 18 provided at the tip of the boom 16 of the crane 14 installed on the ship 12. Two laser light irradiation means 30 are attached (see S10). At this time, the holding means 40 is used so that the two laser beam irradiating means 30 always face vertically downward from both sides of the sheave 18, regardless of the shaking state of the ship due to the influence of waves or the like. Install. Then, when the suspended load 50 on the ship 12 is hooked to the hook 22 at the tip of the wire 20 suspended from the sheave 18 during the crane operation, the two laser light irradiation means 30 on both sides of the sheave 18 are used. The laser beam 32 is irradiated, and the position of the tip of the boom 16 of the crane 14 is adjusted based on the laser beam 32 (see S30 to S50). That is, since the two laser light irradiating means 30 are always attached so as to face vertically downward, the two laser light 32 irradiated from the two laser light irradiating means 30 always irradiate the vertically downward portion of the sheave 18. is doing.

そこで、これらのレーザ光３２の照射中心位置３２ｃと、吊り荷５０の重心位置５０ｃとの位置関係に基づいて、吊り荷５０の重心位置５０ｃの鉛直上方にシーブ１８が位置するように、ブーム１６先端の位置を調整する。この際、水上の波が比較的穏やかで、船１２がほとんど揺れていない場合は、レーザ光３２の照射中心位置３２ｃが吊り荷５０の重心位置５０ｃと重なるように、ブーム１６の先端位置を調整すればよい。一方、波の影響で船１２が揺れている場合は、常にシーブ１８の鉛直下方を照射するレーザ光３２が、船１２上で動いているように見えるため、そのレーザ光３２の照射位置が描く軌跡の中心位置が、吊り荷５０の重心位置５０ｃと重なるように、ブーム１６の先端位置を調整すればよい（図４参照）。これにより、船体の動揺の如何に関わらず、吊り荷５０の重心位置５０ｃの鉛直上方に、シーブ１８を位置させることができる。 Therefore, based on the positional relationship between the irradiation center position 32c of the laser beam 32 and the center of gravity position 50c of the suspended load 50, the boom 16 is located vertically above the center of gravity position 50c of the suspended load 50. Adjust the position of the tip. At this time, when the waves on the water are relatively calm and the ship 12 hardly shakes, the tip position of the boom 16 is adjusted so that the irradiation center position 32c of the laser beam 32 overlaps with the center of gravity position 50c of the suspended load 50. do it. On the other hand, when the ship 12 is swaying due to the influence of waves, the laser beam 32 that always irradiates the vertical portion of the sheave 18 seems to be moving on the ship 12, so that the irradiation position of the laser beam 32 is drawn. The tip position of the boom 16 may be adjusted so that the center position of the locus overlaps with the center of gravity position 50c of the suspended load 50 (see FIG. 4). As a result, the sheave 18 can be positioned vertically above the center of gravity position 50c of the suspended load 50 regardless of the shaking of the hull.

更に、上記のようにブーム１６の先端位置を調整し、クレーン１４のフック２２に吊り荷５０を掛止した後に、吊り荷５０を地切りする際、２つのレーザ光照射手段３０からレーザ光３２を照射しながら、それらのレーザ光３２の照射中心位置３２ｃが、吊り荷５０の重心位置５０ｃと重なるタイミングを計る（Ｓ７０～Ｓ９０参照）。すなわち、波の影響で船１２が揺れている場合は、上述したブーム１６先端位置の調整の結果、２つのレーザ光照射手段３０からのレーザ光３２が、船１２上及び吊り荷５０上に、吊り荷５０の重心位置５０ｃを中心とする照射軌跡を描いているように見える。このため、２つのレーザ光３２の中心位置３２ｃが、吊り荷５０の重心位置５０ｃと重なる位置まで移動したタイミング（図４の実線のレーザ光３２のタイミング）を見計らい、このタイミングで地切りを行うことで、シーブ１８の位置と吊り荷５０の重心位置５０ｃとが鉛直関係になった瞬間に、地切りを行うことができる。このように、船体の動揺の如何を問わず、適切なタイミングで地切りを行うことができるため、吊り荷５０の動揺を最小限に抑制することができる。更に、２つのレーザ光照射手段３０からレーザ光３２を照射することによって、シーブ１８と吊り荷５０の重心位置５０ｃとの位置関係が明確になるため、ブーム１６の先端位置の調整や地切りのタイミングの把握を、従来よりも容易かつ正確に行うことが可能となる。 Further, after adjusting the tip position of the boom 16 as described above and hooking the suspended load 50 on the hook 22 of the crane 14, when the suspended load 50 is grounded, the laser light 32 from the two laser light irradiating means 30 The timing at which the irradiation center position 32c of the laser beam 32 overlaps with the center of gravity position 50c of the suspended load 50 is measured while irradiating (see S70 to S90). That is, when the ship 12 is swaying due to the influence of waves, as a result of the above-mentioned adjustment of the tip position of the boom 16, the laser light 32 from the two laser light irradiating means 30 is sent onto the ship 12 and the suspended load 50. It seems that the irradiation locus is drawn around the center of gravity position 50c of the suspended load 50. Therefore, the timing at which the center position 32c of the two laser beams 32 moves to the position where the center position 32c of the two laser beams 32 overlaps with the center of gravity position 50c of the suspended load 50 (the timing of the solid line laser beam 32 in FIG. 4) is determined, and the ground is cut at this timing. As a result, the ground can be cut at the moment when the position of the sheave 18 and the position of the center of gravity 50c of the suspended load 50 are in a vertical relationship. In this way, regardless of the sway of the hull, the ground can be cut at an appropriate timing, so that the sway of the suspended load 50 can be minimized. Further, by irradiating the laser beam 32 from the two laser beam irradiating means 30, the positional relationship between the sheave 18 and the center of gravity position 50c of the suspended load 50 becomes clear, so that the tip position of the boom 16 can be adjusted and the ground can be cut. It is possible to grasp the timing more easily and accurately than before.

更に、本発明の実施の形態に係る船上の吊り荷の吊り上げ方法は、図１及び図２に示すように、２つのレーザ光照射手段３０の各々から、照射形状が十字形のレーザ光３２を照射し、この際、レーザ光３２の十字形を成す一方の線分３２ａが、２つのレーザ光３２同士で直線状に並ぶ向きで照射する。このため、２つのレーザ光３２の照射中心位置３２ｃは、直線状に並んだ線分３２ａ上或いはそれらの線分３２ａの延長線上の、２つの十字形の交点間の中央に位置することになる。これにより、２つのレーザ光３２の照射中心位置３２ｃを、直感的に把握することができるため、レーザ光３２の照射中心位置３２ｃと吊り荷５０の重心位置５０ｃとの位置関係を、容易に把握することが可能となる。 Further, as a method for lifting a suspended load on a ship according to an embodiment of the present invention, as shown in FIGS. 1 and 2, laser light 32 having a cross-shaped irradiation shape is emitted from each of the two laser light irradiation means 30. Irradiation is performed, and at this time, one of the cross-shaped line segments 32a of the laser beam 32 is irradiated in a direction in which the two laser beams 32 are aligned linearly with each other. Therefore, the irradiation center position 32c of the two laser beams 32 is located at the center between the intersections of the two crosses on the linearly arranged line segments 32a or on the extension lines of those line segments 32a. .. As a result, the irradiation center positions 32c of the two laser beams 32 can be intuitively grasped, so that the positional relationship between the irradiation center position 32c of the laser beam 32 and the center of gravity position 50c of the suspended load 50 can be easily grasped. It becomes possible to do.

１０：船上の吊り荷の吊り上げ補助システム、１２：船、１４：クレーン、１６：ブーム、１８：シーブ、２０：ワイヤ、２２：フック、３０：レーザ光照射手段、３２：レーザ光、３２ｃ：照射中心位置、３２ａ：一方の線分、４０：保持手段、４２：オイルダンパー、５０：吊り荷、５０ｃ：重心位置 10: Lifting assist system for suspended cargo on board, 12: Ship, 14: Crane, 16: Boom, 18: Sheave, 20: Wire, 22: Hook, 30: Laser light irradiation means, 32: Laser light, 32c: Irradiation Center position, 32a: One line segment, 40: Holding means, 42: Oil damper, 50: Suspended load, 50c: Center of gravity position

Claims (4)

船上に設置されたクレーンによる船上の吊り荷の吊り上げ方法であって、
前記クレーンのブーム先端に設けられたシーブの両側方に、船の揺れの状態の如何に関わらず、常に鉛直下方を向くように２つのレーザ光照射手段を取り付け、
前記シーブから吊り下げられたワイヤ先端のフックに前記吊り荷を掛止する際に、前記２つのレーザ光照射手段からレーザ光を照射し、該レーザ光の照射中心位置と前記吊り荷の重心位置との位置関係に基づいて、前記吊り荷の重心位置の鉛直上方に前記シーブが位置するように、前記クレーンのブーム先端の位置を調整し、
前記吊り荷を地切りする際に、前記２つのレーザ光照射手段からレーザ光を照射しながら、前記レーザ光の照射中心位置が前記吊り荷の重心位置と重なるタイミングで地切りを行うことを特徴とする船上の吊り荷の吊り上げ方法。 It is a method of lifting the suspended load on the ship by a crane installed on the ship.
Two laser beam irradiation means are attached to both sides of the sheave provided at the tip of the boom of the crane so as to always face vertically downward regardless of the shaking state of the ship.
When the suspended load is hooked on the hook at the tip of the wire suspended from the sheave, laser light is irradiated from the two laser light irradiating means, and the irradiation center position of the laser light and the center of gravity of the suspended load are located. Based on the positional relationship with, the position of the boom tip of the crane is adjusted so that the sheave is located vertically above the position of the center of gravity of the suspended load.
When the suspended load is ground-cut, the laser beam is irradiated from the two laser light irradiation means, and the ground cutting is performed at the timing when the irradiation center position of the laser beam overlaps with the center of gravity position of the suspended load. How to lift the suspended cargo on board. 前記２つのレーザ光照射手段の各々から、照射形状が十字形のレーザ光を、前記十字形を成す一方の線分同士が直線状に並ぶ向きで照射することを特徴とする請求項１記載の船上の吊り荷の吊り上げ方法。 The first aspect of claim 1, wherein each of the two laser beam irradiating means irradiates a laser beam having a cross-shaped irradiation shape in a direction in which one of the cross-shaped line segments is aligned in a straight line. How to lift suspended cargo on board. 船上に設置されたクレーンと、
２つのレーザ光照射手段と、
前記クレーンのブーム先端に設けられたシーブの両側方において、前記２つのレーザ光照射手段を、船の揺れの状態の如何に関わらず、常に鉛直下方を向くように保持する２つの保持手段と、を含み、
前記２つのレーザ光照射手段の各々は、照射形状が十字形のレーザ光を照射するものであり、前記十字形を成す一方の線分同士が直線状に並ぶ向きで、前記２つの保持手段により保持されていることを特徴とする船上の吊り荷の吊り上げ補助システム。 With the crane installed on board,
Two laser beam irradiation means and
Two holding means for holding the two laser beam irradiation means so as to always face vertically downward regardless of the shaking state of the ship on both sides of the sheave provided at the boom tip of the crane. Including
Each of the two laser light irradiating means irradiates a laser beam having a cross-shaped irradiation shape, and one of the line segments forming the cross is oriented in a straight line, and the two holding means are used. An assistive system for lifting suspended cargo on board, characterized by being held. 前記２つの保持手段の各々は、前記レーザ光照射手段を鉛直下方に向けるための可動部に、オイルダンパーが用いられていることを特徴とする請求項３記載の船上の吊り荷の吊り上げ補助システム。 The lifting assist system for a suspended load on board according to claim 3, wherein each of the two holding means uses an oil damper as a movable portion for directing the laser light irradiation means vertically downward. ..
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