JPH02215695A - Collision preventing method for crane - Google Patents
Collision preventing method for craneInfo
- Publication number
- JPH02215695A JPH02215695A JP1032408A JP3240889A JPH02215695A JP H02215695 A JPH02215695 A JP H02215695A JP 1032408 A JP1032408 A JP 1032408A JP 3240889 A JP3240889 A JP 3240889A JP H02215695 A JPH02215695 A JP H02215695A
- Authority
- JP
- Japan
- Prior art keywords
- cranes
- speed
- distance
- running
- crane
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title description 3
- 238000005259 measurement Methods 0.000 abstract description 2
- 230000002265 prevention Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
Landscapes
- Control And Safety Of Cranes (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
【発明の詳細な説明】
（産業上の利用分野〕
本発明は同一走行レール上を走行する２台の天井走行う
レーンの衝突防止装置に間するものである。DETAILED DESCRIPTION OF THE INVENTION (Industrial Field of Application) The present invention is applied to a collision prevention device for two overhead running lanes running on the same running rail.
同一走行レール上を走行する２台の隣接クレーンが互い
に衝突するのを防止する方法として、予めクレーン間距
離の検出値を設定し、その距離に両クレーン間が接近す
れば、その時の走行速度と無間係に警報を発するか又は
同時にクレーンを停止させている。As a method to prevent two adjacent cranes running on the same running rail from colliding with each other, a detected value of the distance between the cranes is set in advance, and when both cranes approach that distance, the current running speed and Alert the emergency personnel or stop the crane at the same time.
上述のように予めクレーン間距離の検出値を設定し、か
つその時の走行速度と無間係にクレーンを停止させる方
法ではクレーン速度が遠い場合、クレーン間距離が離れ
すぎ、それ以上接近させることができず、クレーンの荷
役作業に支障がある。As described above, if the detected value of the distance between the cranes is set in advance and the cranes are stopped according to the current traveling speed, if the crane speed is far, the distance between the cranes is too far and it is not possible to bring the cranes closer together. However, there is a problem with crane cargo handling operations.
本発明では隣接される２台のクレーンがいかなる速度で
接近しても衝突せず、かつクレーン間距離を最小限まで
接近させ、荷役作業の効率向上を図ることを目的とする
。An object of the present invention is to prevent two adjacent cranes from colliding even if they approach at any speed, and to minimize the distance between the cranes, thereby improving the efficiency of cargo handling operations.
（Ｊ！Ｉを解決するための手段）
同一走行レール上に互いに走行する隣接クレ−ン双方に
、夫々走行用モータの速度を任意の速度に制御するイン
バータ装置と、両クレーン間の距離を連続的に測定する
手段と、この距離の変化からクレーン間の相対接近速度
に換算し許容最大速度を演算する演算装置とを備え、該
演算装置とインバータ装置との組み合せにより両クレー
ンが接近した場合走行速度を自動的に減速制御する。(Means for solving J!I) Both adjacent cranes running on the same running rail are equipped with inverter devices that control the speed of their respective running motors to an arbitrary speed, and the distance between both cranes is continuously adjusted. and an arithmetic device that calculates the maximum permissible speed by converting this distance change into a relative approaching speed between the cranes. Automatically control speed deceleration.
以下本発明を図示の実施例にもとづいて説明する。 The present invention will be explained below based on the illustrated embodiments.
図においてｌは走行レールで、この同一走行レールｌ上
に少なくとも２台の天井走行うレーン２Ａ、２Ｂ（以下
クレーンと略称する）を走行可能にして載置される。こ
の２台のクレーンはともに同じ能力・作用のものであフ
ても文具なる能力・作用のものであってもよい、そして
同一走行レール上にて互いに隣接される２台のクレーン
２Ａ、２Ｂには各クレーンを単独で巻上走行・横行・掴
み解放等の各種操作を行なう制ｗ装置２１Ａ、２１Ｂ及
び走行モータの速度を制御するインバータ装置２２Ａ、
２２Ｂとこのインバータ装置にて制御可能にして駆動さ
れる誘導電動機２３Ａ、２３Ｂを夫々備えると共に、こ
の両クレーン間２Ａ、２Ｂに２絹の両りレーン閏の距離
を連続的に測定するセンサー３゜４を設ける。このセン
サー３，４は音波式、光学式等を採用することができる
が、図示の実施例では超音波発信器３Ａ、４Ａと反射板
３ Ｂ。In the figure, l denotes a running rail, and at least two overhead running lanes 2A and 2B (hereinafter referred to as cranes) are mounted on the same running rail l so that they can run. These two cranes may have the same ability and function, or they may have the same ability and function as stationery. control devices 21A and 21B that independently perform various operations such as hoisting, traversing, and gripping and releasing each crane; and an inverter device 22A that controls the speed of the traveling motor;
22B and induction motors 23A and 23B which are controllably driven by the inverter device, and a sensor 3° between the two cranes 2A and 2B that continuously measures the distance between the two lanes. 4 will be provided. The sensors 3, 4 can be of a sonic type, an optical type, etc., but in the illustrated embodiment, they are ultrasonic transmitters 3A, 4A and a reflector 3B.
４Ｂの鞘み合せとした。この２絹のセンサーのうち一方
の超音波発信器３Ａをクレーン２Ａに、他方のクレーン
２Ｂに反射板３Ｂを互いに対向するように設置し、他方
の発信器４Ａをクレーン２Ｂに、その反射板４Ｂをクレ
ーン２Ａに対向するように設置し、かつ両センサー３，
４閏りを両センサーの発信器３Ａ、４Ａの超音波の干渉
を防ぐようにして定めると共に、さらにこの超音波干渉
の防止をより確実にするため発信周波数を変えるものと
するや また発信器３Ａ。It was a combination of 4B sheaths. Of these two silk sensors, one ultrasonic transmitter 3A is installed on the crane 2A, and the reflection plate 3B is installed on the other crane 2B so as to face each other, and the other transmitter 4A is installed on the crane 2B, and the reflection plate 4B is installed on the crane 2B. is installed to face the crane 2A, and both sensors 3,
In addition to determining the four interlocks to prevent the interference of the ultrasonic waves from the transmitters 3A and 4A of both sensors, the transmitting frequency is also changed to further ensure the prevention of this ultrasonic interference. .
４Ａと互いに対向する反射板３Ｂ、４Ｂは発信器との平
行度を保つことができるように取付角度の調整が可能と
する。The mounting angle of the reflecting plates 3B and 4B facing each other can be adjusted so as to maintain parallelism with the transmitter.
また各クレーン２Ａ、２Ｂには発信器３Ａ。Also, each crane 2A, 2B has a transmitter 3A.
４Ａに速度演算装置５Ａ、５Ｂを夫々接続し、この演算
装置５Ａ、５Ｂよりの速度指令信号ｎＡ、ｎＢを前記イ
ンバータ装置２２Ａ、２２Ｂに印加するように配線され
る。4A are connected to speed calculation devices 5A and 5B, respectively, and wired so that speed command signals nA and nB from these calculation devices 5A and 5B are applied to the inverter devices 22A and 22B.
従って上述の如く構成されるクレーンの衝突防止装置に
おいては同一走行レール上を互いに独立して走行する２
台のクレーン２Ａ、２Ｂは２Ｍのセンサー３，４にて互
いの距離すなわち両りレーン閏距離を超音波センサーに
より連続的に測定し、この測定信号を速度演算装置によ
り時閉で微分し、相対速度を演算し、距離をパラメータ
にしてインバータ装置に与える速度指令値を変化させる
。これにより各クレーンの走行速度をインバータ装置に
て制御され、両クレーンが予め定めた至近距離に達する
まで両クレーンを停止させることなく制御走行させ、こ
れにより荷役作業の効率を向上させるものである。Therefore, in the crane collision prevention system configured as described above, two cranes traveling independently on the same traveling rail are used.
The cranes 2A and 2B on the platform continuously measure the distance between each other, that is, the leap distance in both lanes, using the 2M sensors 3 and 4 using ultrasonic sensors, and this measurement signal is differentiated by time and closing using a speed calculation device, and the relative The speed is calculated and the speed command value given to the inverter device is changed using the distance as a parameter. As a result, the traveling speed of each crane is controlled by an inverter device, and both cranes are controlled to travel without stopping until they reach a predetermined close distance, thereby improving the efficiency of cargo handling operations.
この２台のクレーンの接近速度Ｖｍと速度指令値ｎとの
関係を第３図に示す。FIG. 3 shows the relationship between the approach speed Vm of these two cranes and the speed command value n.
該図において、相対接近速度Ｖ■は にて表わされる。但しＳはクレーン間距離を表わす。In the figure, the relative approach speed V■ is It is expressed as However, S represents the distance between cranes.
又減速度をαとすると同一方向に走行中は互いに逆方向
に接近中は
で表わすことができる。Also, if the deceleration is α, then when the vehicles are traveling in the same direction, when they are approaching in opposite directions, it can be expressed as follows.
図で表わすと接近速度Ｖｍｌのとき、クレーン間距離は
Ｓｌの曲線との交点Ｐｉより速度指令をｎ！とし、クレ
ーンをそれに対応した速度迄減速する。As shown in the figure, when the approach speed is Vml, the distance between the cranes is the speed command n! from the intersection point Pi with the curve of Sl. and reduce the speed of the crane to the corresponding speed.
本発明による時は、同一走行レール上を走行する２台の
クレーン間距離を連続的に測定し、クレーンの相対速度
を演算し、クレーンの速度を減速するようにしているの
で、クレーンを至近用ｌＩＩまで運転でき、荷役作業の
運転範囲を広げ効率向上を図ることができる。又インバ
ータを使用するため、周波数を設定するのみで容易に速
度を制御することができる。According to the present invention, the distance between two cranes traveling on the same running rail is continuously measured, the relative speed of the cranes is calculated, and the speed of the cranes is reduced, so that the cranes cannot be used close to each other. It can be operated up to III, expanding the operating range of cargo handling operations and improving efficiency. Furthermore, since an inverter is used, the speed can be easily controlled simply by setting the frequency.
図面は本発明クレーンの衝突防止方法を実施する装置の
一実施例を示す、第１図は同一走行レール上に２台のク
レーンを配置した平面図、第２図は回路構成図、第３図
は接近速度と速度指令値との関係を示す曲線図、第４図
は公知例図である。
ｌは走行レール、２Ａ、２Ｂはクレーン、３Ａ、４Ａは
発信器、３Ｂ、４Ｂは反射板、５Ａ、５Ｂは速度演算装
置、２１Ａ、２１Ｂは制御装置、２２Ａ、２２Ｂはイン
バータ装置、２３Ａ、２３Ｂはモータ。
第３図
第４図The drawings show an embodiment of a device for implementing the crane collision prevention method of the present invention. Fig. 1 is a plan view of two cranes arranged on the same traveling rail, Fig. 2 is a circuit configuration diagram, and Fig. 3 4 is a curve diagram showing the relationship between approach speed and speed command value, and FIG. 4 is a diagram of a known example. 1 is a traveling rail, 2A, 2B are cranes, 3A, 4A are transmitters, 3B, 4B are reflectors, 5A, 5B are speed calculation devices, 21A, 21B are control devices, 22A, 22B are inverter devices, 23A, 23B is a motor. Figure 3 Figure 4
Claims (1)
双方に、夫々走行用モータの速度を制御するインバータ
装置と、両クレーン間の距離を連続的に測定する手段と
、隣接クレーンとの接近距離の変化からクレーン間の相
対接近速度に換算し許容最大速度を演算する演算装置と
を備え、該演算装置とインバータ装置との組み合せによ
り当該クレーンの走行速度を自動的に減速制御すること
を特徴とするクレーンの衝突防止方法。(1) Both adjacent cranes running on the same running rail are equipped with inverter devices that control the speed of their respective running motors, means for continuously measuring the distance between both cranes, and means for measuring the approach distance between the two cranes. It is characterized by comprising a calculation device that calculates a maximum permissible speed by converting the change into a relative approach speed between cranes, and automatically decelerating the traveling speed of the crane by a combination of the calculation device and an inverter device. How to prevent crane collisions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1032408A JPH02215695A (en) | 1989-02-10 | 1989-02-10 | Collision preventing method for crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1032408A JPH02215695A (en) | 1989-02-10 | 1989-02-10 | Collision preventing method for crane |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH02215695A true JPH02215695A (en) | 1990-08-28 |
Family
ID=12358126
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1032408A Pending JPH02215695A (en) | 1989-02-10 | 1989-02-10 | Collision preventing method for crane |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH02215695A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011119300A (en) * | 2009-11-30 | 2011-06-16 | Hitachi High-Tech Instruments Co Ltd | Method of mounting electronic component |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5313165A (en) * | 1976-07-21 | 1978-02-06 | Mitsubishi Electric Corp | Buffer gas breaker |
| JPS63242807A (en) * | 1987-03-27 | 1988-10-07 | Hitachi Ltd | Method of controlling running of mover |
-
1989
- 1989-02-10 JP JP1032408A patent/JPH02215695A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5313165A (en) * | 1976-07-21 | 1978-02-06 | Mitsubishi Electric Corp | Buffer gas breaker |
| JPS63242807A (en) * | 1987-03-27 | 1988-10-07 | Hitachi Ltd | Method of controlling running of mover |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011119300A (en) * | 2009-11-30 | 2011-06-16 | Hitachi High-Tech Instruments Co Ltd | Method of mounting electronic component |
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