PROBLEM TO BE SOLVED: To provide a crane operation support method and a crane operation support device which can implement automatic stop control in that prevention of load swinging is performed upon stopping while a trolley is stopped from an arbitrary state during manual operation.SOLUTION: In a reference pattern storage part, stored is a trolley acceleration pattern which stops a trolley and is for performing prevention of load swinging upon stopping based on a provisional rope length and others. When it is determined that the starting condition of automatic stop control is satisfied during manual operation of the trolley, a part of the acceleration pattern stored in the reference pattern storage part is regarded as a trolley acceleration pattern for automatic stop control (a stop pattern). In a case that the trolley is controlled according to the stop pattern, the stop pattern is compensated based on the deviation between an occurrence-predicted swinging angular speed of the lifting rope and the actual swinging angular speed, and a trolley target acceleration speed is generated successively based on the stop pattern after compensation.SELECTED DRAWING: Figure 1
【課題】 本発明は、手動運転中の任意の状態から、トロリーを停止させると共に停止時に吊り荷の振れ止めを行う自動停止制御を実行可能なクレーンの運転支援方法及びクレーンの運転支援装置を提供することを目的とする。【解決手段】 仮のロープ長等に基づいて、トロリーを停止させると共に停止時に吊り荷の振れ止めを行うためのトロリーの加速度パターンを参照パターン記憶部に記憶させておき、トロリーの手動運転中に、自動停止制御の開始条件が満たされたと判定すると、参照パターン記憶部が記憶している加速度パターンの一部を、自動停止制御のためのトロリーの加速度パターン(停止用パターン)とし、その停止用パターンに従ってトロリーが制御された場合に発生が予測される吊りロープの振れ角速度パターンと実際の振れ角速度との偏差に基づき停止用パターンを補償し、補償後の停止用パターンに基づいてトロリーの目標速度を逐次生成する。【選択図】 図1
CRANE OPERATION SUPPORT METHOD AND CRANE OPERATION SUPPORT DEVICE
クレーンの運転支援方法、及びクレーンの運転支援装置
2017-09-21
Patent
Electronic Resource
Japanese
IPC: | B66C Krane , CRANES |
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