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1. 发明专利

JPH07215678A AUTOMATIC OPERATING DEVICE FOR CRANE 失效
公开(公告)号：JPH07215678A
公开(公告)日：1995-08-15
申请号：JP3548194
申请日：1994-02-08
申请人： KAJIMA CORP , ISHIKAWAJIMA HARIMA HEAVY IND , ISHIKAWAJIMA MATERIALS HANDLIN
发明人： KISHI MITSUTERU , KUBO KIRYO , NEMOTO TSUTOMU , SATO TATSURO , MURAYAMA SHIGEKI , SAITO TOSHIAKI , OKANO SHIGERU , MUTA YOSHIHIRO
IPC分类号： B66C13/48 , B66C23/00 , B66C23/88 , G05B13/02 , G05D3/12 , G05D13/62
摘要： PURPOSE:To set an operating pass which permits the prevention of swing without any interference with an obstacle by providing such a means for conducting fussy computation for positions where swiveling and derricking are started, completed, accelerated and decelerated in consideration of swing control based on an operation type and an operatable zone. CONSTITUTION:An operations type discriminating block 1 selects a prescribed operation type from automatic start and completion positions of a crane and the position of an obstacle. An operation zone setting block 2 sets an operatable zone by conducting color-retrieval on a computer screen to recognize an obstacle. A swing prevention fussy computing block 3 computes positions where swiveling and derricking are started, completed, accelerated or decelerated in consideration of swing control based on the operation type and the operatable zone. A speed pattern preparing block 4 conduct swing prevention control according to the computed results. A crane control panel 5 converts a speed pattern into a control signal, thereby conducting automatic operation of the crane.

2. 发明专利

JPH07215669A OPERATION AREA MONITORING DEVICE FOR CRANE 失效
公开(公告)号：JPH07215669A
公开(公告)日：1995-08-15
申请号：JP3548094
申请日：1994-02-08
申请人： KAJIMA CORP , ISHIKAWAJIMA HARIMA HEAVY IND , ISHIKAWAJIMA MATERIALS HANDLIN
发明人： KISHI MITSUTERU , KUBO KIRYO , NEMOTO TSUTOMU , SATO TATSURO , MURAYAMA SHIGEKI , SAITO TOSHIAKI , OKANO SHIGERU , MUTA YOSHIHIRO
IPC分类号： B66C13/48 , B66C15/00 , B66C23/88 , G05B9/02
摘要： PURPOSE:To improve the safety and reliability of an automatic operating device by comparing a preset operation possible area with a position (condition) of a crane detected by various sensors, and outputting the crane stop signal in the case where a departure from the operation possible area is judged. CONSTITUTION:An operation area setting block sets the operation possible area of a hook or a hoisted material on the basis of the real position and the target position of the hook or the hoisted material of a crane during the movement and a building frame and a fixed obstacle position. An operation area departure monitoring block 10 compares the set operation possible area 1 with the various positions (condition) 2 of the crane respectively detected by various sensors 3-7, and checks that the hook or the hoisted material is positioned within the operation possible area or not, and monitors departure of the hook or the hoisted material from the operation possible area. Furthermore, a crane stop signal output block 20 judges abnormality of an automatic operating device when a departure from the operation possible area is generated, and outputs the crane stop signal 21 to a crane controller.

3. 发明专利

JPH07117982A CRANE CONTROL DEVICE 失效
公开(公告)号：JPH07117982A
公开(公告)日：1995-05-09
申请号：JP28773693
申请日：1993-10-22
申请人： KAJIMA CORP , ISHIKAWAJIMA HARIMA HEAVY IND , ISHIKAWAJIMA MATERIALS HANDLIN
发明人： KISHI MITSUTERU , KUBO KIRYO , NEMOTO TSUTOMU , SATO TATSURO , MURAYAMA SHIGEKI , SAITO TOSHIAKI , OKANO SHIGERU , MUTA YOSHIHIRO
IPC分类号： B66C13/40 , G05D1/00
摘要： PURPOSE:To improve the certainty and safety of the crane operation by a radio operating device by invariably maintaining the parameter data such as the crane structure and cabin shape and weight lifting instruction data at the same and newest data with a network connecting a cabin station and a ground station. CONSTITUTION:A cabin station A including a crane controller 20, an automatic operating device 30, and a radio transceiver 50 is provided on the cabin of climbing crane for a multistory building installed on a building under construction, and a ground station B including a ground controller 70, a crane control device 60, and a radio transceiver 80 is provided on the ground side, Both stations A, B are connected by a network, the parameter data such as the crane structure and cabin shape and weight lifting instruction data controlled by a crane control device 60 are invariably maintained at the same and newest data between both stations A, B. A cabin side radio operating device operating the crane by radio is provided on the cabin, and a ground side radio operating device operating the crane by radio is provided on the ground side respectively.

4. 发明专利

JPH07144883A DEVICE FOR MEASURING SWINGING ANGLE OF LOAD OF CRANE AND LENGTH OF SUSPENDING ROPE 失效
公开(公告)号：JPH07144883A
公开(公告)日：1995-06-06
申请号：JP31413893
申请日：1993-11-19
申请人： KAJIMA CORP , ISHIKAWAJIMA HARIMA HEAVY IND , ISHIKAWAJIMA UNPAN KIKAI KK
发明人： KISHI MITSUTERU , KUBO KIRYO , NEMOTO TSUTOMU , SATO TATSURO , MURAYAMA SHIGEKI , SAITO TOSHIAKI , OKANO SHIGERU , MUTA YOSHIHIRO
IPC分类号： G01B11/00 , B66C13/22 , B66C23/00 , G01B11/02 , G01B11/26 , G01S17/06 , G05D3/12
摘要： PURPOSE:To measure the swinging angle of a rope of a crane and a distance from the crane to a hook without requiring the signal from the hook side. CONSTITUTION:In a device for measuring the swinging angle of load of a crane and a length of a suspending rope, a reflecting prism 22 for reflecting the light in the incident direction is fitted to a crane hook 18, and on the other hand, a tracking device 21, which outputs the light to the reflecting prism 22 and receives the reflected light to perform the two-axis operation so as to always track the reflecting prism 22, and a swinging angle processing device for reading the rotating angle of two axes at the time of tracking are fitted to a crane main body 6. The tracking device 21 is loaded with a light wave distance meter 24 for measuring the distance to the reflecting prism 22.

5. 发明专利

JPH07144882A DEVICE FOR DISPLAYING AND RECORDING SWINGING ANGLE OF LOAD SUSPENDED BY CRANE 失效
公开(公告)号：JPH07144882A
公开(公告)日：1995-06-06
申请号：JP31413793
申请日：1993-11-19
申请人： KAJIMA CORP , ISHIKAWAJIMA HARIMA HEAVY IND , ISHIKAWAJIMA UNPAN KIKAI KK
发明人： KISHI MITSUTERU , KUBO KIRYO , NEMOTO TSUTOMU , SATO TATSURO , MURAYAMA SHIGEKI , SAITO TOSHIAKI , OKANO SHIGERU , MUTA YOSHIHIRO
IPC分类号： G01B11/00 , B66C13/22 , B66C23/00 , G01B11/26 , G05B23/02 , G05D3/12
摘要： PURPOSE:To provide a device for displaying and recording the swinging angle of a load suspended by a crane, which can easily evaluate and control the automatic operation of a crane. CONSTITUTION:The swinging angle signal S1 of a hoisted load from a swinging angle measuring device 20 fitted to a crane is corrected on the basis of the crane posture signal S2 and the deflection correcting signal S3 to compute the accurate swinging angle of the suspended load at real time. The obtained swinging angle data is displayed as a waveform of the swinging angle in a display so as to be easily recognized, and the swinging data is recorded in a recording device with a specific format.

6. 发明专利

JPH07144881A METHOD AND DEVICE FOR PREVENTING SWING OF LOAD OF CRANE 失效
公开(公告)号：JPH07144881A
公开(公告)日：1995-06-06
申请号：JP31413693
申请日：1993-11-19
申请人： KAJIMA CORP , ISHIKAWAJIMA HARIMA HEAVY IND , ISHIKAWAJIMA UNPAN KIKAI KK
发明人： KISHI MITSUTERU , KUBO KIRYO , NEMOTO TSUTOMU , SATO TATSURO , MURAYAMA SHIGEKI , SAITO TOSHIAKI , OKANO SHIGERU , MUTA YOSHIHIRO
IPC分类号： B66C23/00 , B66C13/22 , G05B13/02 , G05D3/12
摘要： PURPOSE:To converge the residual swing due to an error of a model to the minimum by increasing and decreasing the acceleration/deceleration control time, which is obtained by fuzzy inference, so that the swinging angle of load is reduced at the next automatic operation time on the basis of the swinging angle of load at the time when the two-stage acceleration/deceleration is fished. CONSTITUTION:In a fuzzy control unit 4, an operation speed pattern, which includes the two-stage acceleration/deceleration for preventing swinging of load, is inferred by a first fuzzy inference block 1, and the acceleration/ deceleration control time for deciding the acceleration/deceleration timing of the later stage of this pattern is inferred by a second fuzzy inference block 3. A swinging angle measuring device 20 measures the swinging angle of a hoisted load. A learning control unit 9 sets the increase and decrease of the acceleration/deceleration control time to be output from the fuzzy control unit 4 so that the swinging angle of a hoisted load is reduced at the next automatic operation time on the basis of the swinging angle of load computed at the time when the two-stage acceleration/deceleration is finished. An output control unit 8 controls a crane 6 through a driving unit 6 on the basis of the speed pattern, which is corrected through learning.

7. 发明专利

JPH07125980A CRANE CONTROL DEVICE WITH OPERATION STATE DISPLAY DEVICE 失效
公开(公告)号：JPH07125980A
公开(公告)日：1995-05-16
申请号：JP30092293
申请日：1993-11-05
申请人： KAJIMA CORP , ISHIKAWAJIMA HARIMA HEAVY IND , ISHIKAWAJIMA UNPAN KIKAI KK
发明人： KISHI MITSUTERU , KUBO KIRYO , NEMOTO TSUTOMU , SATO TATSURO , MURAYAMA SHIGEKI , SAITO TOSHIAKI , OKANO SHIGERU , MUTA YOSHIHIRO
IPC分类号： B66C13/46 , B66C13/40 , B66C13/48
摘要： PURPOSE:To secure the safety of the crane work and improve the workability by making the operation state at the time of the automatic operation of a crane and the hoisting schedule execution control state well known to the people concerned at the work site. CONSTITUTION:This crane control device is provided with the operation mode in which a crane is automatically operated from the cargo taking position to the cargo delivering position. Large-screen display devices 21, 71 displaying the operation state 751 at the time of automatic operation, the hoisting schedule execution control state 752, and the safety device operation state are installed outdoors.

8. 发明专利

JPH07125979A AUTOMATIC OPERATING METHOD FOR RADIO OPERATION TYPE CRANE 失效
公开(公告)号：JPH07125979A
公开(公告)日：1995-05-16
申请号：JP30092193
申请日：1993-11-05
申请人： KAJIMA CORP , ISHIKAWAJIMA HARIMA HEAVY IND , ISHIKAWAJIMA UNPAN KIKAI KK
发明人： KISHI MITSUTERU , KUBO KIRYO , NEMOTO TSUTOMU , SATO TATSURO , MURAYAMA SHIGEKI , SAITO TOSHIAKI , OKANO SHIGERU , MUTA YOSHIHIRO
IPC分类号： B66C13/40 , B66C13/48
摘要： PURPOSE:To prevent a malfunction caused by an operation miss and improve the certainty and safety of the crane operation by a plurality of radio operation devices by controlling the delivery of the operation right exclusively allowing the operation. CONSTITUTION:The radio operation type crane is provided with a pair of a building station A installed at the upper section of a building under construction and a building side radio operation device (a) for it and a pair of a ground station B installed on the ground side and a ground side radio operation device (b) for it. The whole operation mode is divided into the first operation mode in which a suspended cargo is hoisted by the ground side radio operation device (b) via manual operation, the second operation mode in which the crane is moved to the cargo receiving position via forward automatic operation, the third operation mode in which the suspended cargo is lowered at the cargo receiving position by a building side radio operation device (a) via automatic operation, and the fourth operation mode in which the crane is returned to the cargo taking position on the ground side via return automatic operation. These operation modes are controlled to be cyclically circulated.

9. 发明专利

JPH07125977A RADIO OPERATION DEVICE FOR CRANE 失效
公开(公告)号：JPH07125977A
公开(公告)日：1995-05-16
申请号：JP30092393
申请日：1993-11-05
申请人： KAJIMA CORP , ISHIKAWAJIMA HARIMA HEAVY IND , ISHIKAWAJIMA UNPAN KIKAI KK
发明人： KISHI MITSUTERU , KUBO KIRYO , NEMOTO TSUTOMU , SATO TATSURO , MURAYAMA SHIGEKI , SAITO TOSHIAKI , OKANO SHIGERU , MUTA YOSHIHIRO
IPC分类号： B66C13/00 , B66C13/40
摘要： PURPOSE:To improve the certainty and safety of the operation of a crane by providing an operation function section operating the crane and a message function section transmitting/receiving the messages containing lifting addresses on the radio operation device of the crane. CONSTITUTION:A multistory building climbing crane installed at the upper section of a building under construction is provided with a pair of a building station A installed at the upper section of the building under construction and a portable building side radio operation device (remote control) (a) which is a remote controller for it and a pair of a ground station B installed on the ground side and a portable ground side radio operation device (b) which is a remote controller for it. The radio operation device (a) or (b) is provided with an operation function section operating the crane, a message function section transmitting/receiving the massages containing lifting addresses, and a talking function for exchanging conversation. The certainty and safety of the radio operation of the crane are improved.

10. 发明专利

JPH06240982A SHIELD CONSTRUCTION CONTROL SYSTEM 失效
公开(公告)号：JPH06240982A
公开(公告)日：1994-08-30
申请号：JP3264193
申请日：1993-01-28
申请人： KAJIMA CORP
发明人： NEMOTO TSUTOMU , NAKAGAWA TAKESHI , TAKEMURA KENICHI , SHIBATA MANABU , SATO TATSURO
IPC分类号： E21D9/093 , E21D9/06
摘要： PURPOSE:To provide a shield construction control system that is less in the number of operating panels, displays and so on, ease of control and operation or the like, and able to divert the operating panel or the like to some other purposes at each different job site and to output information in reference to plural facilities in addition. CONSTITUTION:An operator console 1 is provided with a controlling faceplate S3 displaying construction controlling data S2 and a touch panel 5 displaying a picture display signal S1, respectively. This console 1 is connected to a line computer 9 to which respective facilities for shield construction, for example, a shield machine 11 and so on are connected through one communication line 17. When an operator sees each display of the touch panel 5 and comes in contact with the touch panel 5 for indication, the line computer 9 performs a specified process at once. Since this display of the touch panel 5 is switched at each equipment, operations on plural units of equipment can be done with one touch panel. Much information out of the shield machine 11 and other facilities 13 is inputted into the line computer 9 which integrates the information of respective facilities and processes it, generating the construction controlling data, and it outputs these data to the controlling faceplate 3 and/or a printer.

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