Development of rotary crane control system on the ship equipped with fused man-machine to take account of safety and work efficiency

兼顾安全与工作效率的人机融合船舶旋转起重机控制系统的开发

• 批准号: 15560212
• 负责人: KANESHIGE Akihiro
• 金额: $ 2.43万
• 依托单位: Tokuyama College of Technology
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 2003
• 资助国家: 日本
• 起止时间: 2003 至 2005
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-15560212/
• 关键词: rotary crane; ship oscillation; vibration control; working efficiency; safety; transferring control; object swing; direct transferring; 直線搬送

Object transfer of a rotary crane is transportation of three dimensional space owing to the fundamental motion of rotary crane are consisted of rotation, boom hoisting and object hoisting, and that operate is very complex and manipulated by skilled human operators. Until now, there are few studies to show the sensor-less sway control am collision avoidance to the ground or obstacles. However, automatic control system is not accomplished from the both viewpoints of costly and complexity of the system. It is hoped that the transportation control system is constructed without adding the sensor. The purpose of this research is development of the system that supports the operation of a rotary crane without adding the sensor. Especially, a human interface that uses the joystick and DSP is developed. The operation support system can keep the height of the object position by change of boom angle without the object hoisting operation, and can reduce a difficult operation of the rotary crane and also can suppress a swing of transfer object. The usefulness of developed support system was verified by same experiments

回转式起重机的物体搬运是三维空间的搬运，回转式起重机的基本运动是回转、吊臂提升和物体提升，操作复杂，需要熟练的操作人员进行操作。到目前为止，很少有研究表明，无传感器的摇摆控制是避免碰撞的地面或障碍物。然而，从系统的成本和复杂性两个角度来看，自动控制系统还没有实现。希望在不增加传感器的情况下构建运输控制系统。本研究的目的是开发一种不需要增加传感器就能支持旋转起重机运行的系统。特别是，人机界面，使用操纵杆和DSP的开发。该操作支持系统可以通过改变吊臂角度来保持物体位置的高度，而无需物体提升操作，并且可以降低旋转起重机的操作难度，还可以抑制传送物体的摆动。通过相同的实验验证了所开发的支持系统的有效性

项目成果

オンライン障害物認識,経路計画を考慮した天井クレーンシステムの開発

考虑在线障碍物识别和路径规划的桥式起重机系统开发

• 发表时间: 2005
• 期刊: 第48回自動制御連合講演会講演論文集(掲載数約450件) CD-ROM
• 作者: 赤松武;兼重明宏;小川敬志;寺嶋一彦
• 通讯作者: 寺嶋一彦

赤松武, 兼重明宏: "ポテンシャル法による自律走行型天井クレーンのオンライン経路計画"日本機械学会第34回中国四国発表講演会. 34. 163 (2004)

Takeshi Akamatsu、Akihiro Kaneshige：“使用势能方法进行自主桥式起重机的在线路线规划”日本机械工程师学会第 34 届中国-四国演讲会议 34. 163 (2004)。

兼重明宏, 伊藤 尚, 森野数博, 戸田善久: "PICマイコン制御製品開発による総合演習教育"工学教育. Vol.51, No5. 74-79 (2003)

Akihiro Kaneshige、Hisashi Ito、Kazuhiro Morino、Yoshihisa Toda：“利用 PIC 微机控制产品开发的综合培训教育”工程教育第 51 卷，第 74-79 期。

Real time path planning based on the potential method for an autonomous mobile overhead traveling crane

• DOI: 10.1109/isie.2004.1571891
• 发表时间: 2004-05
• 期刊: 2004 IEEE International Symposium on Industrial Electronics
• 作者: T. Akamatsu;A. Kaneshige;K. Terashima

Akihiro Kaneshige, Takeshi Akamatsu, Kazuhiro Terashima: "Real Time Path Planning Based on the Potential Method with 3-D Diffusion Process for an Overhead Traveling Crane"The 5th Asian Control Conference. To appear. (2004)

Akihiro Kaneshige、Takeshi Akamatsu、Kazuhiro Terashima：“基于桥式起重机 3D 扩散过程势法的实时路径规划”第五届亚洲控制会议。