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

旋转起重机的物体转移是一种三维空间的运输，因为旋转起重机的基本运动包括旋转、臂架起升和物体起升，其操作非常复杂，需要熟练的人工操作。到目前为止，很少有研究表明无传感器摇摆控制可以避免对地面或障碍物的碰撞。然而，从成本和系统复杂性的角度来看，自动控制系统是不可能实现的。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支持旋转起重机运行而不增加传感器的系统。特别地，开发了一个使用操纵杆和DSP的人机界面。该作业支撑系统可以在不进行物体吊装作业的情况下，通过改变臂架角度来保持物体位置的高度，降低了旋转起重机的作业难度，也抑制了搬运物体的摆动。通过实验验证了所开发的支撑系统的有效性

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