JP2009166964A - Crane device, and traveling body position detecting method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a crane device for controlling the movement of a traveling body with higher reliability and accuracy. <P>SOLUTION: An image pickup device 3 moved together with a crane body 2 picks up images of a plurality of absolute position marks 6 which are formed along the moving passage of the crane body 2 for showing absolute positions as distances from a starting point, and relative position marks 7 which are formed at regular intervals along the moving passage of the crane body 2 in such a manner as to divide spaces between the adjacent absolute position marks 6 into a plurality of parts. A control device 4 analyzes the images picked up by the image pickup device 3 to acquire the current position of the traveling body 2. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a crane apparatus and a traveling body position detection method.

  Conventionally, various techniques have been proposed for detecting the position of a traveling body that moves along a rail in an overhead crane apparatus or the like.

  For example, an overhead crane apparatus that detects a position of a traveling body (crane body) by reading a mark indicating an absolute position provided along a movement path is known (see FIG. 14). This conventional overhead crane apparatus will be briefly described.

  In FIG. 14, the crane body 2 (traveling body) travels (moves) in the horizontal direction along a pair of rails 1 (1 a, 1 b) disposed near the ceiling of the building under wireless control by the control device 4. To do. An imaging device 3 is mounted on the upper surface of the traveling body 2. The imaging device 3 images the absolute position mark 6 provided on the mark display board 5 disposed along the rail 1a. The absolute position mark 6 is composed of characters, figures, symbols, or a combination thereof. The absolute position mark 6 indicates a distance (for example, 70 m) from the starting point in the movement route. The image of the absolute position mark 6 imaged by the imaging device 3 is transmitted to the control device 4.

  The control device 4 analyzes the image of the absolute position mark 6 transmitted from the imaging device 3 and acquires the absolute position (for example, 70 m) indicated by the absolute position mark 6. Based on the acquired absolute position, the control device 4 causes the crane body 2 to travel to a target position (for example, a position designated by the user).

Further, in Patent Document 1, a travel marker and a position marker laid along the moving path of the traveling body are photographed by a camera installed on the traveling body, and the captured image is image-processed, thereby traveling. A technique for calculating the direction position of the body is disclosed.
JP-A-8-26667

  However, in the overhead crane apparatus shown in FIG. 14, for some reason, such as when the imaging apparatus 3 fails to capture the absolute position mark 6, the control apparatus 4 determines the absolute position based on the captured image of the absolute position mark 6. If it cannot be acquired, the crane main body 2 cannot be normally controlled, for example, the planned stop position is overrun.

  In addition, since the mark (travel marker, position marker) according to Patent Document 1 does not indicate the absolute position of the traveling body, the technology according to Patent Document 1 does not solve the above-described problem.

  The present invention has been made in view of the above-described conventional problems, and an object of the present invention is to provide a crane apparatus and a traveling body position detection method capable of improving the reliability and accuracy of traveling body movement control. And

  A crane apparatus according to the present invention includes a traveling body that moves along a rail, and a plurality of absolute position marks that are provided along a traveling path of the traveling body and that indicate an absolute position that is a distance from a starting point in the traveling path; A relative position mark provided so as to be able to divide the absolute position marks adjacent to each other at regular intervals along the moving path of the traveling body, and the absolute position mark moved together with the traveling body. And an image pickup means for picking up the relative position mark, a position acquisition means for analyzing the image picked up by the image pickup means and acquiring the current position of the traveling body, and the current position acquired by the position acquisition means. Movement control means for performing movement control of the traveling body.

  The imaging means may have a visual field range in which both the absolute position mark and the relative position mark corresponding to the absolute position mark can be simultaneously imaged.

An absolute position table in which absolute positions of points where the absolute position marks are provided are set;
Whether it is necessary for the movement control unit to perform predetermined abnormality handling processing based on the image captured by the imaging unit, the current position acquired by the position acquisition unit, and the setting contents of the absolute position table And a determination means for determining whether or not.

  In the above case, the determination means determines that the movement control means needs to perform the abnormality handling process when the absolute position mark is not normally detected at the point to be detected. May be.

  An example of the abnormality handling process is a process of stopping the traveling body.

  In addition, from the viewpoint of improving the imaging accuracy, the imaging unit is mounted on a cart connected to the traveling body via a connecting portion, and the connecting portion is the cart that vibrates in a predetermined direction caused by the movement of the traveling body. You may make it the structure which has a buffer part which buffers transmission to.

  An example of the direction of vibration that is buffered by the buffer is a direction that is substantially perpendicular to the moving surface of the traveling body.

  Further, the position detection method of the traveling body according to the present invention includes a plurality of absolute position marks that are provided along the movement path of the traveling body that moves along the rail, and that indicates the absolute position that is the distance from the starting point on the movement path; Imaging means for moving together with the traveling body relative position marks provided so as to divide the adjacent absolute position marks into a plurality of parts at regular intervals along the traveling path of the traveling body. An imaging step of imaging, and a position acquisition step of analyzing an image captured by the imaging unit and acquiring the current position of the traveling body are characterized.

  As described above, according to the present invention, it is possible to improve the reliability and accuracy of movement control of the traveling body.

  Hereinafter, embodiments of a crane device according to the present invention will be described with reference to the drawings.

[First Embodiment]
As shown in FIG. 1, the crane device according to the present embodiment includes a rail 1 (1a, 1b), a crane body 2 (traveling body), an imaging device 3, a control device 4, a mark display plate 5, It consists of an absolute position mark 6 and a relative position mark 7. The crane device according to the present embodiment is an overhead crane device, and the crane body 2 travels (moves) on a pair of rails 1a and 1b arranged substantially horizontally near the ceiling of the building, and on the lower surface thereof. A hoisting mechanism or the like (not shown) for lifting and holding the load is attached.

  As shown in FIG. 2, the crane body 2 includes a roller 20 that rolls on the rail 1, a roller driving device that rotates the roller 20, a communication device that communicates with the control device 4, etc. And move on the rail 1 according to the control from the control device 4. Electric power is supplied to the crane body 2 via the rail 1 and a power cable (not shown).

  The imaging device 3 includes an image sensor such as a CCD or a CMOS, a communication device (none of which is shown) that wirelessly communicates with the control device 4 by a predetermined communication method. The imaging device 3 is installed at a predetermined position on the upper surface of the crane body 2. In more detail, the imaging device 3 is installed in the aspect which can image the mark display surface 50 of the mark display board 5 from a front direction in the middle of the upper surface of the crane main body 2 in a moving direction. The imaging device 3 moves with the crane body 2, images the mark display surface 50 every predetermined time under the control of the control device 4, and transmits the captured image to the control device 4. Electric power to the imaging device 3 is supplied from the crane body 2.

  The mark display board 5 is provided in a wall shape along the rail 1a, and a plurality of absolute position marks 6 and a plurality of relative position marks 7 are provided on its display surface (mark display surface 50). The absolute position mark 6 is a mark for indicating an absolute position, and is composed of characters, figures, symbols, or a combination thereof. The absolute position mark 6 is provided at a predetermined position corresponding to the absolute position indicated by itself in the longitudinal direction of the mark display surface 50. Here, the absolute position means a distance from the starting point (for example, 70 m or the like), and the starting point means, for example, a predetermined point set in the vicinity of one end point of the rail 1. The absolute position marks 6 may be provided at regular intervals (for example, at intervals of 10 m), or may be provided at irregular intervals.

  Further, the absolute position mark 6 is provided at a position where it can be imaged by the imaging device 3 in the short direction of the mark display surface 50. Specifically, the absolute position mark 6 is provided at a position where the entire image can be captured by the imaging device 3 when the crane body 2 reaches a point corresponding to the absolute position indicated by the absolute position mark 6.

The relative position mark 7 is a mark provided at regular intervals (for example, 2 m intervals) along the movement path from the starting point, and is represented by, for example, a black rectangle. Further, as shown in FIGS. 3A and 3B, the relative position mark 7 is provided so that the adjacent absolute position marks 6 can be divided into a plurality of parts. In FIG. 3A, the distance (10 m) between two absolute position marks 6 adjacent to the absolute position P ₁ (for example, 70 m from the starting point) and the absolute position P ₂ (for example, 80 m from the starting point) is expressed as a distance L. An example is shown in which it is divided into five by the relative position mark 7 provided (for example, 2 m). 3B, the distance (20 m) between two absolute position marks 6 adjacent to the absolute position P ₁ (for example, 80 m from the starting point) and the absolute position P ₂ (for example, 100 m from the starting point) is An example is shown in which it is divided into 10 by relative position marks 7 provided at an interval L (for example, 2 m). The absolute position mark 6 may have any shape as long as it can be easily recognized by the imaging device 3, and may not necessarily have a common shape. Similarly, the relative position mark 7 may have any shape as long as it can be easily recognized by the imaging device 3, and may not necessarily have a common shape.

  Similarly to the absolute position mark 6, the relative position mark 7 is provided at a position that can be imaged by the imaging device 3 in the short direction of the mark display surface 50. Since the imaging device 3 has a visual field range (imaging range) in which both the absolute position mark 6 and the relative position mark 7 corresponding to the absolute position mark 6 can be simultaneously imaged, the crane body is located at the absolute position indicated by the absolute position mark 6. The image picked up when 2 arrives includes both the absolute position mark image 30 and the relative position mark image 31 as shown in FIG.

  Returning to FIG. 1, the control device 4 is a device that performs movement control of the crane body 2, and is installed in, for example, an operation room on the ground. The control device 4 includes a CPU, a ROM, a RAM, a communication device, a storage device such as a hard disk, an input / output device, etc. (all not shown).

  Functionally, the control device 4 includes a communication unit 40, a position detection unit 41, and a movement control unit 42, as shown in FIG. The communication unit 40 performs wireless communication with the crane body 2 and the imaging device 3 by a predetermined communication method. The position detection unit 41 detects the current position of the crane body 2 based on the image (captured image) from the imaging device 3 received by the communication unit 40. The movement control unit 42 performs movement control of the crane main body 2 using the current position of the crane main body 2 detected by the position detection unit 41.

  Next, the procedure of position detection processing by the position detection unit 41 will be described with reference to the flowcharts shown in FIGS. The position detection process is repeatedly executed at predetermined time intervals (for example, in synchronization with the imaging cycle of the imaging device 3) when the crane body 2 is traveling.

  First, the position detection unit 41 analyzes the captured image sent from the imaging device 3 (step S11) and determines whether or not the absolute position mark image 30 is included in the captured image. If the absolute position mark image 30 is included (YES in step S12), the absolute position indicated by the absolute position mark image 30 is acquired using a well-known character recognition technique or the like (step S13). Only when the entire mark is included in the captured image, it is determined that the absolute position mark image 30 is included.

  The position detection unit 41 updates the content of numerical data (current position data) indicating the current position stored in the RAM or the like of the control device 4 based on the acquired absolute position (step S14). The updated current position data is referred to by the movement control unit 42 and used for movement control of the crane body 2. After updating the current position data, this process is terminated (waiting for the next activation).

  If NO in step S12 (when the absolute position mark image 30 is not included), the position detection unit 41 determines whether or not the relative position mark image 31 is included in the captured image. If the relative position mark image 31 is included (YES in step S15), the position detection unit 41 performs an absolute position acquisition process based on the relative position mark (step S16). And the position detection part 41 updates the content of the present position data preserve | saved at RAM etc. of the control apparatus 4 based on the process result in step S16 (step S17), and complete | finishes this process. The updated current position data is referred to by the movement control unit 42 and used for movement control of the crane body 2.

  On the other hand, if NO in step S15 (that is, if neither the absolute position mark image 30 nor the relative position mark image 31 is included in the captured image), the current position data is not updated, and this process ends. .

  Next, the absolute position acquisition process based on the relative position mark will be described with reference to the flowchart of FIG. The position detection unit 41 acquires the current movement direction of the crane body 2 (step S21). The current moving direction of the crane body 2 is stored in the RAM or the like of the control device 4 as moving direction data. Management such as updating of movement direction data is performed by the movement control unit 42. The content of the movement direction indicates either a forward direction (a direction away from the starting point) or a backward direction (a direction approaching the starting point).

  When the current movement direction is the forward direction (YES in step S22), the position detection unit 41 reads the above-described current position data stored in the RAM or the like of the control device 4, and sets the relative position to the absolute position indicated by this data. The distance between marks (for example, 2 m) is added (step S23).

  On the other hand, when the current moving direction is the reverse direction (NO in step S22), the position detection unit 41 subtracts the relative position mark distance (for example, 2 m) from the absolute position indicated by the read current position data (step S24). ).

  As described above, in the crane device according to the present embodiment, not only the absolute position mark 6 indicating the absolute position but also the relative position marks 7 provided at regular intervals on the movement path are used, and the crane body 2 is independently provided. Detect the current position of. Therefore, even if the reading of the absolute position mark 6 fails for some reason, the current position of the crane body 2 can be detected, and the reliability and accuracy of the movement control of the crane body 2 can be improved. It becomes possible.

[Modification of First Embodiment]
The crane apparatus of this example has a function of performing a predetermined abnormality handling process when the absolute position mark 6 cannot be detected at a point where the absolute position mark 6 should be detected from the viewpoint of further improving the safety of the crane body 2. Hereinafter, this function will be specifically described. In addition, about the part which is common in the structure of the crane apparatus of 1st Embodiment, the same code | symbol is attached | subjected and description is abbreviate | omitted.

  In the ROM or storage device of the control device 4 of this example, a data table (absolute position table) in which the absolute position of the point where the absolute position mark 6 is provided is stored. The control device 4 of this example functionally includes a communication unit 40, a position detection unit 41, a movement control unit 42, and a determination unit 43, as shown in FIG.

  The determination unit 43 performs a determination process for determining whether or not it is necessary to perform an abnormality handling process after the position detection process by the position detection unit 41 is completed (see FIG. 9). As shown in the flowchart of FIG. 9, when the condition that the captured image does not include the absolute position mark image 30 and the relative position mark image 31 is satisfied (YES in step S31), the determination is made. The unit 43 reads the absolute position table from the ROM or the like (Step S32). Whether or not the above condition is satisfied is determined using the result of position detection processing by the position detection unit 41 (determination results in steps S12 and S15 in the flowchart of FIG. 6).

  If the above condition is not satisfied (NO in step S31), the determination unit 43 sets the error flag to OFF (step S33) because it is out of the scope of this process (that is, it is not necessary to perform the abnormality handling process). This process is terminated. Here, the error flag is a variable indicating the result of the determination process, and is stored in the RAM or the like of the control device 4. When the error flag is ON, it indicates a state in which it is necessary to perform the abnormality handling process, and when it is OFF, it indicates a state in which it is not necessary to perform the abnormality handling process.

  After the reading of the absolute position table, the determination unit 43 compares the set content with the current position detected by the position detection process, so that the current position is a point where the absolute position mark 6 should be detected. It is determined whether or not.

This “point where the absolute position mark 6 should be detected” will be specifically described. For example, as shown in FIG. 3A, the distance (10 m) between two adjacent absolute position marks 6 of the absolute position P ₁ (for example, 70 m from the starting point) and the absolute position P ₂ (for example, 80 m from the starting point). ) Is divided into five by relative position marks 7 provided at an interval L (for example, 2 m). In this case, if the relative position mark 7 is detected after the absolute position P ₁ is detected, and a point 8 m ahead from the absolute position P ₁ (ie, 78 m from the starting point) is detected, the next (2 m ahead) When detecting the relative position mark 7), the absolute position mark 6 should also be detected. That is, in this case, after the relative position mark 7 8 m ahead of the absolute position P ₁ is detected, the point where the relative position mark 7 is detected next becomes the point where the absolute position mark 6 should be detected. .

  If it is determined that the absolute position mark 6 is to be detected (YES in step S34), it is necessary to perform an abnormality handling process, so the determination unit 43 turns on the error flag (step S35), The process ends. On the other hand, when it is determined that the absolute position mark 6 is not a point to be detected (NO in step S34), it is not necessary to perform an abnormality handling process, so the determination unit 43 turns off the error flag (step S33). This process ends.

  The movement control unit 42 checks the error flag and, if it is ON, performs an abnormality handling process such as immediately stopping the traveling of the crane body 2.

[Second Embodiment]
The structure of the crane apparatus which concerns on this embodiment is shown in FIG. In addition, about the part which is common in the structure of the crane apparatus of 1st Embodiment, the same code | symbol is attached | subjected and description is abbreviate | omitted. In the crane device according to this embodiment, unlike the crane device according to the first embodiment, the imaging device 3 is installed on the upper surface of a carriage 100 separate from the crane body 2.

  The cart 100 is connected to the crane body 2 via a connecting portion 101. The carriage 100 includes a roller 110 (see FIG. 11) that rolls on the rail 1, and moves on the rail 1 as the crane body 2 moves. As shown in FIG. 11, the connecting portion 101 includes a portion (bending portion 120) obtained by bending a rod-like (or plate-like) metal member into a substantially U shape, and a pair of buffer portions 121 connected to both ends thereof. And comprising. The front ends of the respective buffer portions 121 are restrained from each other in the traveling direction of the crane main body 2 with respect to the upper surfaces of the crane main body 2 and the carriage 100, respectively, and the vertical direction (a direction substantially orthogonal to the moving surface of the crane main body 2). Are joined to each other so as to have a degree of freedom.

  By connecting the cart 100 and the crane main body 2 by the connecting portion 101 configured as described above, the crane device according to the present embodiment has the following excellent operational effects.

  As described above, the crane device according to the present embodiment is an overhead crane device, and the crane main body 2 travels (moves) on a pair of rails 1a and 1b disposed substantially horizontally near the ceiling of the building. On the lower surface, a winding mechanism or the like (not shown) for lifting and grasping the load is attached. Therefore, when the crane main body 2 is run in a state where the load is lifted, the crane main body 2 also vibrates up and down due to the vibration of the load.

  If it does so, the imaging device 3 attached to the crane main body 2 will also vibrate up and down. At this time, there is no problem as long as the vibration of the crane body 2 and the vibration of the rail coincide with each other. However, when the crane body 2 is arranged on the rail 1 via the roller 110 as in this embodiment, the crane body In this case, the imaging device 3 may fail to recognize the absolute position mark 6 and the relative position mark 7.

  However, in the present embodiment, the vertical vibration generated when the crane main body 2 travels is buffered by the buffer portion 121 of the connecting portion 101, so that the vertical vibration of the carriage 100 is suppressed as much as possible. Then, the vibration in the vertical direction in the imaging range of the imaging device 3 mounted on the carriage 100 (in other words, the short direction of the mark display surface 50) is suppressed. Therefore, the imaging accuracy of the absolute position mark image 30 and the relative position mark image 31 can be improved.

  The structure of such a buffer part may be as shown in FIG. 12, for example. The cart 100b is connected to the crane body 2 via the connecting portion 101b. The carriage 100 b includes a roller 110 (see FIG. 13) that rolls on the rail 1, and moves on the rail 1 as the crane body 2 moves. As shown in FIG. 13, the connecting portion 101 b has a portion (bending portion 120 b) obtained by bending a rod-like (or plate-like) metal member into a substantially U shape, and one end thereof is the upper surface of the crane body 2. The other end is fitted up and down freely in a hole provided in the carriage 100b.

  The shape of the hole provided in the carriage 100b is obstructive to the recognition of the absolute position mark 6 and the relative position mark 7 and the control of the crane body 2 in the moving direction of the traveling body when one end of the connecting portion 101b is fitted. Is formed so as to have a sufficient gap (gap) in a direction substantially perpendicular to the moving direction of the crane body 2 and substantially perpendicular to the vertical direction. .

  By comprising in this way, it can suppress that the vibration of the up-down direction of the crane main body 2 is transmitted to the trolley | bogie 100b. Further, since there is a sufficient interval in the direction substantially perpendicular to the moving direction of the crane body 2 and substantially perpendicular to the vertical direction, even if vibration occurs in that direction, the vibration is transmitted to the carriage 100b. This can be suppressed. Therefore, the imaging accuracy of the absolute position mark image 30 and the relative position mark image 31 can be further improved.

  As described above, according to the crane device according to the present embodiment, in addition to the operational effects exhibited by the crane device according to the first embodiment, further improvement in imaging accuracy can be expected.

  The present invention is not limited to the first embodiment and the second embodiment, and various modifications can be made without departing from the gist of the present invention.

  For example, the imaging device 3 includes two cameras that repeatedly perform imaging at the same timing. One camera captures only the absolute position mark 6 and the other camera captures only the relative position mark 7. You may do it.

  Further, a process for determining the magnitude of vibration of the imaging device 3 (vibration determination process) and a process for predicting whether the absolute position mark 6 or the relative position mark 7 can be recognized (mark recognition prediction process) are controlled. It may be added to the function of the device 4. In the vibration determination process, position information in the vertical direction within the imaging range of the absolute position mark image 30 or the relative position mark image 31 is traced, and the magnitude of vibration of the imaging device 3 is determined based on this. In the mark recognition prediction process, the vertical position in the imaging range of the absolute position mark image 30 or the relative position mark image 31 is determined by the imaging device 3 based on the determination result of the vibration determination process and the traveling speed of the crane body 2. Predict whether it is likely to be out of the imaging range.

  As described above, the crane body 2 travels while vibrating during the conveyance of the load. This vibration is generally suppressed by the buffer unit 121 of the second embodiment, but when an uncontrollable vibration occurs, the imaging range of the absolute position mark image 30 or the relative position mark image 31 captured by the imaging device 3. The position in the vertical direction in the inside fluctuates.

  For example, if the traveling speed of the crane body 2 increases and the vibration transmitted to the imaging device 3 increases, the amount of vertical position fluctuation of the absolute position mark image 30 or the relative position mark image 31 also increases, and in some cases the imaging range. It is also possible that it will fall out of the range.

  By having the vibration determination process and the mark recognition prediction process as described above, the vertical position of the absolute position mark image 30 or the relative position mark image 31 is likely to be out of the imaging range (that is, mark recognition). When it is predicted that this is not possible, for example, it is possible to take appropriate measures in advance, for example, by reducing the running speed and suppressing vibrations. Therefore, further improvement in imaging accuracy can be expected.

It is a figure showing a schematic structure of a crane apparatus concerning a 1st embodiment of the present invention. It is the figure which looked at the crane main body of FIG. 1 from the side surface direction. It is a figure for demonstrating the relationship between an absolute position mark and a relative position mark, (a) shows a mode that between two adjacent absolute position marks is divided into 5 by the relative position mark, (b) is FIG. 2 shows a state where two adjacent absolute position marks are divided into ten parts. It is a figure which shows an example of a captured image. It is a figure which shows the functional structure of the control apparatus of FIG. It is a flowchart which shows the procedure of a position detection process. It is a flowchart which shows the procedure of the absolute position acquisition process based on a relative position mark. It is a figure which shows the functional structure of the control apparatus with which the crane apparatus which concerns on the modification of 1st Embodiment is provided. It is a flowchart which shows the procedure of a determination process. It is a figure which shows schematic structure of the crane apparatus which concerns on the 2nd Embodiment of this invention. It is the figure which looked at the crane main body of FIG. 10 from the side surface direction. It is a figure which shows schematic structure of the crane apparatus which concerns on the modification of 2nd Embodiment. It is the figure which looked at the crane main body of FIG. 12 from the side surface direction. It is a figure which shows schematic structure of the conventional crane apparatus.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 (1a, 1b) Rail 2 Crane main body 3 Imaging device 4 Control apparatus 5 Mark display board 6 Absolute position mark 7 Relative position mark 20, 110 Roller 30 Absolute position mark image 31 Relative position mark image 40 Communication part 41 Position detection part 42 Movement control unit 43 Determination unit 50 Mark display surface 100, 100b Dolly 101, 101b Connection unit 120, 120b Bending unit 121 Buffer unit

Claims (8)

A traveling body that moves along the rail;
A plurality of absolute position marks provided along the movement path of the traveling body, and indicating an absolute position that is a distance from the starting point in the movement path;
Relative position marks provided so that the absolute position marks adjacent to each other can be divided into a plurality of intervals at regular intervals along the travel path of the traveling body;
An imaging means that moves with the traveling body and images the absolute position mark and the relative position mark;
A position acquisition unit that analyzes an image captured by the imaging unit and acquires a current position of the traveling body;
Movement control means for performing movement control of the traveling body using the current position acquired by the position acquisition means,
A crane apparatus characterized by that. The imaging means has a visual field range capable of simultaneously imaging both the absolute position mark and the relative position mark corresponding to the absolute position mark.
The crane apparatus according to claim 1. An absolute position table in which absolute positions of points where the absolute position marks are provided are set;
Whether it is necessary for the movement control unit to perform predetermined abnormality handling processing based on the image captured by the imaging unit, the current position acquired by the position acquisition unit, and the setting contents of the absolute position table Determining means for determining whether or not,
The crane apparatus of Claim 1 or 2 characterized by the above-mentioned. The determination unit determines that the movement control unit needs to perform the abnormality handling process when the absolute position mark is not normally detected at a point to be detected.
The crane apparatus according to claim 3. The abnormality handling process is a process of stopping the traveling body.
The crane apparatus of Claim 3 or 4 characterized by the above-mentioned. The imaging means is mounted on a carriage connected to the traveling body via a connecting portion,
The connecting portion includes a buffer portion that buffers transmission of vibration in a predetermined direction caused by movement of the traveling body to the carriage.
The crane apparatus according to any one of claims 1 to 5, wherein the crane apparatus is provided. The direction of vibration buffered by the buffer portion is a direction substantially perpendicular to the moving surface of the traveling body,
The crane apparatus according to claim 6. A plurality of absolute position marks provided along the movement path of the traveling body that moves along the rail, and indicating an absolute position that is a distance from the starting point in the movement path; And an imaging step of imaging the relative position marks provided so as to be able to divide the adjacent absolute position marks into a plurality of parts by an imaging means that moves together with the traveling body,
A position acquisition step of analyzing an image captured by the imaging means and acquiring a current position of the traveling body,
A method for detecting a position of a traveling body.

Images