JP2013119351A - Lifting device, and salvage equipment - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a lifting device and salvage equipment, capable of avoiding any risk associated with the work, and enhancing the working efficiency without using any large machine or apparatus.SOLUTION: In the lifting device 10, a shape recognition device 6 is connected to a lifting magnet 8 via an articulated arm part 30, and thus, the shape recognition device 6 can recognize the shape of an object B in an area around the lifting magnet. Thus, any risk associated with the work can be avoided since a diver need not dive in the liquid for search, any large machine or any apparatus is not required for the salvage work, and the working efficiency is enhanced. In particular, by changing the posture of the shape recognition device 6 by the drive of the arm part 30, an observation area by the shape recognition device 6 can be changed, and the search efficiency of the object B can be enhanced thereby.

Description

  The present invention relates to a lifting device for lifting an object in a liquid such as water, and a lifting device used therefor.

  Patent Document 1 discloses an underwater work machine for an operator (a diver) to work underwater. The underwater work machine is an on-shore backhoe construction machine modified for underwater work. This underwater work machine is equipped with a machine room (equal pressure equalization chamber) for controlling electric power and hydraulic pressure. At the time of work, an operator gets into the underwater work machine and operates the underwater work machine to perform construction work such as a breakwater or a seawall (see, for example, paragraph [0016] of the specification of Patent Document 1).

  By the way, when pulling up an object in the water such as a river, a lake, or a sea, a diver searches the object by diving in the water, and performs a slinging operation to suspend a hanging tool such as a rope or a hook on the object. And the method of a crane ship, a crane vehicle, etc. pulling up the target object through hanging tools, such as a rope with which the sling was performed, is a common method.

  For searching for an object, a sonar such as a fish finder or a multi-beam acoustic sounding device may be used. Particularly in recent years, the performance of fish detectors has improved, and even inexpensive fish detectors can recognize the shape of an object that sinks to the bottom of the water. When these sonars are used, the approximate position of the object can be identified, so the diver needs to dive into the water from around the identified position, check the object, and perform the sling operation. The burden of searching is reduced.

  However, slinging work by divers is often dangerous. When the water is cloudy, the visibility is bad at night, or especially in places where the water flow is fast, etc., it is dangerous, and even if it can be done, the work efficiency is poor, There is a problem that it takes time.

  If the object to be lifted is a magnetic material such as an automobile or a steel frame, there is a method of lifting the object by attracting the object with a magnetic force using a lifting magnet operable in water. In this case, the slinging work is unnecessary. However, when the object cannot be visually recognized from the water, a diver is required for searching and confirming the object and for guiding the lifting magnet to the object.

Japanese Patent Laid-Open No. 10-114944

  It is also conceivable to use the underwater working machine described in Patent Document 1 for the above-described lifting operation of the object. However, with this underwater work machine, there is a fundamental problem that an operator must submerge underwater. The method in which the worker dives in the water is dangerous for the worker and the work efficiency is poor.

  Moreover, it is not realistic to use such an underwater working machine for raising the underwater object. Specifically, with this underwater work machine, the grasped object cannot be lifted up to the surface of the water, and it is difficult to apply the concept of this underwater work machine to the work of lifting the object. In addition, since this underwater work machine has a pressure equalizing chamber for controlling electric power and hydraulic pressure, and further includes a large waterproof means for each mechanism including this pressure equalizing chamber, the machinery and equipment become large, and the electric power used is also large. growing.

  In view of the circumstances as described above, an object of the present invention is to provide a lifting device and a lifting device capable of avoiding the danger associated with the work and improving the work efficiency without requiring a large-scale machine or equipment. It is in.

In order to achieve the above object, a lifting device according to the present invention comprises:
A lifting device that can be suspended from a crane and lifts an object in a liquid,
A holding body for holding the object;
A shape recognition device for recognizing the shape of the object in a recognition area;
A support mechanism that includes an arm portion that connects the holding body and the shape recognition device, supports the shape recognition device, and controls the posture of the shape recognition device by driving the arm portion.

  In the present invention, since the shape recognition device is connected to the holding body via the arm portion of the support mechanism, the shape recognition device can recognize the shape of the object in the area around the holding body. Therefore, since it is not necessary for the diver to dive into the liquid and search, the danger associated with the work can be avoided, and a large-scale machine or equipment is not required for the lifting work, and the work efficiency is improved. In particular, by changing the posture of the shape recognition device by driving the arm portion, the recognition area by the shape recognition device, that is, the observation area can be changed, so that the search efficiency of the object can be increased.

  The holding body may be a lifting magnet. Since the lifting magnet attracts the object by the magnetic force of the electromagnet, the object can be pulled up with a simple configuration called an electromagnet without damaging the object. Further, when the lifting magnet is used in the liquid, it can be lifted using buoyancy, and the power required for the lifting can be suppressed accordingly. Furthermore, when the lifting magnet is used, for example, in water, the heat generating electromagnet can be cooled.

  The arm portion is connected to a suspension support body that suspends and supports the holding body on the crane. As a result, the observation area by the shape recognition device can be made different from the observation area by the shape recognition device when the arm unit is directly connected to the holder, and depending on the movement of the arm unit, various shape recognition devices can be used. Movement is possible.

  The support mechanism may include an arm having a plurality of joint axes as the arm portion. In the present invention, the shape recognition device can move with the degree of freedom of rotation corresponding to the number of joint axes of the arm. Thereby, the shape recognition device can recognize the shape of the object viewed in a plurality of angular directions, and can improve the recognition accuracy of the shape of the object by the shape recognition device.

  A plurality of the shape recognition devices may be provided. Since a plurality of shape recognition devices can observe objects in different recognition areas, the object search efficiency or the object shape recognition accuracy is improved.

  The support mechanism may include a plurality of arm portions respectively connected to the shape recognition devices. By individually driving each arm unit, the support mechanism can individually control the posture of each shape recognition device.

  A lifting work device according to the present invention is a lifting work device using the above-described lifting device, acquires shape information of the object obtained by the shape recognition device, and generates an image based on the shape information. A computer is provided.

  In the present invention, since the shape recognition device is connected to the holding body via the arm portion of the support mechanism, the shape recognition device can recognize the shape of the object in the area around the holding body. Therefore, since it is not necessary for the diver to dive into the liquid and search, the danger associated with the work can be avoided, and a large-scale machine or equipment is not required for the lifting work, and the work efficiency is improved. Further, by generating an image based on the shape information of the object by a computer, the operator can work while looking at the image, thereby facilitating the object search operation and improving the work efficiency. it can.

  The lifting apparatus may include a plurality of shape recognition devices. In that case, the computer acquires shape information with parallax of the object obtained by the plurality of shape recognition devices respectively supported in different postures by the support mechanism, and based on the acquired information, A three-dimensional image may be generated. By generating a three-dimensional image by the computer, for example, an operator who operates the lifting device can grasp the three-dimensional shape of the object by looking at the three-dimensional image, and the operation is easy. Become.

  The pulling work device detects the driving state of the arm unit, and when the search by the shape recognition device is performed by driving the arm unit, in the operation area that is an area in which the arm unit and the shape recognition device move In addition, when there is the arm part and the shape recognition device, an interlocking means for stopping the operation of the electromagnet of the lifting magnet may be further provided. Since the shape recognition device is supported by the support mechanism and is located in the vicinity of the lifting magnet, when the electromagnet of the lifting magnet as the holding body is activated and the object is attracted by the lifting magnet, If the shape recognition device is in the operating area, it may interfere with the suction work. When the arm unit and the shape recognition device are within the operation area by the interlock device, the operation of the electromagnet of the lifting magnet is stopped, so that the object search operation and its adsorption operation can be performed safely. it can.

  As described above, according to the present invention, it is possible to avoid dangers associated with work and increase work efficiency without requiring large-scale machines and equipment.

FIG. 1 is a view showing a lifting device according to the first embodiment of the present invention. FIG. 2 is a perspective view showing the lifting device. 3A to 3D are diagrams for explaining the movements of the shape recognition device and the arm unit, and are diagrams illustrating examples of the movements. It is a figure which shows a mode that a shape recognition device performs shape recognition from several different angles. It is a figure which shows a mode that an arm part and a shape recognition device returned to the initial position, and the lifting magnet attracted | sucked the target object. 6A and 6B show examples of images created by a computer based on information obtained by a shape recognition device among images displayed on a monitor. FIG. 7 is a diagram showing a lifting device according to the second embodiment of the present invention. FIG. 8 is a diagram showing a lifting device according to the third embodiment of the present invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  [First embodiment]

  FIG. 1 is a view showing a lifting device according to the first embodiment of the present invention.

  As shown in FIG. 1, a crane 5 is mounted on a work boat 20 on the water. The crane 5 has a cockpit 55 and a jib 53 extending from the cockpit 55. The lifting work device 100 includes the lifting device 10 suspended from the jib 53 and a computer (not shown) provided in the cockpit 55, for example.

  FIG. 2 is a perspective view showing the lifting device 10. The lifting apparatus 10 includes a lifting magnet 8, a shape recognition device 6, and a support mechanism 3 that is attached to the lifting magnet 8 and supports the shape recognition device 6.

  The lifting magnet 8 is provided on the jib 53 so that it can be suspended by a wire 57 as a suspension support. The hanging support is not limited to the wire 57, and may be a chain or a rope.

  As shown in FIG. 1, the lifting magnet 8 is a holding body that holds the object to be pulled up (hereinafter simply referred to as “object”) B (B1) in a liquid, in this embodiment, underwater L by magnetic force. is there. In FIG. 1, an automobile is shown as the object B1. The lifting magnet 8 is configured by accommodating an electromagnet (not shown) in a cylindrical housing 82. An electrical box 83 is provided on the upper surface of the housing 82, and the electrical cable 11 is connected to the electrical box 83. In the electrical box 83, an electromagnet, an electrical circuit that drives the support mechanism 3 and the shape recognition device 6, and other necessary electrical components are accommodated. For example, the electric cable 11 extends into the cockpit 55 of the crane 5 on the work boat 20 and is connected to a computer in the cockpit 55. For example, a personal computer is used as the computer.

  As the shape recognition device 6, a device using sonar technology such as an imaging sonar (for example, an imaging sonar manufactured by Blueview) or an acoustic camera (for example, DIDSON manufactured by Soundmetrics) is used. The shape recognition device 6 can recognize the shape of an object in a predetermined recognition area, that is, a predetermined observation area.

  Information obtained by the shape recognition device 6 is transmitted to the computer in the cockpit 55 via the electric cable 11. Application software for operating the shape recognition device 6 and application software for generating and visualizing image information based on information sent from the shape recognition device 6 are provided. The generated image information is displayed on a monitor (not shown) connected to the computer. Note that the computer may be integrally incorporated in a controller in the cockpit 55 of the crane 5.

  The support mechanism 3 includes an arm portion 30 that connects the upper surface of the housing 82 of the lifting magnet 8 and the shape recognition device 6, and supports the shape recognition device 6 by the arm portion 30. The arm unit 30 is a multi-joint type arm having a plurality of joint axes. Specifically, the arm unit 30 includes a rotation base 301, a mounting base 302, a first arm 303, and a second arm 304.

  The rotation base 301 is installed on the upper surface of the housing 82 of the lifting magnet 8, for example. The rotation base 301 includes a motor, a speed reducer, and the like (not shown), and rotates the mounting base 302 around the Z axis. One end of the mounting base 302 is fixed to the rotating base 301, and the other end of the mounting base 302 is rotatably connected to one end of the first arm 303 via the first shaft 306. The other end of the first arm 303 is rotatably connected to one end of the second arm 304 via a second shaft 307. The housing 64 of the shape recognition device 6 is rotatably connected to the other end of the second arm 304 via the attachment member 305 and the third shaft 308.

  The housing 82, the electrical box 83, the support mechanism 3, and the shape recognition device 6 of the lifting magnet 8 are waterproofed with a waterproof seal.

  3A to 3D are diagrams for explaining the movements of the shape recognition device 6 and the arm unit 30, and are diagrams illustrating examples of the movements. A motor and a speed reducer (not shown) are connected to the first shaft 306, the second shaft 307, and the third shaft 308 of the arm unit 30, respectively, and these rotate individually. The first axis 306, the second axis 307, and the third axis 308 are parallel to the XY plane, and the first arm 303, the second arm 304, and the shape recognition device 6 rotate around these axes, respectively. . As described above, the rotation base 301 rotates around the Z axis. The rotation range of the rotation base 301 is, for example, the entire circumference (360 °), and the rotation range of the first to third axes is set to, for example, 90 ° to 240 °, but is not limited to these ranges.

  A sonar sensor 61 is provided in the housing 64 of the shape recognition device 6. Further, the housing 64 incorporates a motor and a speed reducer that rotate the sonar sensor 61 around an axis (X axis) orthogonal to the directions of the first to third axes (Y axis in FIG. 3A). The rotation range of the sonar sensor 61 by the motor is, for example, the entire circumference (360 °), but is not limited thereto.

  A device driver for driving the shape recognition device 6, a motor driver for rotationally driving the sonar sensor 61, a motor driver for driving the arm unit 30, and the like are housed in the electrical box 83. A motor for driving the arm unit 30 and this motor driver function as a part of the support mechanism 3. Control signals for these drivers are generated by a computer provided in the cockpit 55.

  Each motor provided in the support mechanism 3 may be a stepping motor or a servo motor. When each motor is a stepping motor, the control format is open loop control, so the computer may store the following information, for example. That is, the computer sends information on the combination of command values that are control signals to each stepping motor and posture information to the shape recognition device 6 (that is, which area in the three-dimensional space is the recognition area (observation area)). Information) may be stored in a lookup table.

  The support mechanism 3 of the lifting device 10 configured as described above can control the posture of the shape recognition device 6 by driving the arm unit 30.

  The operation in the case of performing the lifting operation of the object B using the lifting device 100 configured as described above will be described. Although the subject of the work described below will be described as “operator”, work other than the operation of the crane 5, for example, monitoring of the monitor, may be performed by an operator other than the operator. That is, the lifting work may be performed by the cooperation of a plurality of workers.

  The operator of the crane 5 controls the crane 5 to sink the lifting device 10 in the water L. The initial positions (initial postures) of the shape recognition device 6 and the arm unit 30 can be the postures shown in FIG. 3A, for example. However, this initial posture may of course be another posture.

  An arbitrary observation area is selected by moving the shape recognition device 6 to an arbitrary posture through driving of the arm unit 30 by the pilot's operation. Thereby, information on the shape of an object or the like in the observation area is displayed on the monitor of the cockpit 55 as an image. Here, the operator moves the lifting magnet to a position where the object is attracted while confirming the positional relationship between the object (or obstacle) and the lifting magnet by monitoring using the shape recognition device 6. May be. When the operator discovers an object that seems to be the object to be lifted B by monitoring by the monitor, for example, the following operation is performed.

  As shown in FIG. 4, for example, when the shape recognition device 6 recognizes the object B (B2) from a plurality of different angles, that is, from a plurality of different postures, the operator needs to move the lifting magnet 8. The observation area can be expanded. In the example shown in FIG. 4, the object B2 represents rubble such as a steel frame. By performing observation from a plurality of different angles as described above, the operator can recognize the shape that cannot be recognized as a blind spot or the overlapping state of the objects B2 from only one direction. This makes it easy to determine, for example, in what order the plurality of objects B2 are to be lifted or whether they can be lifted.

  Further, by continuously observing the object B2 while changing the angle, the computer can acquire shape information with parallax of the object B2. Specifically, the computer can create a three-dimensional image by combining a plurality of acquired images based on the acquired information. Thereby, the operator can grasp the position and shape of the object B2 in the three dimensions by looking at the three-dimensional image, and facilitate the determination of the adsorption position of the object B2 by the lifting magnet 8. Etc., and the lifting work becomes easy.

  As a result of observing the object B2 by the shape recognition device 6, the operator moves the lifting magnet 8 closer to the attracting position when it is determined that the object can be pulled up. At the suction position, the shape recognition device 6 and the arm unit 30 are retracted to the retracted position by the operation of the operator (see FIG. 5).

  However, when there is an obstacle to the retraction of the shape recognition device 6 due to the positional relationship between obstacles and objects around the suction position, the shape recognition device 6 and the arm unit are placed before the lifting magnet 8 is positioned at the suction position. What is necessary is just to move 30 to a retracted position. In this case, since the pilot cannot observe the real-time situation, the computer may generate an image in which the movement of the lifting magnet 6 is superimposed on the observation image data immediately before the shape recognition device 6 is retracted. The operator may perform the operation while viewing this image. In this case, by providing the lifting magnet 6 with a sensor for measuring the water depth and an acceleration sensor, the movement of the lifting magnet 6 can be grasped from the amount of extension of the crane 57.

  The retracted position is a position of the shape recognition device 6 and the arm unit 30 where the shape recognition device 6 and the arm unit 30 do not interfere with the adsorption work of the object B2 by the lifting magnet 8. This retreat position is typically the initial position as shown in FIG. 3A, but is not limited thereto, and may be any position as long as it does not interfere with the suction work.

  After the shape recognition device 6 and the arm unit 30 are retracted, as shown in FIG. 5, the operator turns on the switch for starting the operation of the electromagnet of the lifting magnet 8 to attract the object B. After the suction, the lifting magnet 8 is raised by the pilot maneuvering the jib 53 to collect the object B2.

  Here, an interlocking means may be provided in the electromagnet switch of the lifting magnet 8. In other words, the computer detects the driving state of the arm unit 30, and the arm unit 30 and the shape recognition device 6 are within an operation area in which the shape recognition device 6 moves by driving the arm unit 30 when searching for the object B. When there is, the operation of the electromagnet of the lifting magnet 8 is stopped. For example, when the motor driver of the arm unit 30 outputs the rotational position of the motor to the computer using an encoder or the like, the computer can detect the driving state of the arm unit 30. The operation area is at least a part of the area other than the initial position, but this can be set as appropriate.

  The computer can also use the detection signal of the driving state of the arm unit 30 for posture control by feedback control of the shape recognition device 6.

  Since the shape recognition device 6 is supported by the support mechanism 3 and is positioned in the vicinity of the lifting magnet 8, when the electromagnet of the lifting magnet 8 is activated and the work of attracting the object B by the lifting magnet 8 is performed, the arm portion When 30 and the shape recognition device 6 are in the operation area, there is a possibility of interfering with the suction work. With such an interlock function, when the arm unit 30 and the shape recognition device 6 are in the operation area, the operation of the electromagnet of the lifting magnet 8 is stopped even if the operator turns on the switch. . Thereby, the search operation | work of the target object B and its adsorption | suction operation | work can be performed safely.

  The interlock means may be realized by using software of a computer, but may be realized only by hardware.

  Here, FIGS. 6A and 6B show examples of images created by a computer based on information obtained by the shape recognition device 6 among the images displayed on the monitor in the present embodiment.

  For example, in FIG. 6A, an image recognized by the shape recognition device 6 and a partial image of the lifting magnet 8 created in advance are combined and displayed. In FIG. 6A, the image recognized by the shape recognition device 6 as indicated by the recognition area F is, for example, an image from an oblique upper angle of the lifting magnet 8. Although there is no lifting magnet 8 in the recognition area F, the computer synthesizes a part of the image G of the lifting magnet 8 with an image obtained in the recognition area F, and combines the synthesized image into one screen. It is displayed in. The computer may display this composite image as a three-dimensional image having parallax.

  The image shown in FIG. 6B is created by a computer based on the information obtained by the shape recognition device 6, for example, an image including the shape recognition device G1, the lifting magnet G2, and the object G3 in the posture shown in FIG. 6A. It is an image. That is, the computer synthesizes the images G1 and G2 of the shape recognition device 6 and the lifting magnet 8 themselves that are created in advance and stored in a memory or the like with the image G3 of the object B actually observed by the shape recognition device 6. By doing so, such an image can be displayed on the monitor. The sonar technique enables the computer to acquire information on the distance from the shape recognition device 6 to the object B, and thus can create such an image shown in FIG. 6B. Thus, it is possible to create an image from a viewpoint at a position where a sensor such as a camera is not originally provided. The image shown in FIG. 6A and the image shown in FIG. 6B may be displayed as a divided screen in the screen of the monitor.

  As described above, the computer creates an image that is not actually captured, and this image is displayed on the monitor, so that the operator can easily operate the shape recognition device 6 or the suction operation, Efficiency is improved.

  As described above, according to the lifting device 10 according to the present embodiment, the shape recognition device 6 is connected to the lifting magnet 8 via the arm unit 30, so that the shape recognition device 6 is connected to the periphery of the lifting magnet 8. The shape of the object B in the area can be recognized. Therefore, since there is no need for the diver to search by dive in the liquid as in the prior art, the danger associated with the work can be avoided, and a large-scale machine or equipment is not required for the lifting work, and the work efficiency is improved. . In particular, since the observation area by the shape recognition device 6 can be changed by changing the posture of the shape recognition device 6 by driving the arm unit 30, the search efficiency of the object B can be increased.

  In the present embodiment, by using the lifting magnet 8 as the holding body that holds the object B, the following merits can be obtained. Since the lifting magnet 8 attracts the object B by the magnetic force generated by the electromagnet, it can be pulled up with a simple configuration called an electromagnet without damaging the object B. Further, when the lifting magnet 8 is used underwater, it can be lifted using buoyancy, and the power required for the lifting can be suppressed accordingly. Furthermore, since the lifting magnet 8 is used in water, the heat generating electromagnet can be cooled. Moreover, there is no need for divers to dive and perform slinging work with a rope or the like.

  Since the arm portion 30 of the support mechanism 3 according to the present embodiment is composed of an articulated arm, the arm portion 30 can move with the degree of freedom of rotation corresponding to the number of joint axes. Accordingly, as described above with reference to FIG. 4, the shape recognition device 6 can recognize the shape of the object B viewed in a plurality of angular directions, and the shape of the object B by the shape recognition device 6 can be recognized. Recognition accuracy can be increased.

  By using a sonar device as the shape recognition device 6 according to the present embodiment, for example, even when mud or sand at the bottom of the water soars during work and the turbidity of water becomes high, the accurate shape of the object B Information can be obtained.

  [Second Embodiment]

  FIG. 7 is a diagram showing a lifting device according to the second embodiment of the present invention. In the following description, the same members, functions, etc. included in the lifting device 10 according to the first embodiment will be simplified or omitted, and different points will be mainly described.

  The lifting apparatus 110 includes a plurality of, for example, two shape recognition devices 6. The support mechanism 103 that supports the two shape recognition devices 6 has two arm portions 31 connected to wires. That is, unlike the first embodiment, the arm portion 31 is not directly connected to the lifting magnet 18, and the arm portion 31 according to this embodiment is connected to the wire 57.

  Specifically, the arm unit 31 is rotatable about the rotation base 313, the first arm 311 connected to the rotation base 313 via the first shaft 314, and the first arm 311 via the second shaft 315. It has the 3rd axis | shaft 316 which connects the 2nd arm 312 connected, the 2nd arm 312 and the shape recognition device 6 rotatably.

  The rotation base 313 rotates the entire arm portion 31 in the Z-axis direction. The rotation base 313 is attached to the upper part from the junction of the three wires which suspend the lifting magnet 18, for example. Thereby, the rotation base can rotate the 1st arm 311 360 degrees. The two first arms 311 are provided so as to face in the direction of 180 ° in the Z-axis direction, that is, in opposite directions.

  The first axis 314, the second axis 315, and the third axis 316 are simplified and shown in a spherical shape in FIG. 7, but each has the same structure as the first to third axes in the first embodiment. In the state shown in FIG. 7, it may be configured to be rotatable around one axis in the Y-axis direction. However, each of the first shaft 314, the second shaft 315, and the third shaft 316 may have a structure of two or more axes. Alternatively, at least one of the arms 311 and 312 may have a structure that expands and contracts in the length direction.

  The driving of these arm portions 31 may be individually controlled, or may be controlled so as to move in a line-symmetric manner with respect to the Z axis, for example.

  According to the configuration of the support mechanism 103 as described above, the observation area by the shape recognition device 6 is the observation area by the shape recognition device 6 when the arm portion is directly connected to the lifting magnet as in the first embodiment. In addition, depending on the movement of the arm portion, various movements of the shape recognition device 6 are possible. In particular, the shape recognition device 6 can turn around the lifting magnet 18 by the rotation of the rotation base 313. Therefore, it is possible to reduce or eliminate the blind spot by the lifting magnet 18 in each recognition area of the shape recognition device 6. In particular, by providing a plurality of shape recognition devices 6, it is possible to cover the blind spot caused by the lifting magnet 18. Thereby, an observation area can be expanded. Thereby, the search efficiency of the target object B or the recognition accuracy of the shape of the target object B is improved.

  Further, by setting the postures of the shape recognition devices 6 so that the observation areas of the two shape recognition devices 6 overlap, the computer can calculate the three-dimensional parallax from the distance between the two shape recognition devices 6. Images can be created. Therefore, it is possible to easily perform the operation of the shape recognition device 6 and the suction operation by the operator, and the work efficiency is improved.

  In the present embodiment, the form in which a plurality of shape recognition devices 6 are provided is shown, but these shape recognition devices may be devices having different types, that is, different shape recognition principles. For example, one of them may be a device using a sonar device, and the other may be a device using an optical camera. The optical camera is not limited to visible light, and may be a camera that can receive infrared rays.

  Alternatively, the lifting device may comprise more than two same or different types of shape recognition devices.

  [Third embodiment]

  FIG. 8 is a diagram showing a lifting device according to the third embodiment of the present invention. The arm portion 32 of the support mechanism 203 in the lifting device 210 according to the present embodiment includes the rotation base 313, the first shaft 314, the first arm 311, the second shaft 325, the second arm 322, the third arm 323, and the third shaft. 316. Functions and structures of the rotation base 313, the first shaft 314, the first arm 311 and the third shaft 316 are substantially the same as those of the second embodiment shown in FIG.

  The second arm 322 and the third arm 316 are connected so as to be fixed and so that their length directions are orthogonal to each other. The second shaft 325 has a structure for rotating the second arm 322 around the Z axis. The two shape recognition devices 6 are connected to both ends of the third arm 316 via the third shaft 316.

  Even with such a configuration of the support mechanism 203, the same effect as that of the lifting device 110 having the support mechanism 103 according to the second embodiment can be obtained. In particular, since each shape recognition device 6 can rotate about the rotation base 313 and the second arm 322 as the respective axes, a wide observation area can be ensured only by their rotation.

  Further, since the shape recognition devices 6 are provided at both ends of the third arm 316, the distance between the sonar sensors of the shape recognition device 6 is substantially constant or within a predetermined range. Therefore, the computer can create a three-dimensional image using a certain value that is the distance or a value within a certain range that is the distance range, so that the burden of arithmetic processing can be reduced. If the observation areas of the shape recognition device 6 do not overlap, the computer cannot create a three-dimensional image, but the observation area can be expanded.

  [Other embodiments]

  The present invention is not limited to the embodiment described above, and other various embodiments can be realized.

  In the above embodiment, the lifting magnet is taken as an example of the holding body for holding the object, but a grab bucket or a power grab may be used instead.

  When the search range of the object B in the liquid is wide, a device that is effective for a wide range search such as a multi-beam acoustic sounding device can be used in addition to the lifting device. A lifting magnet is thrown into the water after narrowing the search range to a certain extent using this multi-beam acoustic sounding device. And when the target object B is discovered, the shape recognition of the target object B by the shape recognition device 6 may be performed. Such a multi-beam acoustic sounding device may be a device integrated with a lifting device mounted on a lifting magnet.

  As shown in FIG. 3, motors are connected to the first to third axes of the arm portion 30 of the support mechanism 3 and can be individually driven. However, a motor may be connected to at least one of these shafts, and the arm unit 30 may be driven by a link mechanism such as a belt or a parallel link. In this case, the movement of the arm unit 30 is different from the movement described with reference to FIG. 3, and the degree of freedom of movement is limited compared to the degree of freedom of movement described with reference to FIG. The same applies to the second and third embodiments.

  In the first embodiment, the shape recognition device may be an optical camera instead of a device using a sonar device. Alternatively, in addition to the shape recognition device, a sensor that detects whether or not the object is a magnetic body is provided in the lifting device, so that the operator can easily determine whether or not the object is a lifting object. it can. In addition, a microphone or the like may be provided in the lifting device.

  In each of the above embodiments, when one or more shape recognition devices are optical cameras, the lifting device may include a lighting device. The illumination device may be attached to an optical camera connected to the arm unit.

  Alternatively, an image in substantially the same observation area can be obtained by connecting a device using a sonar device and an optical camera side by side to one arm. For example, the computer can divide and display these images in one screen or display them on separate monitors so that the operator can compare these images and grasp the shape of the object. Becomes easy.

  The shape recognition device 6 may be provided with an acceleration sensor and / or an angular velocity sensor. Thereby, the computer can obtain information on their movements (acceleration, angular velocity, movement amount, movement angle) by swinging the shape recognition device 6 and driving the arm unit 30 and the like. As a result, it becomes easy to recognize the shape of the object using a plurality of viewpoints by the movement of these sensors. In this case, a separate sensor required for the joint portion of the arm portion can be omitted or simplified. Further, when the shape recognition device 6 and the arm portion are stationary with respect to the lifting magnet, it is possible to measure the movement of the lifting magnet by the acceleration sensor and / or the angular velocity sensor, and the measurement information is transferred to the lifting magnet. It can also be used for operations.

  In each of the above embodiments, water is used as an example of the liquid. However, the liquid may be oil or two or more liquids.

  It is also possible to combine at least two feature portions among the feature portions of each embodiment described above.

3, 103, 203 ... support mechanism 5 ... crane 6 ... shape recognition device 8, 18 ... lifting magnet (corresponding to holding body)
DESCRIPTION OF SYMBOLS 10,110,210 ... Lifting device 11 ... Electric cable 30, 31, 32 ... Arm part 57 ... Wire (equivalent to a suspension support body)
100 ... Lifting device

Claims (4)

A lifting device that can be suspended from a crane and lifts an object in a liquid,
A holding body for holding the object;
A shape recognition device for recognizing the shape of the object in a recognition area;
A lifting apparatus comprising: an arm portion that connects the holding body and the shape recognition device; a support mechanism that supports the shape recognition device and controls the posture of the shape recognition device by driving the arm portion. The lifting device according to claim 1,
The holding body is a lifting magnet. The lifting device according to claim 1 or 2,
The said arm part is connected to the suspension support body which suspends and supports the said holding body to the said crane, The lifting apparatus. A lifting device using the lifting device according to any one of claims 1 to 3,
A lifting apparatus comprising a computer that acquires shape information of the object obtained by the shape recognition device and generates an image based on the shape information.

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