JP2014085256A - Apparatus, method and program for detection of barycentric position - Google Patents

Abstract

PROBLEM TO BE SOLVED: To determine a barycentric position in a height direction of a hoisted load hung from a crane with a rope more accurately.SOLUTION: The barycentric position detector for detecting a barycentric position of a hoisted load hung with a rope includes: an actual value acquisition unit for acquiring an actual value of data indicating a hoisted state of the load at least for two different states; and a barycentric position calculation unit for calculating the barycentric position of the hoisted load on the basis of a state model of the hoisted load including at least the barycentric position of the hoisted load as an unknown constant and the actual value acquired by the actual value acquisition unit.

Description

  The present invention relates to a gravity center position detection device, a gravity center position detection method, and a program.

  It is useful to detect the center of gravity position in the height direction (vertical direction) of the container in order to prevent the container transport vehicle or the like from losing balance during transport of the container. That is, when the gravity center position of the container is high, the balance is easily lost in comparison with the case where the gravity center position is low. Therefore, when the center of gravity of the container is high, it is conceivable to take measures such as rearranging the cargo of the container to lower the position of the center of gravity or alerting the driver of the container transport vehicle.

Here, in relation to the detection of the center of gravity position of the container, the container center of gravity position detection device described in Patent Document 1 includes a radiation source, a detector disposed with a container entry space between the radiation source, and a detector. And an arithmetic unit that performs arithmetic processing based on the output of the above. The arithmetic unit obtains the intensity distribution of the radiation that has reached the detector from the radiation source in a state where the container has entered the container entry space, and calculates the density distribution of the container based on the intensity distribution of the radiation. Based on this, the position of the center of gravity of the container is specified.
Thereby, in the container gravity center position detection apparatus of patent document 1, the gravity center position of a container can be specified easily, without opening a container. In particular, in the container center-of-gravity position detection device described in Patent Document 1, the center-of-gravity position can be specified also in the height direction of the container.

Japanese Patent Laid-Open No. 2006-9803

  Depending on the type of baggage loaded in the container, there may be a case where the amount of radiation transmitted is relatively small even for a relatively light baggage, and the amount of radiation transmitted is relatively large even for a relatively heavy baggage. In such a case, when the density distribution of the container is calculated from the intensity distribution of the radiation that has passed through the container, an error may be included in the obtained density distribution. Therefore, an error may be included in the center of gravity position in the height direction of the container calculated from the density distribution. The center of gravity in the height direction can be obtained more accurately even when a relatively light load with a relatively small amount of radiation transmission or a relatively heavy load with a relatively large amount of radiation transmission is loaded in the container. Is preferred.

  The present invention has been made in consideration of such circumstances, and an object of the present invention is to provide a center-of-gravity position detection device, a center-of-gravity position detection method, and a program that can more accurately determine the center-of-gravity position in the height direction. There is.

  The present invention has been made to solve the above-described problems, and a gravity center position detection device according to an aspect of the present invention is a gravity center position detection device that obtains the gravity center position of a suspended load that is suspended by a rope. A measured value acquisition unit for acquiring measured values of data indicating a state in which the load is suspended for at least two different states, and a state model of the suspended load including at least the gravity center position of the suspended load as an unknown constant; A center-of-gravity position calculation unit that calculates the center-of-gravity position of the suspended load based on the actual measurement value acquired by the actual measurement value acquisition unit.

  Further, the center-of-gravity position detection device according to another aspect of the present invention is the above-described center-of-gravity position detection device, wherein the actual measurement value acquisition unit calculates an actual measurement value of data indicating a state in which the suspended load is suspended, Acquired by time-series data including at least the time at which the suspended load is accelerated, decelerated, or rotated, and the gravity center position calculation unit uses a motion model of the suspended load as a state model of the suspended load. And

  A center-of-gravity position detection device according to another aspect of the present invention is the above-described center-of-gravity position detection device, wherein the center-of-gravity position calculation unit includes initial values of variables and unknown constants included in the motion model of the suspended load. Applying the value set by the numerical value setting unit and the value set by the numerical value setting unit to the motion model, the actual measurement value of the data indicating the state where the suspended load acquired by the actual measurement value acquisition unit is suspended The variable value calculation unit for obtaining the value of the variable at the measurement time, and the value of the variable acquired by the variable value calculation unit is evaluated, and the suspended load that is set when the evaluation result satisfies a predetermined condition An evaluation unit that uses the center of gravity position as a calculation result of the center of gravity position calculation unit, and the numerical value setting unit, when the evaluation result of the evaluation unit does not satisfy the predetermined condition, Initial values of variables included in Characterized by resetting the value of the constant.

  Moreover, the center-of-gravity position detection device according to another aspect of the present invention is the above-described center-of-gravity position detection device, wherein the actual measurement value acquisition unit uses an actual measurement value of data indicating a state where the suspended load is suspended, Obtained by including an actual measurement value of the force to suspend the suspended load, the evaluation unit obtains the calculated value of the force to suspend the suspended load obtained from the value of the variable acquired by the variable value calculation unit, and the actual measurement value acquisition The value of the variable acquired by the variable value calculation unit is evaluated based on the actual value of the force that suspends the suspended load acquired by the unit.

  Further, the center-of-gravity position detection device according to another aspect of the present invention is the above-described center-of-gravity position detection device, wherein the actual measurement value acquisition unit calculates an actual measurement value of data indicating a state in which the suspended load is suspended, The acceleration and angular acceleration of the suspended load are acquired in a negligible state, and the gravity center position calculation unit uses a static model of the suspended load as a state model of the suspended load.

  Moreover, the center-of-gravity position detection device according to another aspect of the present invention is the above-described center-of-gravity position detection device, wherein the actual measurement value acquisition unit uses an actual measurement value of data indicating a state where the suspended load is suspended, The measured value of the amount of rotation of the suspended load and the measured value of the position of the suspended load are acquired, and the gravity center position calculation unit is configured to obtain the amount of rotation of the suspended load, the position of the suspended load, and the suspended load. The center of gravity position of the suspended load is calculated based on the state model of the suspended load including a variable indicating the center of gravity position of the load and the actual measurement value acquired by the actual measurement value acquisition unit.

  A center of gravity position detecting method according to another aspect of the present invention is a center of gravity position detecting method of a center of gravity position detecting device for obtaining a center of gravity position of a suspended load suspended by a rope, wherein the suspended load is suspended. In actual measurement value acquisition step of acquiring actual measurement values of data indicating at least two different states, the suspended load state model including at least the center of gravity position of the suspended load as an unknown constant, and the actual measurement value acquisition step And a center-of-gravity position calculation unit step for calculating a center-of-gravity position of the suspended load based on the acquired actual measurement value.

  In addition, the program according to another aspect of the present invention provides an actual measurement value of data indicating a state in which the suspended load is suspended in a computer serving as a gravity center position detection device that obtains the gravity center position of the suspended load suspended by a rope. , Based on the measured value acquisition step acquired for at least two different states, the state model of the suspended load including at least the gravity center position of the suspended load as an unknown constant, and the measured value acquired in the measured value acquisition step And a center-of-gravity position calculation unit step for calculating the center-of-gravity position of the suspended load.

  According to the present invention, the position of the center of gravity in the height direction can be obtained more accurately.

It is a schematic block diagram which shows the function structure of the gravity center position detection apparatus in the 1st Embodiment of this invention. In the same embodiment, it is explanatory drawing which shows the example of the suspended load which a gravity center position detection apparatus makes into a gravity center position detection object. It is a schematic block diagram which shows the function structure of the gravity center position detection apparatus in the 2nd Embodiment of this invention. It is explanatory drawing which shows the example of the time change of the evaluation object value in the embodiment. It is a flowchart which shows the procedure of the process in which the gravity center position detection apparatus in the embodiment detects the gravity center position of a suspended load. It is explanatory drawing which shows the example of the gravity center position of the hanging load main body and the gravity center position of a hanging tool in the same embodiment. It is explanatory drawing which shows the example of the coordinate setting in the two-dimensional space in the same embodiment. It is explanatory drawing which shows the example of the point set in the static model of the suspended load which the gravity center position calculation part in the embodiment uses.

<First Embodiment>
Embodiments of the present invention will be described below with reference to the drawings.
FIG. 1 is a schematic block diagram showing a functional configuration of the center-of-gravity position detection apparatus according to the first embodiment of the present invention. In the figure, the center-of-gravity position detection device 10 includes an actual measurement value acquisition unit 11 and a center-of-gravity position calculation unit 12.

The actual measurement value acquisition unit 11 acquires actual measurement values of data indicating a state where the suspended load is suspended for at least two different states.
Here, FIG. 2 is an explanatory diagram illustrating an example of a suspended load that the gravity center position detection apparatus 10 uses as a gravity center position detection target. In the figure, a trolley 910 of a crane, a rope 920, a spreader 930, and a container C11 are shown. The container C11 is held by the spreader 930 and suspended from the trolley 910 by the rope 920.
Hereinafter, the spreader 930 and the container C11 are combined and regarded as an integral rigid body, and are represented as a suspended load 800.

  The data indicating the state where the suspended load is suspended is data indicating the dynamic state of the suspended load (suspended load 800 in the example of FIG. 2) or the rope (rope 920 in the example of FIG. 2). . Examples of data that can be measured among the data indicating the state of the suspended load are the position where the suspended load is supported by the rope, the posture of the suspended load (the inclination of the suspended load and the rotation angle around the vertical axis) Suspension load, suspension load force, suspension load speed, suspension load acceleration, suspension load angular velocity, suspension load angular acceleration, and position where the rope is supported by the trolley And data indicating the rope length and the force the rope receives from the trolley. The data indicating the center of gravity position of the suspended load that is the detection target of the center-of-gravity position detection device 10 also corresponds to an example of data indicating the state where the suspended load is suspended.

However, the center-of-gravity position detection device 10 is not limited to a suspended load suspended by a crane including a trolley, and can be applied to detection of the center-of-gravity positions of various suspended loads suspended by ropes. For example, the center-of-gravity position detection apparatus 10 can detect the center-of-gravity position of a suspended load suspended from a jib on a crane having a turnable jib.
Hereinafter, an object supporting a rope such as a trolley or a jib is referred to as a “rope support”. A position where the rope is supported by the rope support is referred to as an “upper suspension point position”. A position where the suspended load is supported by the rope is referred to as a “suspended load hanging point position”.

The center-of-gravity position calculation unit 12 calculates the center-of-gravity position of the suspended load based on the state model of the suspended load including at least the center of gravity position of the suspended load as an unknown constant and the actual measurement value acquired by the actual measurement value acquisition unit 11.
The suspended load state model is a model that dynamically simulates a suspended load suspended on a rope. For example, a state equation indicating a condition to be satisfied by data indicating a state where a suspended load is suspended corresponds to an example of a state model of a suspended load, but is not limited thereto. The center-of-gravity position calculation unit 12 can use various state models that can calculate other data in the state based on data indicating the state in which the suspended load is suspended.

As described above, the actual measurement value acquisition unit 11 acquires the actual measurement values of the data indicating the state in which the suspended load is suspended for at least two different states. The center of gravity position of the suspended load is calculated based on the acquired actual measurement value.
Thereby, the gravity center position detection apparatus 10 can obtain | require the height (gravity position of a height direction) of the gravity center of the said hanging load.

Here, the moment given to the suspended load by gravity is indicated by the inner product of the vector from the reference point of the moment to the position of the center of gravity and the gravity vector. Therefore, even if the gravity center position of the suspended load moves in the vertical direction (gravity vector direction), the moment does not change.
For this reason, if the data indicating the state in which the suspended load is suspended is acquired for only one state, the height of the center of gravity of the suspended load (the position of the center of gravity of the suspended load in the vertical direction) cannot be determined.

On the other hand, the center-of-gravity position detection device 10 can obtain the height of the center of gravity of the suspended load by using data indicating the state where the suspended load is suspended in at least two different states as described above. it can.
In particular, the center-of-gravity position detection device 10 can determine the height of the center of gravity of the suspended load without using radiation, and more accurately determines the height of the center of gravity of the suspended load regardless of the amount of radiation transmitted through the suspended load. be able to.

<Second Embodiment>
In the second embodiment, an example in which the gravity center position detection device 10 described in the first embodiment is further embodied will be described.
FIG. 3 is a schematic block diagram showing a functional configuration of the center-of-gravity position detection device according to the second embodiment of the present invention. In the figure, the center-of-gravity position detection apparatus 100 includes an actual measurement value acquisition unit 110, a center-of-gravity position calculation unit 120, and a display unit 130. The centroid position calculation unit 120 includes a preprocessing unit 121, a numerical value setting unit 122, a variable value calculation unit 123, and an evaluation unit 124.

The actual measurement value acquisition unit 110 corresponds to an example of the actual measurement value acquisition unit 11 (FIG. 1), and at least an actual measurement value of data indicating a state in which the suspended load is suspended is obtained by moving, accelerating, decelerating, or rotating at least the suspended load. It is acquired as time-series data including the current time. That is, the time-series data acquired by the actual measurement value acquisition unit 110 may or may not include data in a state where the acceleration and angular acceleration of the suspended load can be ignored.
Hereinafter, the actual measurement value of the data indicating the state in which the suspended load is suspended, which is acquired by the actual measurement value acquisition unit 110, is referred to as a “suspended state actual measurement value”. A state in which the acceleration and angular acceleration of the suspended load can be ignored is referred to as a “static state” of the suspended load.

The center-of-gravity position calculation unit 120 corresponds to an example of the center-of-gravity position calculation unit 12 (FIG. 1), and uses a suspended load motion model as a suspended load state model.
The movement model of the suspended load here is a model that dynamically simulates the movement of the suspended load suspended on the rope. The motion model of a suspended load corresponds to an example of a state model of a suspended load, and includes a variable indicating at least one of a suspended load speed, a suspended load acceleration, a suspended load angular velocity, or a suspended load angular acceleration. Consists of.
That is, in response to the actual measurement value acquisition unit 110 acquiring the actual measurement value of the suspended state at the time when the suspended load is moving, accelerating, decelerating, or rotating, the center-of-gravity position calculating unit 120 is configured to move or accelerate the suspended load. The center of gravity position of the suspended load is calculated using a model that can express deceleration or rotation.

  In the following, the case where the actual measurement value acquisition unit 110 uses the motion equation of the suspended load will be described as an example, but the motion model of the suspended load used by the actual measurement value acquisition unit 110 is not limited to the motion equation. The actual measurement value acquisition unit 110 can use various motion models that can calculate other data in the state based on the data indicating the state in which the suspended load is suspended.

The preprocessing unit 121 obtains the suspended load amount (load) and the center of gravity position of the suspended load in the horizontal direction as preprocessing for obtaining the center of gravity position of the suspended load using the equation of motion. For example, the preprocessing unit 121 calculates the amount of suspended load and the center of gravity position of the suspended load in the horizontal direction based on the force that suspends the suspended load.
The force for suspending a suspended load here is the force that acts on the rope that suspends the suspended load or the force that acts on the rope. As the force for suspending the suspended load, the force that the rope acts on the suspended load at the suspended load position may be used, or the force that the rope support acts on the rope at the upper suspended point position may be used. For example, in the example of FIG. 2, the spreader 930 includes tension meters at each of four suspension load suspension point positions, and the tension detected by the tension meter (and hence the rope tension at the suspension load suspension point position) is suspended. You may make it use as a force which hangs a load. Alternatively, the trolley 910 is provided with a tension meter at each of the four upper suspension point positions, and the tension detected by the tension meter (and hence the rope tension at the upper suspension point position) is used as a force for suspending the suspended load. May be. Alternatively, the corrected force obtained by subtracting the force corresponding to the rope weight from the force that the rope support acts on the rope at the upper suspension point position may be used as the force for hanging the suspended load.

Note that either or both of the calculation of the suspended load amount and the calculation of the center of gravity position of the suspended load in the horizontal direction performed by the preprocessing unit 121 can be omitted. Therefore, the center-of-gravity position detection device 100 may not include the preprocessing unit 121. When the preprocessing unit 121 does not acquire the suspended load amount, the gravity center position calculating unit 120 treats the suspended load amount as an unknown constant. Further, when the preprocessing unit 121 does not acquire the center of gravity position of the suspended load in the horizontal direction, the center of gravity position calculating unit 120 determines the center of gravity position of the suspended load in the horizontal direction (for example, the coordinate value in the traveling direction of the trolley, (Coordinate value in the transverse direction) is treated as an unknown constant.
On the other hand, the pre-processing unit 121 acquires the suspended load or the center of gravity position of the suspended load in the horizontal direction, thereby reducing the number of unknown constants in the suspended load motion model. Thereby, the load when the gravity center position detection apparatus 100 detects the gravity center position of the suspended load can be reduced, and the detection accuracy can be improved.
Alternatively, even when the number of unknown constants is not reduced, by giving initial values to these unknown constants, the load when the gravity center position detection device 100 detects the gravity center position of the suspended load is reduced, and the detection accuracy is increased. Can be improved. That is, it is expected that the suspended load amount calculated by the preprocessing unit 121 based on the actual measurement value and the center of gravity position of the suspended load in the horizontal direction are close to the actual values. The center-of-gravity position calculation unit 120 starts the calculation from the initial value close to the actual value, so that the processing performed by the numerical value setting unit 122, the variable value calculation unit 123, and the evaluation unit 124 described below can be reduced. In addition, the position of the center of gravity of the suspended load can be detected with higher accuracy.

The numerical value setting unit 122 sets values of variables and unknown constants included in the suspended load motion model.
The variable value calculation unit 123 applies the value set by the numerical value setting unit 122 to the motion model, and obtains the value of the variable at the measurement time of the suspended state actual measurement value acquired by the actual measurement value acquisition unit 110. Hereinafter, the measurement time of the suspended state actual value acquired by the actual value acquisition unit 110 is referred to as “measurement value sampling time”.

Here, an equation of motion used by the variable value calculation unit 123 as an exercise model will be described. In the following description, an equation of motion based on a three-dimensional coordinate space in which the x-axis, y-axis, and z-axis are set in the traveling direction of the trolley, the transverse direction of the trolley, and the vertical direction, respectively, will be described as an example. This is not limited to this. For example, an equation of motion based on another coordinate space such as a polar coordinate space may be used.
First, the equation of motion for the translation of the suspended load at a certain time is expressed as, for example, Expression (1).

However, m represents the mass of the load, and p _c (bold notation indicating a matrix or a vector is omitted in the description) is set to the suspended load such as the center position of the upper surface of the spreader. Reference point position). In addition, “′” indicates the first-order time derivative, and “″” indicates the second-order time derivative. Thus, p c _'' indicates the acceleration of the suspended load.
Further, f _i (i is a positive integer of 1 ≦ i ≦ n (n is the number of ropes)) indicates the force that the i-th rope applies to the suspended load, g indicates the gravitational acceleration, and f _d is An external force acting as a translational force on the suspended load is shown.
Moreover, the equation of motion about the rotation of the suspended load around the center of gravity at a certain time is expressed as, for example, Expression (2).

However, I shows the inertia tensor of a suspended load, and (omega) shows the angular velocity of a suspended load. N _i (i is a positive integer of 1 ≦ i ≦ n (n is the number of ropes)) indicates a moment that the i-th rope gives around the center of gravity of the suspended load, “×” indicates an outer product, n _d indicates an external force acting as a force in the rotational direction on the suspended load.

As the external force acting on the suspended load, for example, the force that the wind gives to the suspended load can be considered. Various expressions can be used as expressions indicating the external force depending on the assumed external force.
For example, when a force due to a constant cross wind is assumed as an external force, scalar constants f _dx and f _dy are used as wind parameters as shown in Expression (3).

Here, “ ^T ” represents a transposed matrix or transposed vector.
Further, when the external force is regarded as a force having a sine wave strength acting in the horizontal direction on the suspended load, the scalar constants f _dx , f _dy , a, and b are used as wind parameters as shown in Expression (4). Indicated.

Alternatively, in addition to the primary component obtained by Fourier series expansion of the external force shown in Formula (4), the terms after the secondary component may be included in the formula.
Here, and force f _i where i th rope has on the suspended load, moment n _i where the rope has on around the center of gravity of the suspended load, the position p _{t (t)} of the trolley (t in parentheses indicate the time) And rope length l _i (t), suspended load position, suspended load speed, suspended load attitude, suspended load angular velocity, suspended load center of gravity (within the suspended load), rope Can be obtained based on characteristics. Further, the position of the trolley and the rope length can be detected. In addition, the position of the center of gravity of the suspended load is constant and shown as an unknown constant.
Therefore, the equation of motion shown in the equations (1) and (2) can be transformed into a first-order ordinary differential equation with 12 variables (p _c , v _c , θ and ω) shown in the equation (5). .

However, V _c represents the speed of the suspended load, theta indicates the attitude of the suspended load. R ³ represents a three-dimensional space. H _{1 to} h ₄ each represent a known function. For example, the function _{h 2} is known to can show as _{v c.}
If an initial value is given to each variable of this first-order ordinary differential equation, the value of each variable for each time can be calculated using a solution such as the Runge-Kutta method. In other words, a variable value at each sampling time can be obtained by setting a variable value at the simulation start time and performing a simulation using the motion model.
Also, the magnitude | f _i | of each rope exerted on the suspended load can be obtained in the calculation process.

Therefore, the variable value calculation unit 123 calculates the value of each variable at each sampling time of the actual measurement value using Expression (5).
Specifically, first, the numerical value setting unit 122 sets initial values and unknown constant values of variables (p _c , v _c , θ, and ω) included in Expression (5). For example, the numerical value setting unit 122 sets the inertia tensor of the suspended load, the position of the center of gravity in the height direction of the suspended load, and the value of the wind parameter as unknown constants included in the equation (5). When the preprocessing unit 121 does not calculate the suspension load amount, the numerical value setting unit 122 sets the suspension load amount as an unknown constant and sets the value. When the preprocessing unit 121 does not calculate the center of gravity position of the suspended load in the horizontal direction, the numerical value setting unit 122 sets the value of the center of gravity position of the suspended load in the horizontal direction as an unknown constant.

However, the unknown constant included in the equation (5) is not limited to the above, and it is sufficient that the center of gravity of the suspended load is included. For example, when a value can be measured with any sensor for any of the above unknown constants, the corresponding constant can be treated as a known constant of the obtained value.
In the following, unknown constants included in the motion model (for example, Expression (5)) are collectively expressed as a vector x.

Next, the variable value calculation unit 123 applies the initial value of the variable and the value of the unknown constant set by the numerical value setting unit 122 to the motion model of Expression (5), and calculates the value of the variable at the sampling time of the actual measurement value. Ask.
Note that the method of solving the equation of motion used by the variable value calculation unit 123 is not limited to the Runge-Kutta method. The variable value calculation unit 123 can use various solutions such as the Euler method.
The equation of motion used by the variable value calculation unit 123 is not limited to the first-order ordinary differential equation. For example, when an algorithm for obtaining a variable value for each sampling period based on a second-order ordinary differential equation can be used, the variable value calculation unit 123 may use a motion equation of the second-order ordinary differential equation.

The evaluation unit 124 evaluates the value of the variable acquired by the variable value calculation unit 123.
Specifically, a suspended state actual value acquired by the actual measured value acquisition unit 110 or a value that can be calculated from the suspended state actual value is preset as an evaluation target value. Then, the evaluation unit 124 determines the magnitude of the difference between the evaluation target value obtained from the variable value acquired by the variable value calculation unit 123 and the evaluation target value obtained from the suspended state actual measurement value acquired by the actual measurement value acquisition unit 110. To evaluate. Hereinafter, the evaluation target value obtained from the value of the variable acquired by the variable value calculation unit 123 is referred to as “evaluation target calculation value”. Moreover, the evaluation target value obtained from the suspended state actual measurement value acquired by the actual measurement value acquisition unit 110 is referred to as “evaluation target actual measurement value”.

  FIG. 4 is an explanatory diagram illustrating an example of a time change of the evaluation target value. In the figure, the horizontal axis of the graph indicates time, and the vertical axis indicates the evaluation target value. Moreover, the line L11 shows the evaluation target calculation value at each time, and the line L12 shows the evaluation target actual measurement value at each time. The evaluation unit 124 calculates the magnitude of the difference at each time of the difference D11 between the evaluation target actual measurement value indicated by the line L11 and the evaluation target calculation value indicated by the line L12 (in other words, the area of the region between the line L11 and the line L12). Size).

  For example, the evaluation unit 124 calculates the square of the difference between the evaluation target calculation value and the evaluation target actual measurement value at each sampling time of the actual measurement value, and sums the obtained values in the time direction to obtain an error evaluation value. As the obtained error evaluation value is smaller, it can be evaluated that the value set by the numerical value setting unit 122 is closer to the actual value. Therefore, as the error evaluation value is smaller, it can be evaluated that the gravity center position of the suspended load set by the numerical value setting unit 122 as an unknown constant is closer to the actual gravity center position.

Therefore, the evaluation unit 124 resets the initial value of the variable or the value of the unknown constant based on the obtained error evaluation value and re-executes the calculation of the variable value, or aborts the process and the center of gravity of the suspended load. It is determined whether to output the position calculation result. For example, when the obtained error evaluation value is larger than a predetermined evaluation reference threshold value, the evaluation unit 124 determines to reset the initial value of the variable or the value of the unknown constant and re-execute the calculation of the variable value. On the other hand, when the obtained error evaluation value is equal to or smaller than the predetermined evaluation reference threshold value, the evaluation unit 124 aborts the processing, and uses the latest suspended load gravity center position set by the numerical value setting unit 122 as the suspended load gravity center position. To be output as a result of the calculation.
As described above, the evaluation unit 124 calculates the gravity center position of the suspended load that is set as the calculation result of the gravity center position calculation unit 120 when the evaluation result of the value of the variable acquired by the variable value calculation unit 123 satisfies the predetermined condition. And

However, the method by which the evaluation unit 124 evaluates the value of the variable acquired by the variable value calculation unit 123 is not limited to the method described above. For example, instead of the square of the difference between the evaluation target calculation value and the evaluation target actual measurement value, the absolute value of the difference between the two is calculated, for example, when the difference between the evaluation target calculation value and the evaluation target actual measurement value is small. Various evaluation methods can be used.
The evaluation unit 124 can also use various values for the evaluation target value.

  For example, the actual measurement value acquisition unit 110 acquires the actual measurement value of the force for hanging the suspended load in the hanging state actual measurement value, and the evaluation unit 124 calculates the error evaluation value using the force for hanging the suspended load as the evaluation target value. You may do it. That is, the evaluation unit 124 is based on the calculated value of the force to suspend the suspended load obtained from the value of the variable acquired by the variable value calculation unit 123 and the actual measurement value of the force to suspend the suspended load acquired by the actual measurement value acquisition unit 110. Thus, the value of the variable acquired by the variable value calculation unit 123 may be evaluated.

  Here, as described above, as the force for suspending the suspended load, the force that the rope acts on the suspended load at the suspended load position may be used, or the force that the rope support acts on the rope at the upper suspended point position. May be used. For example, the evaluation unit 124 calculates the error evaluation value J based on Expression (6).

However, f _{i (j)} is the force that the i-th rope applies to the suspended load at time j (the j-th measured value sampling time counted from the measured value sampling time corresponding to the initial value setting of the numerical value setting unit 122). The calculated value of is shown. Further, f _{im (j)} indicates an actual measurement value (tensometer measurement value) of the force applied to the suspended load by the i-th rope at time j.
In particular, when a tension meter is already installed at the hanging load hanging point position or the upper hanging point position, it is not necessary to install a new sensor by setting the force for hanging the hanging load as an evaluation target value. In this respect, the cost of adding sensors can be suppressed.

  Alternatively, the measured value acquisition unit 110 acquires the suspended state actual value including the actual measured value of the posture of the suspended load, and the evaluation unit 124 calculates the error evaluation value using the suspended load inclination as the evaluation target value. Also good. For example, the evaluation unit 124 calculates the error evaluation value J based on Expression (7).

However, ₍ theta _{) (j)} shows the calculated value of the attitude | position of a suspended load in the time j. Θ _{m (j)} represents an actual measurement value of the posture of the suspended load at time j (for example, a measured value of an inclinometer provided on the suspended load).
Since the slant of the suspended load is not easily affected by the wind, the gravity center position detection device 100 detects the center of gravity of the suspended load with high accuracy even under strong wind conditions by using the slant of the suspended load as an evaluation target value. can do.

  Alternatively, the actual measurement value acquisition unit 110 acquires the actual measurement value of the suspended load position including the actual measurement value of the position of the suspended load, and the evaluation unit 124 calculates the error evaluation value using the position of the suspended load as the evaluation target value. Also good. For example, the evaluation unit 124 calculates the error evaluation value J based on Expression (8).

However, P _{c (j)} represents the calculated value of the position of the suspended load at time j. In addition, P _{cm (j)} indicates an actual measurement value of the position of the suspended load at time j.
In this method, since there are a large number of variables for error evaluation, the gravity center position detection device 100 can detect the gravity center position of the suspended load with high accuracy.
Alternatively, the evaluation unit 124 may perform evaluation by calculating a weighted average or a weighted sum of error evaluation values obtained by a plurality of methods, such as taking a weighted average of error evaluation values obtained by the above three methods. Also good.

When the evaluation unit 124 decides to reset the initial value of the variable or the value of the unknown constant and re-execute the calculation of the variable value, first, the numerical value setting unit 122 first sets the initial value of the variable or the value of the unknown constant. Reset the settings. As described above, the numerical value setting unit 122 resets the initial values of variables and the values of unknown constants included in the suspended load motion model when the evaluation result of the evaluation unit 124 does not satisfy a predetermined condition.
At that time, the numerical value setting unit 122 resets the initial value of the variable and the value of the unknown constant so that the error evaluation value becomes smaller.

  Here, when the initial value of the variable set by the numerical value setting unit 122 or the value of the unknown constant changes, the error evaluation value J calculated by the evaluation unit 124 usually changes. That is, the error evaluation value J is a function of the initial value of the variable set by the numerical value setting unit 122 and the value of the unknown variable. Therefore, the numerical value setting unit 122 uses an optimization method to determine the initial value of the variable to be reset and the value of the unknown constant so that the error evaluation value J becomes smaller. The numerical value setting unit 122 has various optimization methods such as a sliding down simplex method, a quasi-Newton method, a sequential quadratic programming method, a genetic algorithm (Generic Algorithm; GA), or an annealing method (Simulated Annealing; SA). The method can be used.

The display unit 130 has a display screen such as a liquid crystal panel or an organic EL (Organic Electroluminescence) panel, for example, and displays the gravity center position of the suspended load calculated by the gravity center position calculation unit 120. In addition, the display unit 130 may display the suspended load amount.
However, the method of outputting the gravity center position of the suspended load by the gravity center position detection device 100 is not limited to the method of visually displaying the gravity center position of the suspended load, and various methods can be used. For example, the center-of-gravity position detection device 100 includes a speaker, and outputs the center-of-gravity position of the suspended load by voice instead of or in addition to the visual display of the center-of-gravity position of the suspended load. Also good. Or you may make it the gravity center position detection apparatus 100 output the data which show the gravity center position of a suspended load to other apparatuses, such as a server apparatus or a display apparatus.

Next, the operation of the gravity center position detection apparatus 100 will be described with reference to FIG.
FIG. 5 is a flowchart showing a procedure of processing in which the gravity center position detection device 100 detects the gravity center position of the suspended load. For example, the center-of-gravity position detection apparatus 100 starts the process illustrated in FIG. Alternatively, the center-of-gravity position detection device 100 may automatically start the process, for example, when the suspended load is grounded, the center-of-gravity position detection device 100 starts the process of FIG.

  In the process of FIG. 5, first, the actual measurement value acquisition unit 110 acquires the suspended state actual measurement value for a predetermined time (step S <b> 101). For example, for 10 seconds after the suspended load is grounded, the actual measurement value acquisition unit 110 has a sampling period of 10 milliseconds (ms), the tension of each rope at the upper suspension point position, the position of the suspended load, and the suspended load. The load posture (the inclination of the suspended load in the transverse direction, the inclination of the suspended load in the traveling direction, and the rotation angle around the vertical axis) is acquired.

Next, the preprocessing unit 121 detects a suspended load amount (step S102). For example, the preprocessing unit 121 calculates a suspended load amount based on the total value of the force that suspends the suspended load of each rope immediately after the ground cutting. Alternatively, the preprocessing unit 121 may detect the suspended load amount by another method such as calculating the suspended load amount from the voltage value or current value of the hoisting motor.
Further, the preprocessing unit 121 calculates the center of gravity position of the suspended load in the horizontal direction (step S103). For example, the preprocessing unit 121 calculates the position of the center of gravity of the suspended load in the horizontal direction based on the balance of the force that suspends the suspended load of each rope immediately after the ground cutting.

  Next, the numerical value setting unit 122 sets initial values of variables and values of various coefficients (including unknown coefficients) included in the suspended load motion model (step S104). For example, the numerical value setting unit 122 sets the suspended load detected by the preprocessing unit 121 in step S102. Moreover, the numerical value setting part 122 sets a predetermined standard value as the suspended load inertia tensor. The numerical value setting unit 122 sets the center of gravity detected by the pre-processing unit 121 in step S103 for the horizontal direction as the center of gravity of the suspended load, and sets a predetermined standard center of gravity for the vertical direction. Moreover, the numerical value setting part 122 sets the suspended load position at the time of ground cutting based on the rope length at the time of ground cutting, and sets the angle, speed, and angular velocity of the suspended load to zero. Moreover, the numerical value setting part 122 sets a wind parameter to a no-wind state.

  Next, the variable value calculation unit 123 solves the suspended load motion model using a solution such as the Runge-Kutta method based on the value set by the numerical value setting unit 122, and the measured value sampling time (measured value in step S101). The position and orientation of the suspended load are calculated for each of the suspended state actual measurement values acquired by the acquisition unit 110 (step S105).

  Next, the evaluation unit 124 evaluates the variable value calculated by the variable value calculation unit 123 (step S106), and determines whether or not the condition for aborting the variable value is satisfied based on the evaluation result (step S106). S107). For example, the evaluation unit 124 calculates the error evaluation value as described above, and determines that the truncation condition is satisfied when the error evaluation value is equal to or less than the evaluation reference threshold value.

When it is determined that the abort condition is not satisfied (step S107: NO), as described above, the numerical value setting unit 122 resets the value of the variable or the unknown coefficient included in the motion model (step S111). . Thereafter, the process returns to step S105.
On the other hand, when it is determined that the termination condition is satisfied (step S107: YES), the display unit 130 displays the gravity center position of the suspended load calculated by the gravity center position calculation unit 120 (step S121). Thereafter, the process of FIG.

As described above, the actual measurement value acquisition unit 110 uses the time-series data including at least the time when the suspended load is accelerated, decelerated, or rotated as the actual measured value indicating the state in which the suspended load is suspended. get. The center-of-gravity position calculation unit 120 uses the suspended load motion model as the suspended load state model.
Thereby, the center-of-gravity position detection device 100 can detect the center-of-gravity position of the suspended load even if the suspended load is not in a static state. Therefore, for example, when the suspended load is swaying, it is not necessary to interrupt the handling operation to detect the position of the center of gravity of the suspended load, such as waiting for the suspended load to be in a stationary state by stopping the trolley. In this respect, the center-of-gravity position detection device 100 can detect the center-of-gravity position of the suspended load without reducing the cargo handling efficiency.
In particular, the center-of-gravity position detection device 100 can detect the center-of-gravity position in the height direction of the suspended load without reducing the cargo handling efficiency.

The numerical value setting unit 122 sets initial values and unknown constant values of variables included in the suspended load motion model. Then, the variable value calculation unit 123 applies the value set by the numerical value setting unit 122 to the motion model, and measures the measured value of the data indicating the state where the suspended load acquired by the measured value acquisition unit is suspended. Find the value of the variable at the time. Furthermore, the evaluation unit 124 evaluates the value of the variable acquired by the variable value calculation unit 123, and the numerical value setting unit 122 sets the motion model of the suspended load when the evaluation result of the evaluation unit 124 does not satisfy a predetermined condition. Reset initial values of variables and unknown constants.
In this way, until the evaluation unit 124 decides to cancel the calculation of the variable value, the numerical value setting unit 122 resets the initial value of the variable or the value of the unknown constant, and the variable value calculation unit 123 obtains the variable value. The gravity center position detection apparatus 100 can detect the gravity center position of the suspended load with high accuracy.

  Further, the evaluation unit 124 generates an error evaluation value for the entire sampling period of the hanging state actual measurement values acquired by the actual measurement value acquisition unit 110. Thereby, even when noise such as sensor noise is included in a part of the suspended state actual measurement value, the influence of the noise can be reduced, and the gravity center position detection device 100 can accurately determine the gravity center position of the suspended load. Can be detected.

Further, the actual measurement value acquisition unit 110 acquires the actual measurement value of the force for hanging the suspended load in the hanging state actual measurement value,
The evaluation unit evaluates the value of the variable acquired by the variable value calculation unit 123 using the force to suspend the suspended load as the evaluation target value.
Accordingly, when a tension meter is already installed at the hanging load hanging point position or the upper hanging point position, it is not necessary to install a new sensor by setting the force for hanging the hanging load as the evaluation target value. In this respect, the cost of adding sensors can be suppressed.

In addition, when the weight of a suspended tool such as a spreader cannot be ignored with respect to the weight of a suspended load body such as a container, for example, the gravity center position calculation unit 120 may calculate the gravity center position and weight of the suspended load body.
FIG. 6 is an explanatory diagram illustrating an example of the center of gravity position of the suspended load body and the center of gravity position of the hanging tool. In the drawing, a container C11 is shown as an example of a suspended load body, and a spreader 930 is shown as an example of a hanging tool. Further, _{p g} denotes the center of gravity of the suspended load 800 (total suspended _{load), p sg} represents the center of gravity of the spreader 930. Moreover, _pcg shows the gravity center position of the container C11.
Here, represents the weight of the spreader 930 _{m s,} when indicating the weight of the container C11 with _{m c,} the weight m of the suspended load 800 is shown as equation (9).

  When formula (9) is transformed, formula (10) is obtained.

Therefore, the center-of-gravity position calculation unit 120 calculates the weight of the container C11 using Expression (10).
Further, the formula (11) is established for the moment around the reference point.

  When Expression (11) is transformed, Expression (12) is obtained.

  Therefore, the centroid position calculation unit 120 calculates the centroid position of the container C11 using Expression (12).

  However, the calculation of the weight of the suspended load body and the position of the center of gravity is not essential. For example, when the weight of the lifting device can be ignored relative to the weight of the hanging load body, or when the hanging load body and the hanging tool are inseparably integrated, the hanging load body and the hanging tool remain in an integrated state. When the suspended load is transported, the gravity center position calculation unit 120 does not calculate the weight of the suspended load body or the gravity center position.

The center-of-gravity position calculation unit 120 may use a suspended load motion model in a two-dimensional space.
FIG. 7 is an explanatory diagram illustrating an example of coordinate setting in a two-dimensional space. In the figure, the x coordinate is set in the traveling direction of the trolley, and the y coordinate is set in the vertical direction. On the other hand, the coordinate of the trolley in the transverse direction is not set. For example, when the influence of the movement in the traverse direction is small, such as when the traversing amount of the trolley is small, the center-of-gravity position calculation unit 120 uses the movement model of the suspended load in the two-dimensional space shown in FIG. In particular, the center of gravity position in the height direction of the suspended load may be obtained.
As a result, the number of variables included in the suspended load motion model can be reduced, and the variable value calculation unit 123 can more easily calculate the value of the variable.

<Third Embodiment>
In the third embodiment, another example in which the gravity center position detection device 10 described in the first embodiment is further embodied will be described.
The functional configuration of the center-of-gravity position detection apparatus according to the present embodiment is the same as the configuration shown in FIG. 1, and will be described below with reference to FIG. However, in the present embodiment, the actual measurement value acquisition unit 11 acquires the suspended state actual measurement value in the static state of the suspended load.
In particular, the actual measurement value acquisition unit 11 includes an actual measurement value of the amount of rotation (rotation angle) of the suspended load and an actual measurement value of the position of the suspended load in the actual measurement value of the data indicating the state in which the suspended load is suspended. get.

The center-of-gravity position calculation unit 12 uses a static model of the suspended load as the state model of the suspended load.
The suspended load static model here is a model that dynamically simulates a suspended load in a static state, and corresponds to an example of a suspended load state model. Moreover, the static model of the suspended load does not include any of a variable indicating the speed of the suspended load, a variable indicating the acceleration of the suspended load, a variable indicating the angular velocity of the suspended load, and a variable indicating the angular acceleration of the suspended load.
In particular, the center-of-gravity position calculation unit 12 includes the amount of rotation of the suspended load, the position of the suspended load on the rope, the position of the portion of the suspended rope supported by the rope support, and the center of gravity of the suspended load. The center of gravity position of the suspended load is calculated based on the state model of the suspended load including the variable indicating the position and the actual measurement value acquired by the actual measurement value acquisition unit 11.

Here, FIG. 8 is an explanatory diagram illustrating an example of points set in the static model of the suspended load used by the gravity center position calculation unit 12.
In the figure, a suspended load 800 and a rope 920 are shown.
Points FR1, FL1, AR1, and AL1 indicate the upper suspension point positions. Using the center position of the upper suspension point as the origin, the x coordinate is set in the traveling direction of the trolley, the y coordinate is set in the transverse direction, and the z coordinate is set in the vertical direction. However, the coordinate system is not limited to this, and various coordinate systems can be adopted.

The upper hang point position can be detected by detecting the sheave displacement with an encoder, for example. Alternatively, when there is no sheave opening / closing operation of mechanical shaking, the upper hang point position is a fixed value.
In the following, the coordinates of the upper suspension point position are expressed as FR1 (x1FR, y1FR, z1FR), FL1 (x1FL, y1FL, z1FL), AR1 (x1AR, y1AR, z1AR) and AL1 (x1AL, y1AL, z1AL). To do.

Points FR2, FL2, AR2, and AL2 indicate initial positions of the suspended load hanging point positions. Here, as the initial position of the suspended load hanging point position, the position in the case of being directly below the upper hanging point position is used. The initial position of the hanging load hanging point position can be obtained geometrically from the rope length.
In the following, the coordinates of the initial position of the suspended load hanging point position are FR2 (x2FR, y2FR, z2FR), FL2 (x2FL, y2FL, z2FL), AR2 (x2AR, y2AR, z2AR) and AL2 (x2AL, y2AL, z2AL).

In addition, considering the case where the suspended load moves from the initial position (when the suspended load suspension point position moves from the initial position), the suspended load suspension point positions after movement of FR2, FL2, AR2, and AL2 are set to FR5 and FL5, respectively. , AR5, AL5. In the following, the coordinates of the suspended load hanging point position after movement are FR5 (x5FR, y5FR, z5FR), FL5 (x5FL, y5FL, z5FL), AR5 (x5AR, y5AR, z5AR) and AL5 (x5AL, y5AL, z5AL). Is written.
Point O ′ indicates the center position of the suspended load hanging point after movement. Point G indicates the position of the center of gravity of the suspended load after movement. Note that, unlike the case of the second embodiment, in the third embodiment, “′” is a part of the variable name and does not indicate time differentiation.

Here, the movement of the suspended load will be divided into parallel movement and rotation around the center of gravity (around G).
Hereinafter, the x component (list) of the rotation amount around the center of gravity is expressed as xs, the y component (trim) is expressed as ys, and the z component (skew) is expressed as zs. The list xs and trim ys can be detected, for example, by installing an inclinometer on the spreader in each of the x coordinate direction and the y coordinate direction. The skew zs can be detected by, for example, a gyroscope or a shake sensor.

On the other hand, the suspended load hanging point position after translation is unknown. That is, the movement of the suspended load can be measured in a form in which the parallel movement and the rotation are mixed, but it is difficult to measure only the parallel movement component. Hereinafter, the coordinates of the hanging load hanging point position after the parallel movement from FR2 are expressed as FR3 (x3FR, y3FR, z3FR). Similarly, the coordinates of the hanging load hanging point position after the parallel movement from FL2 are expressed as FL3 (x3FL, y3FL, z3FL). Further, the coordinates of the hanging load hanging point position after the parallel movement from AR2 are expressed as AR3 (x3AR, y3AR, z3AR). Further, the coordinates of the hanging load hanging point position after the parallel movement from AL2 are expressed as AL3 (x3AL, y3AL, z3AL).
Further, the amount of eccentricity of the gravity center position of the suspended load with respect to the center position of the suspended load hanging point is unknown. Hereinafter, the x coordinate component of the eccentric amount of the gravity center position of the suspended load with respect to the center position of the suspended load suspension point is denoted as dx, the y coordinate component is denoted as dy, and the z coordinate component is denoted as dz.

  Here, the initial position (xh0, yh0, zh0) of the suspended load suspension point center position is expressed by the equation (13) using the initial position of the suspended load suspension point position.

  The parallel movement of the suspended load is shown as the difference between the suspended load suspension point center position after the parallel movement and the initial position of the suspended load suspension point center position, and this is added to the initial position of the suspended load suspension point position. The thing becomes the suspended load hanging point position after the parallel movement. Therefore, the suspended load hanging point position FR3 (x3FR, y3FR, z3FR) translated from the initial position FR2 of the suspended load hanging point position is expressed as in Expression (14).

Also with respect to the suspended load hanging point positions FL3 (x3FL, y3FL, z3FL), AR3 (x3AR, y3AR, z3AR), AL3 (x3AL, y3AL, z3AL) translated from the initial positions FL2, AR2, AL2 of the hanging load hanging points It is the same.
Further, the suspended load center position (xg, yg, zg) after the parallel movement is expressed as in Expression (15).

However, (xh1, yh1, zh1) indicates the coordinates of the suspended load hanging point center position O ′ after movement.
Also, by subtracting the coordinates of the suspended load center position after the parallel movement from the coordinates of the suspended load suspension position after the parallel movement, the coordinates of the suspended load center position after the parallel movement are subtracted from the coordinates of the suspended load center after the parallel movement. It can be converted into coordinates in a coordinate system with the position as the origin. Accordingly, the coordinate FR4 (x4FR, y4FR, z4FR) obtained by converting the coordinate system of the suspended load hanging point position FR3 after the parallel movement is expressed as in Expression (16).

  A coordinate FL4 (x4FL, y4FL, z4FL) obtained by converting the coordinate system of the suspended load hanging point position FL3 after translation, and a coordinate AR4 (x4AR, y4AR, z4AR) obtained by transforming the coordinate system of the suspended load hanging point position AR3 after translation. The same applies to the coordinate AL4 (x4AL, y4AL, z4AL) obtained by converting the coordinate system of the suspended load hanging point position AL3 after translation.

  Further, the suspended load hanging point position FR5 (x5FR, y5FR, z5FR) after the movement includes the coordinate FR4 (x4FR, y4FR, z4FR), the rotation amounts xs, ys, zs around the center of gravity, and the suspended load center after the parallel movement. As a function of the position (xg, yg, zg), it is expressed as shown in Expression (17).

However, fxfr1, fyfr1, and fzfr1 all indicate functions.
The same applies to the suspended load hanging point positions FL5 (x5FL, y5FL, z5FL), AR5 (x5AR, y5AR, z5AR), and AL5 (x5AL, y5AL, z5AL) after movement.
Further, the suspended load hanging point center position O ′ (xh5, yh5, zh5) after movement is expressed as in Expression (18) based on the suspended load hanging point position after movement.

  Moreover, the rope length rope_FR of the rope connecting the upper suspension point position FR1 and the suspended load suspension point position FR5 is expressed as in Expression (19).

The rope length rope_FL of the rope connecting the upper suspension point position FL1 and the suspended load suspension point position FL5, the rope length rope_AR of the rope connecting the upper suspension point position AR1 and the suspended load suspension point position AR5, the upper suspension point position AL1 and the suspended load The same applies to the rope length rope_AL of the rope connecting the suspension point position AL5.
Further, the tension tens_FR of the rope connecting the upper suspension point position FR1 and the suspended load suspension point position FR5 is expressed as in Expression (20).

Here, rope_l indicates the natural length of the rope. Also, rope_y indicates the Young's modulus of the rope. Moreover, rope_a shows the cross-sectional area of a rope. “·” Represents a scalar product.
Tension tension tens_FL of the rope connecting the upper suspension point position FL1 and the suspension point suspension point FL5, Tension tension tens_AR of the rope connecting the upper suspension point position AR1 and the suspension point suspension point AR5, the upper suspension point position AL1 and the suspension point The same applies to the tension tens_AL of the rope connecting the position AL5.

  Here, based on the relationships shown in the equations (13) to (17) and the like, the equation (18) is changed from the initial coordinates FR2, FL2, AR2, and AL2 of the suspended load hanging point position and the hung after the movement. It can be transformed into three equations of coordinates xh1, yh1 and zh1 of the load suspension point center position, eccentric amounts dx, dy and dz of the suspension load center position, and rotation amounts xs, ys and zs of the suspended load. Since the coordinates of the initial position FR2, FL2, AR2, AL2 of the suspended load hanging point position and the rotation amount xs, ys and zs of the suspended load can be detected, the coordinates xh1, Three equations can be obtained for six unknown values of yh1 and zh1 and the eccentric amounts dx, dy and dz of the suspension load center.

Further, with respect to the equation (20), the rope_FR is eliminated using the equation (19), and further, the rope tension tens_FR and the natural length rope_l of the rope based on the relationships shown in the equations (13) to (17) and the like. Young's modulus rope_y, rope cross-sectional area rope_a, coordinates of the upper suspension point position FR1, coordinates of the initial positions FR2, FL2, AR2, AL2 of the suspension load suspension point, and the suspended suspension point after movement The center position coordinates xh1, yh1, and zh1, the eccentric amounts dx, dy, and dz of the suspended load center position, and the rotation amounts xs, ys, and zs of the suspended load can be transformed into equations.
Rope natural length rope_l, Young's modulus rope_y, rope cross-sectional area rope_a, coordinates of upper suspension point position FR1, initial coordinates FR2, FL2, AR2, AL2 of suspension load suspension point position, suspended load Since the rotation amounts xs, ys, and zs of the load can be detected, six unknowns are the coordinates xh1, yh1, and zh1 of the suspension load center point after movement and the eccentric amounts dx, dy, and dz of the suspension load center position. Three equations are obtained for the value of.
Equations can be obtained for other ropes as well, so that four equations can be obtained from four ropes.

Thus, seven equations can be obtained for the six unknown values of the coordinates xh1, yh1 and zh1 of the suspended load suspension point center position after movement and the eccentric amounts dx, dy and dz of the suspended load center position. .
However, these seven equations are not independent, and as described above, if the data indicating the state in which the suspended load is suspended is acquired for only one state, the height of the center of gravity of the suspended load can be determined. Can not.
Therefore, the actual measurement value acquisition unit 11 acquires each actual measurement value for two different states. Thereby, the gravity center position calculation unit 12 can obtain 14 equations. Although these 14 equations are not independent, the center-of-gravity position calculation unit 12 solves the equation to obtain six unknown values, that is, the coordinates xh1, yh1, and zh1 of the suspended load suspension point center position after the movement, The eccentric amounts dx, dy and dz of the load center position can be obtained. In particular, the center-of-gravity position calculation unit 12 can calculate the eccentric amounts dx, dy, and dz indicating the center-of-gravity position of the suspended load, and can determine the center-of-gravity position of the suspended load.

  The center-of-gravity position detection device 10 can use various methods as an output method of the detection result of the center-of-gravity position of the suspended load. For example, the center-of-gravity position detection device 10 may include a display unit and visually display the detection result of the center-of-gravity position of the suspended load. Alternatively, the center-of-gravity position detection device 10 may be provided with a speaker and output by voice instead of or in addition to the visual display of the detection result of the center-of-gravity position of the suspended load. Or you may make it the gravity center position detection apparatus 10 output the detection result of the gravity center position of a suspended load to other apparatuses, such as a server apparatus and a display apparatus.

  In addition, you may make it the measured value acquisition part 11 acquire a suspended state measured value in three or more different states. Thus, the center-of-gravity position calculation unit can calculate the center-of-gravity position of the suspended load based on more data. Even when noise such as sensor noise is included in the part, the influence of the noise can be reduced. Therefore, the gravity center position detection device 10 can detect the gravity center position of the suspended load with high accuracy.

Moreover, you may make it the measured value acquisition part 11 acquire repeatedly the same hanging state measured value. For example, the actual measurement value acquiring unit 11 may repeatedly acquire only the amount of rotation of the suspended load and the suspended load suspension point center position.
In addition, it is possible to cope with aging degradation by including fixed parameters such as Young's modulus in the state model as unknown parameters.

  For example, the offset error of a sensor such as an inclinometer is measured and calibrated with a reference container having a center of gravity at the center of the container. Alternatively, after the container is placed on the yard chassis, the center of gravity is detected when returning to the sea side only with the spreader, and the average value is acquired as an offset error, and is removed from the detected value of the center of gravity position during container transportation. May be.

As described above, the actual measurement value acquisition unit 11 acquires the suspended state actual measurement value in the static state of the suspended load. For example, the actual measurement value acquisition unit 11 acquires the actual suspended value and the actual measured value of the amount of rotation of the suspended load and the actual measured value of the position of the suspended load.
The center-of-gravity position calculation unit 12 uses a static model of the suspended load as the state model of the suspended load. For example, the center-of-gravity position calculation unit 12 includes a suspended load state model including variables indicating the amount of rotation of the suspended load, the position of the suspended load, and the center of gravity position of the suspended load, and the actual measurement value acquired by the actual measurement value acquisition unit 11. Based on the above, the center of gravity position of the suspended load is calculated.
Thereby, the center-of-gravity position calculation unit 12 can calculate the center-of-gravity position of the suspended load without having to solve the differential equation. In this respect, the center-of-gravity position calculation unit 12 can calculate the center-of-gravity position of the center position suspended load by a simple process.
In particular, the gravity center position calculation unit 12 can calculate the gravity center position of the suspended load in the height direction.

The state model of the suspended load used by the gravity center position calculation unit 12 is not limited to the above, and various state models can be used. In that case, the actual measurement value acquiring unit 11 acquires the suspended state actual measurement value according to the state model.
For example, when the actual measurement value acquisition unit 11 detects a suspended load using a load cell, it is not necessary to add equipment, and the suspended load can be detected at low cost in this respect. Moreover, when the actual measurement value acquisition part 11 detects a suspended load amount using a strain gauge, it is not necessary to add an installation, and a suspended load can be detected inexpensively in this respect. Alternatively, the actual measurement value acquisition unit 11 may detect the suspended load based on the hoisting torque.

  Moreover, when the actual measurement value acquisition part 11 detects the rotation speed of a winding drum using a winding encoder and calculates | requires the natural length of a rope based on the obtained rotation speed, it is not necessary to add an installation. The natural length of the rope can be detected at low cost. Also, with this method, the natural length of the rope can be detected with relatively high accuracy.

  Moreover, when the actual measurement value acquisition part 11 detects the displacement of the cylinder which moves an upper suspension point position using an encoder, and detects an upper suspension point position based on the displacement of the obtained cylinder, it adds an installation. There is no need, and in this respect, the position of the upper suspension point can be detected at a low cost.

  Moreover, when the actual measurement value acquisition part 11 detects the rotation amount (trim) of a suspended load using the inclinometer provided in the spreader, the rotation amount (trim) of a suspended load can be detected comparatively cheaply. Similarly, when the measured value acquisition unit 11 detects the amount of rotation (list) of the suspended load using an inclinometer provided in the spreader, the amount of rotation (list) of the suspended load can be detected relatively inexpensively.

  Moreover, when the actual measurement value acquisition part 11 detects the rotation amount (skew) of a suspended load using a gyroscope, it can detect the rotation amount (skew) of a suspended load comparatively cheaply. On the other hand, when the actual measurement value acquisition unit 11 detects the amount of rotation (skew) of the suspended load using a shake sensor, the amount of rotation (skew) of the suspended load can be detected with higher accuracy.

  Moreover, when the measured value acquisition part 11 detects the movement displacement of the horizontal direction of a hanging load using a shake sensor, it can detect a movement displacement with higher precision. Alternatively, when the actual measurement value acquisition unit 11 detects the acceleration of the suspended load using an accelerometer and detects the horizontal displacement of the suspended load by taking the second order integration, the horizontal direction of the suspended load is relatively inexpensive. Can be detected. Further, when the actual measurement value acquisition unit 11 detects the horizontal displacement of the suspended load from the traverse motor torque, it is not necessary to add equipment, and in this respect, the horizontal displacement of the load is detected at low cost. be able to.

  Moreover, when the actual measurement value acquisition part 11 detects the rotation speed of a winding drum using a winding encoder and detects the movement displacement of the vertical load based on the obtained rotation speed, it is necessary to add equipment. In this respect, the horizontal displacement of the load can be detected at a low cost. Or you may make it the actual value acquisition part 11 detect the movement displacement of the hanging load of a perpendicular direction using a laser distance meter.

  Moreover, when the actual measurement value acquisition part 11 detects the tension | tensile_strength of a winding rope using a load cell, it is not necessary to add an installation and can detect the tension | tensile_strength of a winding rope in this point cheaply. Or you may make it the actual value acquisition part 11 detect the tension | tensile_strength of a winding rope using a strain gauge.

It should be noted that a program for realizing all or a part of the functions of each part of the center-of-gravity position detection device 10 or 100 is recorded on a computer-readable recording medium, and the program recorded on the recording medium is read into a computer system. The processing of each unit may be performed by executing. Here, the “computer system” includes an OS and hardware such as peripheral devices.
Further, the “computer system” includes a homepage providing environment (or display environment) if a WWW system is used.
The “computer-readable recording medium” refers to a storage device such as a flexible medium, a magneto-optical disk, a portable medium such as a ROM and a CD-ROM, and a hard disk incorporated in a computer system. Furthermore, the “computer-readable recording medium” dynamically holds a program for a short time like a communication line when transmitting a program via a network such as the Internet or a communication line such as a telephone line. In this case, a volatile memory in a computer system serving as a server or a client in that case, and a program that holds a program for a certain period of time are also included. The program may be a program for realizing a part of the functions described above, and may be a program capable of realizing the functions described above in combination with a program already recorded in a computer system.

  The embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and includes design changes and the like without departing from the gist of the present invention.

DESCRIPTION OF SYMBOLS 10,100 Center-of-gravity position detection apparatus 11,110 Actual value acquisition part 12,120 Center-of-gravity position calculation part 121 Pre-processing part 122 Numerical value setting part 123 Variable value calculation part 124 Evaluation part 125 Reset part 130 Display part

Claims (8)

A center-of-gravity position detection device for determining the position of the center of gravity of a suspended load suspended by a rope,
An actual measurement value acquisition unit for acquiring an actual measurement value of data indicating a state in which the suspended load is suspended, for at least two different states;
Based on the state model of the suspended load including at least the center of gravity position of the suspended load as an unknown constant, and the measured value acquired by the measured value acquisition unit, the center of gravity position calculating unit that calculates the center of gravity position of the suspended load;
A center-of-gravity position detection device comprising: The actual measurement value acquisition unit acquires an actual measurement value of data indicating a state in which the suspended load is suspended, using at least time-series data including a time at which the suspended load is accelerated, decelerated, or rotated,
The center-of-gravity position detection unit according to claim 1, wherein the center-of-gravity position calculation unit uses a motion model of the suspended load as a state model of the suspended load. The center-of-gravity position calculation unit
A numerical value setting unit for setting an initial value of a variable included in the suspended load motion model and a value of an unknown constant;
The value set by the numerical value setting unit is applied to the motion model, and the value of the variable at the measurement time of the actual measurement value of the data indicating the state where the suspended load acquired by the actual measurement value acquisition unit is suspended is obtained. A variable value calculation unit to be obtained;
The evaluation unit that evaluates the value of the variable acquired by the variable value calculation unit and uses the set gravity center position of the suspended load as a calculation result of the gravity center position calculation unit when the evaluation result satisfies a predetermined condition And
The numerical value setting unit resets initial values of variables and unknown constant values included in the motion model of the suspended load when the evaluation result of the evaluation unit does not satisfy the predetermined condition. The center-of-gravity position detection device according to claim 2. The actual measurement value acquisition unit acquires the actual measurement value of the data indicating the state in which the suspended load is suspended, including the actual measurement value of the force to suspend the suspended load,
The evaluation unit includes a calculated value of the force for suspending the suspended load obtained from the value of the variable acquired by the variable value calculation unit, and an actual measurement value of the force for suspending the suspended load acquired by the actual measurement value acquisition unit. The center-of-gravity position detection device according to claim 3, wherein the value of the variable acquired by the variable value calculation unit is evaluated based on the value. The actual measurement value acquisition unit acquires an actual measurement value of data indicating a state where the suspended load is suspended in a state where acceleration and angular acceleration of the suspended load can be ignored,
The center-of-gravity position detection unit according to claim 1, wherein the center-of-gravity position calculation unit uses a static model of the suspended load as a state model of the suspended load. The actual measurement value acquisition unit acquires the actual measurement value of the data indicating the state in which the suspended load is suspended, including the actual measurement value of the rotation amount of the suspended load and the actual measurement value of the position of the suspended load,
The center-of-gravity position calculation unit is acquired by the suspended load state model including variables indicating the amount of rotation of the suspended load, the position of the suspended load, and the center of gravity position of the suspended load, and the actual measurement value acquisition unit. The center-of-gravity position detection device according to claim 5, wherein the center-of-gravity position of the suspended load is calculated based on an actual measurement value. A center-of-gravity position detection method of a center-of-gravity position detection device for determining the center-of-gravity position of a suspended load suspended by a rope,
An actual measurement value acquisition step of acquiring an actual measurement value of data indicating a state in which the suspended load is suspended for at least two different states;
Center-of-gravity position calculation unit step for calculating the center-of-gravity position of the suspended load based on the state model of the suspended load including at least the center-of-gravity position of the suspended load as an unknown constant and the actual measurement value acquired in the actual measurement value acquisition step When,
The center-of-gravity position detection method characterized by comprising. In the computer as the center of gravity position detection device that calculates the center of gravity position of the suspended load suspended by the rope,
An actual measurement value acquisition step of acquiring an actual measurement value of data indicating a state in which the suspended load is suspended for at least two different states;
Center-of-gravity position calculation unit step for calculating the center-of-gravity position of the suspended load based on the state model of the suspended load including at least the center-of-gravity position of the suspended load as an unknown constant and the actual measurement value acquired in the actual measurement value acquisition step When,
A program for running

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