JP2015163538A - Load swing detection device, confirmation device and load swing detection method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a load swing detection device which can detect an eccentric amount of the gravity center of an object, a confirmation device which can confirm a state of the object by using the load swing detection device, and a load swing detection method.SOLUTION: A load swing detection device 1 comprises: a first detection device 11 which detects a load of an object 200 when lifting the object 200; a plurality of second detection devices 12 which are arranged at a side face of the object 200, and detect forces in a horizontal direction when lifting the object 200; and a processing device 4 which calculates an eccentric amount of the gravity center of the object 200 with respect to a lift position of the object 200 from the load detected by the first detection device 11 and the forces in the horizontal direction detected by a plurality of the second detection devices 12.

Description

  The present invention relates to a load shake detection device capable of detecting a load shake when lifting an object, a confirmation device capable of performing a check operation based on the state of the object detected by the detection device, and a load shake detection method. .

  2. Description of the Related Art Conventionally, a technique for conveying, moving, and installing an object by lifting the object with a crane or the like is known. In such a lifting operation of an object, if the horizontal lifting position where the object is lifted by a hook or the like is deviated from the center of gravity of the object, the so-called load that causes the object to swing when the object is lifted. There is a possibility that the vibration may occur or the object is lifted in an inclined state.

  If such an object swing occurs or the object is lifted in an inclined state, the object may be damaged or dropped. For this reason, in order to avoid the occurrence of swinging and lifting of the object in an inclined state, the lifting work has been performed while visually confirming the state of the object and the like.

  Specifically, when the object is lifted and the object is separated from the ground, if it is visually confirmed that the bottom surface of the object is inclined with respect to the horizontal direction, the lifting operation is stopped once. Change the lifting position of the object and lift it again. Such a lifting position adjustment operation is performed until the target can be lifted in a normal state. However, if the adjustment work is repeatedly performed so as to be in the normal lifting position as described above, there is a problem that the operator needs to repeatedly adjust the lifting position of the object, and the workability is poor.

  In view of this, the three-dimensional position of the hook is measured by an imaging means or the like, and a deflection angle is detected based on an angular velocity signal output from a sensor (see, for example, Patent Document 1) or when a target is lifted. A technique for adjusting a lifting position using a detection device (see, for example, Patent Document 2) is known.

JP-A-6-72693 JP-A-6-58948

  The apparatus described above has the following problems. That is, in the apparatus described in Patent Document 1, even though the deflection angle can be detected from the relationship between the object and the lifting position, the vibration of the object caused by the eccentricity of the center of gravity of the object from the center of the object It is difficult to detect the tilt of an object.

  On the other hand, since the apparatus described in Patent Document 2 is a technique for detecting the deflection angle from the angular velocity generated by the load shake or inclination generated when the object is lifted, the center of gravity of the object is decentered. However, it is possible to detect the deflection angle. However, since the technique of Patent Document 2 detects the swing angle of the target object by once lifting the target object and separating it from the ground, there is a risk of the target object falling or being damaged due to the swing or tilt of the target object. is there. In addition, depending on the magnitude of the load swing, the operator may come into contact with the object.

  For this reason, there is a need for an apparatus and method that is a simple operation and that can safely detect a load swing and a tilt of an object.

  Therefore, the present invention provides a load shake detection device capable of detecting the amount of eccentricity of the center of gravity of an object, a confirmation device and a load shake detection method capable of confirming the state of the object using the load shake detection device. It is an object.

  In order to solve the above-described problems and achieve the object, a load shake detection device, a confirmation device, and a load shake detection method of the present invention are configured as follows.

  As one aspect of the present invention, a load shake detection device includes a first detection device that detects a load of the object when the object is lifted, and a plurality of load detection devices that are provided on a side surface of the object to lift the object. A second detection device for detecting a horizontal force at the time, and the lifting position of the object from the load detected by the first detection device and the horizontal force detected by a plurality of the second detection devices And a processing device for calculating an eccentric amount of the center of gravity of the object with respect to.

  As one aspect of the present invention, a plurality of vibration detection devices are provided in contact with a side surface of an object, and the detection device detects a horizontal force when the object is lifted. A processing device that calculates the mass of the object and the amount of eccentricity of the center of gravity of the object with respect to the lifting position of the object from the horizontal force detected by the detection device when the object is lifted; .

  As one aspect of the present invention, a plurality of vibration detection devices are provided in contact with a side surface of an object, and a detection device that detects a horizontal force when the object is lifted, and a load on the object. And the horizontal direction detected by the detection device when the object is lifted and when the load is applied to the object by the load application device and the object is lifted And a processing device that calculates the mass of the object and the amount of eccentricity of the center of gravity of the object with respect to the lifting position of the object from the force.

  As one aspect of the present invention, a confirmation device includes a load shake detection device and a storage device that is provided in the load shake detection device and stores information on a lifting position with respect to a gravity center position at which the object can be lifted in a normal posture as a threshold value. And a control unit that is provided in the load shake detection device and determines that the lifting position of the object is a normal posture when the amount of eccentricity detected by the load shake detection device is within the threshold range. And a notifying unit capable of notifying the state of the object, and confirming the state of the object notified by the notifying unit when the control unit determines that the lifting position of the object is a normal posture. An input device.

  As one aspect of the present invention, the load shake detection device lifts an object, detects a load of the object by a first detection device, and uses the second detection device provided on a side surface of the object to detect the object. A horizontal force when the object is lifted is detected, and the object is detected by the processing device from the load detected by the first detection device and the horizontal force detected by the plurality of second detection devices. The amount of eccentricity of the center of gravity of the object relative to the lifting position is calculated.

  According to the present invention, there are provided a load shake detection device capable of detecting an eccentric amount of the center of gravity of an object, a confirmation device and a load shake detection method capable of confirming the state of the object using the load shake detection device. It becomes possible.

Explanatory drawing which shows typically the structure of the load shake detection apparatus which concerns on the 1st Embodiment of this invention. Explanatory drawing which shows the structure of the same load shake detection apparatus typically. The side view which shows the structure of the detection apparatus used for the load shake detection apparatus. The top view which shows typically the structure of the same detection apparatus and a target object. The side view which shows typically the structure of the same detection apparatus and a target object. The side view which shows typically the structure of the same detection apparatus and a target object. The flowchart which shows an example of the lifting operation | work using the load shake detection apparatus. Explanatory drawing which shows typically the structure of the confirmation apparatus which concerns on the 2nd Embodiment of this invention. Explanatory drawing which shows the structure of the confirmation apparatus typically. The flowchart which shows an example of the suspension operation | work using the confirmation apparatus. Explanatory drawing which shows typically the structure of the load shake detection apparatus which concerns on the 3rd Embodiment of this invention. Explanatory drawing which shows typically the structure of the load shake detection apparatus which concerns on the 4th Embodiment of this invention.

(First embodiment)
Hereinafter, the confirmation apparatus 100 according to the first embodiment of the present invention will be described with reference to FIGS. 1 and 7.
FIG. 1 is an explanatory diagram schematically showing the configuration of a load shake detection device 1 according to the first embodiment of the present invention, FIG. 2 is an explanatory diagram schematically showing the configuration of the load shake detection device 1, and FIG. FIG. 4 is a top view schematically showing the configuration of the detection device 3 and the object 200, and FIG. 5 is a side view showing the main configuration of the detection device 3, the object 200 and the crane device 300 used in the shake detection device 1. 6 is a side view schematically showing the configuration of the detection device 3 and the target object 200, FIG. 6 is a side view schematically showing the configuration of the detection device 3 and the target object 200 from a side different from FIG. 5, and FIG. 4 is a flowchart illustrating an example of a lifting operation using the detection device 1.

  As shown in FIG. 1, when the object 200 is lifted by a crane device 300 and the object 200 is transported, moved, installed, and the like, This is a device that detects the possibility of occurrence from the lifting position and the center of gravity of the object 200.

  The crane device 300 is a crane installed in a crane vehicle, a crane installed on the ceiling of a factory, or the like. In the present embodiment, the crane device 300 will be described using the crane device 300 installed in the crane vehicle.

  For example, the crane apparatus 300 includes a boom 321 mounted on the vehicle 310 that can be rotated between predetermined angles, a jib 322 provided at the tip of the boom 321, a winch wire 323 that hangs downward from the jib 322, A hook 324 provided at the tip of the winch wire 323 and a lifting wire 325 provided on the hook 324 and installed on the object 200 are provided.

  As shown in FIGS. 1 to 4, the load shake detection device 1 is based on a detection device 3 that detects information on the target object 200 that is lifted by the crane device 300, and information on the target object 200 that is detected by the detection device 3. And a processing device 4 for calculating the swing of the object 200. Here, the swing of the object 200 is the inclination of the object 200 due to the rotational moment generated around the center of gravity when the lifting position of the object 200 and the center of gravity of the object 200 are shifted in the horizontal direction. This refers to vibration caused by or swinging.

  The detection device 3 includes a first detection device 11 that measures the load of the object 200 and a plurality of second detection devices 12 that detect a lateral force of the object 200, in other words, a horizontal force.

  The first detection device 11 is, for example, a strain gauge provided on the winch wire 323 of the crane device 300. The 1st detection apparatus 11 is formed so that the increase of the load of the target object 200 at the time of a lifting start can be detected. That is, the first detection device 11 starts the lifting operation, and the load of the object 200 before the object 200 is separated from the ground from the state where the bottom surface of the object 200 is in contact with the ground, specifically, The load of the object 200 applied to the winch wire 323 by the lifting operation in a state where the object 200 is grounded can be detected.

  As shown in FIGS. 3 to 6, the second detection device 12 includes a base 21 installed on the ground, and a frame 22 that is provided on the base 21 and contacts the side surface of the object 200 at a plurality of locations at different positions. And detecting means 23 for detecting a horizontal force applied to the frame 22 by the object 200 in contact with the frame 22. A plurality of second detection devices 12 are arranged on the side surface of the target object 200, for example, when the target object 200 is a hexahedron as shown in FIGS.

  The base 21 is formed so as to prevent the second detection device 12 from moving due to the force from the object 200 applied to the frame 22. For example, the base 21 is formed to have a weight that does not move due to pressing by the object 200 or to be fixed to the ground when detecting the swing of the object 200.

  The frame 22 is fixed to the base portion 21 and extends in the horizontal direction. The second frame branches from the first frame 25 in two directions, and the second frame extends in the horizontal direction toward the object 200. 26, and a roller 27 provided at the tip of the second frame 26, respectively.

  The first frame 25 extends in the horizontal direction from the base portion 21 and is formed integrally with the second frame 26.

  For example, the second frame 26 extends vertically from the end of the first frame 25 in the vertical direction, and extends in the horizontal direction by being bent and in the horizontal direction away from the base 21. Is done. In addition, the second frame 26 is located at a position where the top end of the second frame 26 is lower than the upper surface of the target object 200 and higher than the lower surface of the target object 200 so as to be able to contact the side surface of the target object 200 Placed in.

  Specifically, as shown in FIG. 3, the second frame 26 includes an upper vertical arm 26a that extends upward in the vertical direction from the first frame 25, and a lower vertical arm 26b that extends downward in the vertical direction from the first frame 25. And an upper horizontal arm 26c extending in the horizontal direction from the upper vertical arm 26a and a lower horizontal arm 26d extending in the horizontal direction from the lower vertical arm 26b. Such a second frame 26 is formed in a U shape in a side view.

  The roller 27 is rotatably supported at the tip of the second frame 26. The roller 27 is formed so as to be able to contact the side surface of the object 200.

  The detection means 23 is, for example, a strain gauge. The detection means 23 is provided on the first frame 25, and the force applied to the upper horizontal arm 26c and the lower horizontal arm 26d (from the distortion of the first frame 25 generated when the roller 27 is pressed by the object 200 ( (Stress) can be detected. The detection means 23 is electrically connected to the processing device 4 via the signal line 98, and is configured to be able to transmit information on the detected horizontal force by the object 200 to the processing device 4.

  Such a 2nd detection apparatus 12 is formed so that the horizontal force of the target object 200 added to the 2nd flame | frame 26 via the roller 27 at the time of a lifting start is detectable. That is, the second detection device 12 starts the lifting, and the load of the object 200 before the object 200 is separated from the ground from the state where the bottom surface of the object 200 is in contact with the ground, specifically, The load of the object 200 applied to the winch wire 323 by the lifting operation in a state where the object 200 is grounded can be detected.

  The processing device 4 includes a detection device interface (I / F) 31, a storage unit 32, a display unit 33, and a control unit 39. In the processing device 4, a detection device I / F 31, a storage unit 32, and a display unit 33 are connected to the control unit 39 by a bus line 99 or the like. Such a processing device 4 is an electronic computer such as a personal computer. In the processing device 4, the detection device I / F 31, the storage unit 32, the display unit 33, and the control unit 39 are accommodated in an outer body 4 a that forms an outer shell of the processing device 4.

  The detection device I / F 31 can be connected to the detection device 3, and more specifically, can be connected to the first detection device 11 and the plurality of second detection devices 12.

  The memory | storage part 32 is formed so that the information detected by the detection apparatus 3 can be memorize | stored. The storage unit 32 is configured to be able to store information derived by the control unit 39 based on information detected by the detection device 3. The storage unit 32 stores, for example, a calculation formula for calculating the amount of eccentricity of the target object 200 from information detected by the detection device 3 as a program.

  An example of a calculation formula used for the program stored in the storage unit 32 will be described below with reference to FIGS. 4 to 6, X indicates one direction in the horizontal direction, Y indicates a direction that is horizontal to X and orthogonal to X, and Z indicates a vertical direction.

Further, the load in the Z direction of the object 200 detected by the first detection device 11 is T, the mass of the object 200 is m, and the horizontal force applied to the second detection device 12 during lifting is F ₁ and F _2. , F ₃ , F ₄ , the vertical drag is N, the frictional force applied to the object 200 is F ₀₁ , F ₀₂ , and the eccentricity of the object 200 is a ₁ , a ₂ . Further, c the height of the object 200, the distance from the roller 27 of the upper horizontal arm 26c of the second detection unit 12 to the ceiling surface of the object 200 from _{c 1,} roller 27 of the lower horizontal arm 26d ceiling surface The distance is c ₂ , the distance from one side surface of the object 200 in one direction to the center (or lifting position) of the object 200 is b ₁ , and the one side surface of the object 200 in the other direction is describing the distance to the center (or lifting position) as b _2.

As shown in FIG. 5, the forces of the second detection devices 12 provided on the two opposing side surfaces of the object 200 in the X direction are F ₁ and F _2, and the frictional force in the X direction is F ₀₁ . The distance from the side surface of the target object 200 in the X direction to the center of the target object 200 is b ₁ . Similarly, as shown in FIG. 6, the forces of the second detection devices 12 provided on two opposing side surfaces of the target object 200 in the Y direction are F ₃ and F _4, and the friction force in the Y direction is F ₀₂ . , the distance from the side surface of the Y-direction of the object 200 to the center of the object 200 and _{b 2.}

In this case, the balance formula between the force in the vertical and horizontal directions and the moment is expressed by the formulas (1) to (5).

When the object 200 is lifted and the center of gravity S of the object 200 is decentered as shown in FIGS. 4 to 6, for example, considering the case of (a1 / b1)> (a2 / b2), FIG. Only the bottom of the part located in the middle and lower left is grounded. When the forces F1 and F2 at this time are taken into consideration, Equations (6) and (7) are obtained.

Assuming that the friction coefficient of the bottom surface of the object 200 is μ, 0 ≦ F01 ≦ μN is satisfied. Therefore, F1 and F2 have a maximum value when F01 = 0 and have a minimum value when F01 = μN. For this reason, the eccentricity a1 is calculated | required from Numerical formula (8).

Similarly, the amount of eccentricity a2 is obtained from Expression (9).

  The obtained eccentric amounts a1 and a2 are the lifting positions of the object 200 that can be lifted in a normal state, that is, the eccentric amounts from the center of the object 200. A program capable of calculating the amount of eccentricity based on such a calculation formula is stored in the storage unit 32.

  The display unit 33 is, for example, a liquid crystal display or a printer that displays information as a paper medium. The display unit 33 is configured to be able to display information detected by the detection device 3 and information derived by the control unit 39. The display unit 33 is formed so that, for example, an operator of the target object 200 can visually recognize displayed information.

  The control unit 39 is configured to be able to transmit and receive information to and from the detection device I / F 31, the storage unit 32, and the display unit 33 connected via the bus line 99. Further, the control unit 39 derives information on the object 200 based on the information received from the detection device I / F 31 and the storage unit 32.

  Specifically, the control unit 39 has the following functions (1) to (4).

  (1) A function of detecting information on the object 200 when the object 200 starts to be lifted.

  (2) A function of calculating the amount of eccentricity of the object 200 from each piece of information detected by the detection device 3.

  (3) A function of deriving the lifting position from the amount of eccentricity of the object 200.

  (4) A function of displaying at least one of the amount of eccentricity of the object 200 and the lifting position.

  Next, these functions (1) to (4) will be described.

  Function (1) is the first detection when the lifting wire 325 is provided on the object 200 and the lifting of the object 200 is started by the crane apparatus 300, and when the object 200 is in a grounded state. This is a function for detecting the force detected by the device 11 and the second detection device 12.

  More specifically, when the lifting operation is started, the weight of the object 200 is applied to the winch wire 323 before the object 200 leaves the ground, and the tension is applied to the winch wire 323 by this weight. Information on the load of the object 200 detected by the first detection device 11 by this tension is received and stored in the storage unit 32.

  Further, when the weight of the object 200 is applied to the winch wire 323, the object 200 is inclined with respect to the lifting direction when the center of gravity of the object 200 is eccentric with respect to the lifting position. For this reason, a horizontal force is generated even when the object 200 is grounded. Information on the horizontal force detected by the second detection device 12 when the load is detected by the first detection device 11 is received and stored in the storage unit 32. As described above, the function (1) is a function of detecting the load in the gravity direction and the force in the horizontal direction detected by the object 200 in the grounded state by the first detection device 11 and the second detection device 12, respectively.

  In the function (2), the eccentric amounts a1 and a2 with respect to the lifting position of the object 200 are calculated by the program stored in the storage unit 32 from the load and the horizontal force of the object 200 detected in the function (1). And a function of storing in the storage unit 32.

  Function (3) is the amount of movement from the original lifting position or the object at the time of adjustment so that the lifting position is located on the center of gravity from the eccentricity a1, a2 calculated in function (2) and the current lifting position. This is a function for calculating the coordinates of the lifting position on the upper surface of the object 200 and storing it in the storage unit 32.

  The function (4) is calculated by the function (2) and the function (3), and the operator sets at least one of the eccentric amounts a1 and a2 stored in the storage unit 32 and the newly adjusted lifting position of the object 200. This is a function of displaying on the display unit 33 so that the lifting position can be changed.

  Next, the suspension work of the object 200 by the crane apparatus 300 using the load shake detection apparatus 1 configured as described above will be described with reference to the flowchart shown in FIG.

  First, the worker prepares for lifting the object 200 (step ST1). Specifically, the hook 324 of the crane apparatus 300 is disposed at substantially the center of the object 200, and the lifting wire 325 is installed on the object 200 and the hook 324.

  Next, an operator operates the crane apparatus 300 and lifts the target object 200 (step ST2). If the load is detected by the first detection device 11 in the state where the lifting of the target object 200 is started and the bottom surface of the target object 200 is in contact with the ground, the control unit 39 The second detection device 12 detects the load and horizontal force, which are information of the object 200 (step ST3), and stores them in the storage unit 32. The operator stops the operation of the crane device 300 after the information about the object 200 is detected by the first detection device 11 and the second detection device 12 and before the object 200 leaves the ground.

  The control unit 39 calculates the eccentric amounts a1 and a2 from the detected load and the horizontal force (step ST4) and stores them in the storage unit 32. Moreover, the control part 39 displays the new lifting position based on the calculated eccentricity a1, a2 or the eccentricity a1, a2 on the display part 33 (step ST5).

  The operator adjusts the lifting position based on the eccentric amounts a1 and a2 displayed on the display unit 33 (step ST6). Specifically, the operator drives the crane device 300 based on the information displayed on the display unit 33 to adjust the position where the hook 324 is lifted, and then lifts the object 200 again. At this time, the lifting position readjusted based on the eccentric amounts a1 and a2 is arranged on the center of gravity of the target object 200, so that the target object 200 is lifted without causing a vibration. The lifting operation of the object 200 is performed through such a process.

  According to the vibration detection device 1 configured as described above, the object 200 can be lifted at a new lifting position based on the eccentric amounts a1 and a2 calculated by lifting the object 200 once. Can prevent the object 200 from swinging.

  More specifically, when the object 200 is lifted at a position deviated from the center of gravity of the object 200, a rotational moment is generated around the center of gravity, so that when the object 200 is separated from the ground, the inclination of the object 200 is increased. There is a risk that the object 200 may be lifted in an inclined state or a load may be shaken due to the occurrence of a swing or the like.

  However, according to the vibration detection device 1, it is possible to determine the amount of eccentricity with respect to the lifting position while the object 200 is in contact with the ground, and then adjust the lifting position based on the determined amount of eccentricity. For this reason, in the conventional lifting operation, it is not necessary to perform an operation of adjusting the lifting position by visually checking the target object 200 in a state where the target object 200 is separated from the ground and predicting from the inclination of the target object 200. For this reason, when the target object 200 is lifted until it is separated from the ground, it is possible to prevent the swing of the target object 200 from occurring.

  Furthermore, since a horizontal force (movement stress) of the object 200 is generated when the lifting load is T> (b−a) mg / b, the second object even when the object 200 is lifted in contact with the ground. It can be detected by the detection device 12.

  Further, in such a lifting operation, the greater the amount of eccentricity, the more the load swings or tilts when the object 200 is separated from the ground. However, according to the load shake detection device 1, the greater the amount of eccentricity, the more the horizontal force of the object 200 can be detected by the second detection device 12. For this reason, even if the amount of eccentricity is large with respect to the lifting position, the amount of eccentricity can be reliably obtained before the object 200 is separated from the ground, and the lifting operation can be performed safely.

  Moreover, in the operation | work which visually observes and adjusts the target object 200 in the state in which the target object 200 was separated from the ground, it is necessary to repeatedly adjust the lifting position. However, according to the vibration detection device 1, the amount of eccentricity can be obtained only by lifting the object 200 once and detecting the load of the object 200 and the force in the horizontal direction. For this reason, by using the load shake detection apparatus 1, it is not necessary to repeatedly adjust the lifting position, and the lifting work process can be reduced.

  As described above, according to the vibration detection device 1 according to the first embodiment of the present invention, the eccentric amount of the center of gravity of the object 200 is detected in a state where the object 200 to be lifted is in contact with the ground. Therefore, it is possible to prevent the object 200 from wobbling during the lifting operation.

(Second Embodiment)
Next, the confirmation apparatus 100 using the load shake detection apparatus 1A according to the second embodiment of the present invention will be described with reference to FIGS.
FIG. 8 is an explanatory diagram schematically showing the configuration of the confirmation device 100 according to the second embodiment of the present invention, FIG. 9 is an explanatory diagram schematically showing the configuration of the confirmation device 100, and FIG. It is a flowchart which shows an example of the hanging work which was. Note that, in the confirmation device 100 according to the second embodiment, the same components as those in the load deflection confirmation device 100 according to the first embodiment will be described using the same reference numerals.

  The confirmation device 100 confirms the state of the object 200 to be lifted by the confirmer 210, and when there is an abnormality in the lifting position, the lifting position of the object 200 is changed, and the confirmed lifting position is normal. In this case, by inputting information on the end of the confirmation, the apparatus notifies the end of the confirmation and shifts to the next process of the work. Specifically, the confirmation device 100 is a device that assists to ensure confirmation of the lifting operation of the object 200 when shifting from the lifting operation step in the moving operation of the object 200 to the next step. is there.

  As shown in FIGS. 8 and 9, the confirmation device 100 includes a load shake detection device 1 </ b> A and an instruction device 2. In addition, the confirmation apparatus 100 is formed so that information can be transmitted and received as a signal between the load shake detection apparatus 1A and the instruction apparatus 2 wirelessly or by wire. In the present embodiment, a description will be given using a configuration capable of transmitting and receiving information between the vibration detection device 1 and the instruction device 2 wirelessly.

  As shown in FIG. 8, the vibration detection device 1 </ b> A detects the possibility of the vibration of the object 200 from occurring based on the detection device 3 and the information of the object 200 detected by the detection device 3. And a processing device 4 </ b> A that detects from the center of gravity of the object 200.

  The processing device 4A includes a detection device I / F 31, a first storage unit 32, a display unit 33, a transmission unit 34, a second storage unit 35, a reception unit 36, a notification unit 37, and a control unit 39. It is equipped with. In the processing device 4A, the control unit 39 includes a detection device I / F 31, a first storage unit 32, a display unit 33, a transmission unit 34, a second storage unit 35, a reception unit 36, and a notification unit 37 via a bus line 99 or the like. It is connected. Such a processing apparatus 4A is an electronic computer such as a personal computer. In the processing device 4A, the detection device interface (I / F) 31, the storage unit 32, the display unit 33, and the control unit 39 are housed in the first outer body 4a that forms the outer shell of the processing device 4A, and the second memory The unit 35, the receiving unit 36, and the notification unit 37 are accommodated in a second outer body 4b that forms an outer shell of the processing device 4A separately from the first outer body 4a. For example, the second outer body 4b is disposed at a position where visibility is good from the standing position of the operator.

  The first storage unit 32 is the storage unit 32. The first storage unit 32 further includes a normal posture of the target object 200, in other words, the center of gravity position in a normal state in which the target object 200 does not tilt or swing and can be safely lifted. Information of the lifting position with respect to is stored as a threshold value.

  The transmission unit 34 is configured to be able to transmit information stored in the first storage unit 32 and the second storage unit 35 to the instruction device 2 by, for example, wired or wireless. The transmission unit 34 transmits information indicating whether or not the lifting work can be continued, for example, information equivalent to the information displayed on the display unit 33 or information equivalent to the information notified to the notification unit 37 to the instruction device 2. It is made possible.

  The second storage unit 35 is a recording device formed to be able to record information input from the instruction device 2. Further, the second storage unit 35 is formed so that the recorded information can be output to the display unit 33. The receiving unit 36 is configured to be able to receive a signal transmitted from the pointing device 2 wirelessly or by wire.

  The notification unit 37 is configured to be able to notify the status of work based on information detected by the detection device 3. Specifically, the notification unit 37 determines whether the lifting position of the target object 200 is normal or abnormal and / or the target object 200 is normal and can be shifted to the next operation. It is formed so that it can be notified. For example, the notification unit 37 includes a plurality of, specifically, first to third signal units 37R, 37Y, and 37B that emit light in different colors. For example, the first signal unit 37R emits red light, the second signal unit 37Y emits yellow light, and the third signal unit 37B emits blue light.

  The notification unit 37 is a notification device that is configured so as to be notified by a plurality of lights, characters or symbols, sounds, or the like based on information detected by the detection device 3 and information input by the pointing device 2. In addition, it is desirable that the notification unit 37 is formed so as to be able to notify not only the confirmer 210 but also, for example, an operator or a person at the work site.

  The control unit 39 further has the following functions (5) to (8).

  (5) A function of determining whether or not the lifting operation of the object 200 can be continued.

  (6) A function for notifying whether or not the lifting operation of the object 200 can be continued.

  (7) A function of transmitting information indicating that the lifting operation of the object 200 can be continued to the pointing device 2.

  (8) A function of receiving an input of lifting work confirmation by the pointing device 2.

  Next, these functions (5) to (8) will be described.

  Function (5) is a function of whether or not the amount of eccentricity calculated by the processing device 4A during the lifting operation is an amount of eccentricity capable of continuing the lifting operation, that is, when the lifting operation is continued. This is a function for determining whether or not the lifting position does not cause a shake.

  Specifically, the amount of eccentricity calculated in the function (2) is compared with the threshold value stored in the first storage unit 32. When the amount of eccentricity is smaller than the threshold value, it is determined that the lifting work can be continued. . Further, the amount of eccentricity calculated in the function (2) is compared with the threshold value stored in the first storage unit 32. If the amount of eccentricity is larger than the threshold value, it is determined that the lifting operation cannot be continued. As described above, the function (5) is a function for comparing the calculated amount of eccentricity with the threshold value stored in the storage unit 32 and determining whether or not it can be lifted safely.

  The function (6) is a function of notifying the notification unit 37 of whether or not the lifting work determined in the function (5) can be continued. Specifically, when it is determined by the function (5) that the lifting operation cannot be continued, the first signal unit 37R is used to notify that the lifting operation is stopped and the lifting position is readjusted. To emit light. It should be noted that if the suspension position is deviated from the center of gravity of the object 200 and the amount of eccentricity is larger than the threshold value, it means that the load shake occurs, so that the occurrence of the load shake is detected. The information may be further displayed on the display unit 34.

  When it is determined in the function (5) that the lifting operation can be continued, the second signal unit 37Y is caused to emit light and the pointing device 2 can continue the lifting operation in order to notify that the lifting position is normal. When confirmation that it is possible is input, the third signal unit 37B that notifies the restart of the lifting work is caused to emit light. Thus, the function (6) is a function for notifying the operator of the object 200 and the confirmer 210 of whether or not the lifting work can be continued.

  The function (7) is a function for transmitting the information to the pointing device 2 when it is determined in the function (5) that the lifting work can be continued.

  In the function (8), it is determined that the lifting work can be continued in the function (5), and the confirmer 210 confirming the light emission of the second signal unit 37Y in the function (6) is the lifting work input by the pointing device 2. This is a function for receiving continuation confirmation information.

  When the control unit 39 receives the input information from the pointing device 2 in the function (8), the control unit 39 determines that the work confirmation is instructed by the function (5), and the function (6) sets the third signal unit 37B. Make it emit light. Further, the first storage unit 32 and the second storage unit 35 store the input information by the pointing device 2.

  The instruction device 2 includes a receiving device 51, a notification device 52, an input device 53, and a display device 54. For example, the pointing device 2 can be carried by the confirmer 210 that performs confirmation during the lifting operation of the object 200, or is disposed near the position where the confirmer 210 confirms the object 200.

  The receiving device 51 is configured to be able to receive the radio signal transmitted by the transmitting unit 34.

  The notification device 52 is electrically connected to the reception device 51. The notification device 52 is configured to be able to notify information received by the reception device 51. For example, the notification device 52 is configured to be able to notify the information by means that the confirmer 210 can recognize, such as sound, vibration, or light. In addition, the alerting | reporting apparatus 52 should just be formed so that at least the confirmer 210 can be alerted.

  The input device 53 is instructed by the confirmer 210, that is, the state of the object 200 is normal by confirmation by visual confirmation, and the notification unit 37 and the notification device 52 are informed of the continuation of the lifting operation. Then, it is formed so that it can be input that the visual confirmation of the state of the object 200 has been completed. The input device 53 includes, for example, an acceleration sensor and a transmission device that transmits information wirelessly.

  The input device 53 may continue the lifting operation when the confirmer 210 grasps the input device 53 and performs the pointing operation of pointing and calling, and the acceleration sensor detects the pointing and pointing operation of pointing and calling. The confirmation information 210 is input so that the confirmation information can be input. Further, the input device 53 is configured to be able to input the confirmation information only when the second signal unit 37Y emits light by the control unit 39, in other words, only when the state of the object 200 is normal. . For example, the control unit 39 causes the second signal unit 37 </ b> Y to emit light, transmits a signal to enter the standby state in which confirmation information can be input to the input device 53, and receives this signal by the instruction device 2, thereby allowing the input device 53 to receive the signal. Can be switched to a standby state.

  The display device 54 is formed so that, for example, the information received by the receiving device 51 can be displayed by characters or symbols. The display device 54 is, for example, a small display provided in the instruction device 2.

  As shown in FIG. 8, the pointing device 2 has a portable first portable device 2 a in which a receiving device 51, a notification device 52, and a display device 54 are integrally incorporated, and an input device 53. And a portable second portable device 2b.

  For example, the first portable device 2a is configured by a wristwatch type that can be wound around an arm, or a small display that can be stored in a pocket of the work clothes of the checker 210 or the like. In FIG. 8, the 1st portable apparatus 2a shows the structure with which the wrist of the confirmer 210 was mounted | worn as a wristwatch type.

  For example, the second portable device 2b is formed so that the confirmer 210 can hold it. Since the second portable device 2b accommodates the input device 53 inside, the confirmation information can be input to the processing device 4A wirelessly by pointing and calling while holding the second portable device 2b. It is configured. That is, as the confirmation person 210 inputs an instruction to end confirmation, the accelerometer detects the movement of the second portable device 2b by pointing and calling while holding the second portable device 2b, and the detected information As confirmation information for which the visual confirmation of the object 200 has been completed by the confirmer 210, the confirmation information can be input to the processing device 4A.

  Next, the lifting work using the confirmation apparatus 100 configured as described above will be described with reference to the flowchart shown in FIG.

  First, the worker prepares for lifting the object 200 (step ST11). Specifically, the hook 324 of the crane apparatus 300 is disposed at substantially the center of the object 200, and the lifting wire 325 is installed on the object 200 and the hook 324.

  Next, an operator operates the crane apparatus 300 and lifts the target object 200 (step ST12). If the load is detected by the first detection device 11 in a state where the lifting of the target object 200 is started and the target object 200 is not separated from the ground, the control unit 39 will detect the first detection device 11 and the second detection device. 12, the load and horizontal force, which are information of the object 200, are detected (step ST <b> 13) and stored in the first storage unit 32. When the information on the target object 200 is detected, the worker stops the operation of the crane device 300 before the target object 200 leaves the ground.

  The control unit 39 calculates the eccentric amounts a1 and a2 from the detected load and force, stores them in the first storage unit 32, and compares the calculated eccentricity with the threshold stored in the first storage unit 32. It is determined whether or not the lifting work can be continued (step ST14). When it is determined that the lifting operation cannot be continued, that is, when the lifting position of the object 200 is out of the threshold value, that is, when the lifting position is outside the allowable range (YES in step ST14). The control unit 39 displays a new lifting position based on the calculated eccentricity a1, a2 or the eccentricity a1, a2 on the display unit 33 (step ST15).

  The operator adjusts the lifting position based on the eccentric amounts a1 and a2 displayed on the display unit 33, and lifts the object 200 again (step ST16). The control unit 39 detects the load and the force in the horizontal direction by the first detection device 11 and the second detection device 12 after starting the lifting of the target object 200 and in a state where the target object 200 is not separated from the ground ( Step ST17), the first storage unit 32 is stored. When the information on the target object 200 is detected, the worker stops the operation of the crane device 300 before the target object 200 leaves the ground.

  The control unit 39 calculates the eccentric amounts a1 and a2 from the detected load and force and stores them in the first storage unit 32, and compares the calculated eccentricity with the threshold value stored in the first storage unit 32. It is determined whether or not the lifting operation after the lifting position adjustment is continued (step ST18). If it is determined that the lifting operation cannot be continued (NO in step ST18), the control unit 39 returns to step ST15 again to display the eccentricity amount on the display unit 33, and thereafter, the processes after step ST16 are performed. .

  When it is determined by the control unit 39 that the lifting operation can be continued, that is, the lifting position of the object 200 is within the threshold value, that is, the lifting position is within an allowable range in which the lifting operation can be performed. If so (YES in step ST18), the control unit 39 causes the second signal unit 37Y to emit light (step ST19). In addition, the control unit 39 transmits the information to the instruction device 2 and notifies the notification device 52 that the lifting work can be continued. In addition, the control unit 39 transmits a signal to the input device 53 and sets the input device 53 in a standby state so that confirmation information can be input by the input device 53.

  In step ST14, when the control unit 39 determines that the lifting operation can be continued (NO in step ST14), the second signal unit 37Y is similarly caused to emit light (step ST19), and the notification device 52 is used. Is informed that the lifting operation can be continued, and the input device 53 is set in a standby state so that confirmation information can be input by the input device 53.

  The confirmer 210 performs visual confirmation of both the information indicating that the lifting work notified by the notification unit 37 and the notification device 52 can be continued and the state of the object 200 (step ST20). If there is no abnormality in the object 200, the confirmer 210 inputs confirmation information indicating completion of confirmation by pointing and calling while holding the input device 53 (second portable device 2b) (step ST21). ).

  When detecting the confirmation information input by the input device 53, the control unit 39 stores the confirmation information in the second storage unit 35 and causes the third signal unit 37B to emit light. When the worker confirms the light emission of the third signal unit 37B, the worker resumes the lifting work, moves the object 200 away from the ground, lifts the object 200, and moves it to a predetermined position (step ST23). Through these steps, the lifting position is adjusted by adjusting the lifting position of the object 200 to prevent the swinging of the object 200 and confirming the continuation of the work by the confirmer 210.

  According to the confirmation device 100 configured as described above, in the same manner as the above-described load shake detection device 1, the load shake detection device 1 </ b> A allows the target object 200 to be lifted up to be in contact with the ground. It is possible to detect the amount of eccentricity of the center of gravity. That is, by detecting the amount of eccentricity by the load shake detection apparatus 1A, it is possible to detect the occurrence of the load shake of the object 200. Thereby, by using the load shake detection device 1A, it is possible to adjust the lifting position of the object 200 in a safe and fewer work process.

  In addition, the confirmation device 100 can confirm the state of the target object 200 detected by the load shake detection device 1 </ b> A by the display unit 33, the notification unit 37, the notification device 52, and the display device 54. In addition, when the state of the target object 200 confirmed by the notification unit 37 and the notification device 52 is normal, the input device 53 inputs an end of visual confirmation of the target object 200 and a transition instruction to the next process, The confirmation operation of the target object 200 can be performed reliably.

  In addition, the confirmation work includes information indicating that the lifting position of the target object 200 is in a normal state, information on visual confirmation of the state of the target object 200, and input of confirmation information by the input device 53. Since it can be stored in the storage unit 35, it becomes easy to manage whether or not the confirmation work is performed during the lifting work.

  In addition, the notification unit 37 and the notification device 52 confirm whether or not the confirmation of the state of the object 200 and the work transfer to the next process is possible, and the completion of the confirmation is a standby state when the state of the object 200 is normal. A procedure for the confirmation person 210 to input confirmation completion using the input device 53 is required. For this reason, confirmation of the state of the object 200 and work transfer can be surely confirmed by the confirmer 210 without using formal rules or the like of the confirmer 210 or the like. It becomes possible.

  That is, it is possible to detect the state of the target object 200 using the confirmation device 100, and to perform the confirmation work reliably by comparing the detected state of the target object 200 with the visual confirmation of the confirmer 210. It becomes. In addition, the confirmation of the state of the object 200 can be confirmed based on the notification of the notification unit 37 and the notification device 52, and workability is improved.

  Furthermore, the confirmation apparatus 100 can prevent the work of the target object 200 from continuing when the state of the target object 200 is abnormal. More specifically, when the next process is performed in a state where the first signal unit 37R or the second signal unit 37Y is emitting light, it becomes clear that the confirmation work is not completed, and the confirmation work is also the first, It is stored in the second storage unit 32, 35. For this reason, it is possible to prevent the result human error by clarifying the responsibility in the confirmation work and suppressing the formal confirmation work.

  In addition, the input device 53 is placed in a standby state by the control unit 39 only when the determined state of the target object 200 is normal, and the state of the target object 200 is abnormal by enabling input. At some point, it is possible to prevent the transition to the next process. Thereby, it becomes possible to improve the reliability of the confirmation apparatus 100 and confirmation work.

  Further, the input device 53 is configured to input confirmation information by detecting the movement of the hand pointing at the time of pointing with an acceleration sensor, thereby allowing the confirmer 210 to perform pointing and calling reliably. It becomes possible.

  As described above, according to the confirmation device 100, it is possible to detect the amount of eccentricity of the center of gravity of the target object 200 while the target object 200 to be lifted is in contact with the ground, and the detection device 3 detects it. Confirmation work can be performed based on the state of the object 200. Thereby, the confirmation apparatus 100 can confirm the state of the target object 200 easily and reliably.

(Third embodiment)
Hereinafter, a load shake detection apparatus 1B according to the third embodiment of the present invention, which is a modification of the load shake detection apparatuses 1 and 1A according to the first and second embodiments described above, will be described with reference to FIG. To do. Note that, in the load shake detection apparatus 1B according to the third embodiment, the same components as those in the load shake detection apparatuses 1 and 1A according to the first and second embodiments described above are denoted by the same reference numerals, and details thereof are described. The detailed explanation is omitted.

  FIG. 11 is an explanatory view schematically showing a configuration of a load shake detection apparatus 1B according to the third embodiment of the present invention.

  The vibration detection device 1B includes a detection device 3B and the processing device 4 or the processing device 4A. In the present embodiment, the load shake detection device 1 </ b> B will be described using a configuration including the processing device 4. Note that the load shake detection device 1B can be used for the confirmation device 100 when the processing device 4A is used.

  When the object 200 to be lifted is lifted by the crane device 300 and the object 200 is transported, moved, installed, and the like, the load shake detection apparatus 1B may cause a vibration of the object 200 during the lifting. This is a device that detects from the lifting position and the center of gravity of the object 200.

  The detection device 3B includes a plurality of detection devices 12 that detect force in the lateral direction of the object 200, in other words, the horizontal direction. That is, the detection device 3 </ b> B has a configuration in which the first detection device 11 is not included in the detection device 3 and only the second detection device 12 is included.

  In the processing device 4, the storage unit 32 calculates the mass of the object 200 by the control unit 39 from the programs using the above-described mathematical formulas (1) to (9) and information detected by the plurality of detection devices 12. The calculation formula to be stored is stored as a program. The calculation formula used in the program is a calculation formula for estimating the mass by performing the lifting operation of the object 200 twice and obtaining the eccentricity based on the estimated mass.

An example of a calculation formula used for the program stored in the storage unit 32 will be described below. In FIG. 5 during the first lifting operation, the load moment around the corner located at the lower left of the object 200 (centered on the ridge) is C ₀ and in FIG. 5 during the second lifting operation. Let C be the load moment around the corner located at the lower right of the object 200 (centered on the ridge).

First, as a first lifting operation, the lifting operation is performed with the approximate center position of the object 200 as the lifting position, and the horizontal force is detected by the detection device 12 in a state where the object 200 is in contact with the ground. The balance of rotational moments centered on the ridge of the object 200 located at the lower left in FIG. 5 is expressed by the formula (10).

Next, as the second lifting operation, the lifting operation is performed by shifting the position by Δb from the first lifting position of the object 200, and the horizontal force is applied by the detection device 12 with the object 200 in contact with the ground. When detected, the balance of rotational moments centered on the ridge portion of the object 200 located at the lower right in FIG. 6 is expressed by the equation (11).

From these mathematical formulas (10) and (11), the mass m has the relationship of the mathematical formula (12).

  A program that can calculate the mass m of the object 200 based on such a calculation formula is further stored in the storage unit 32. The control unit 39 estimates the mass of the object 200 and calculates the amount of eccentricity using the program stored in the storage unit 32.

  According to the load shake detection device 1B configured as described above, the eccentric amount of the object 200 can be obtained in the same manner as the load shake detection devices 1 and 1A described above, and the lifting position is based on the calculated eccentric amount. By adjusting the, it is possible to prevent load swinging and perform the lifting work safely. Further, according to the load shake detection apparatus 1B, it is possible to detect the amount of eccentricity by lifting the object 200 twice at different lifting positions without measuring the load of the object 200 at the start of lifting. It becomes.

(Fourth embodiment)
Hereinafter, a vibration detection device 1C according to the fourth embodiment of the present invention, which is a modification of the vibration detection devices 1, 1A, 1B according to the first to third embodiments described above, will be described with reference to FIG. I will explain. Note that, in the load shake detection device 1C according to the fourth embodiment, the same reference numerals are given to the same configurations as the load shake detection devices 1, 1A, 1B according to the first to third embodiments described above, Detailed description thereof is omitted.

  FIG. 12 is an explanatory view schematically showing the configuration of a load shake detection apparatus 1C according to the fourth embodiment of the present invention.

  As illustrated in FIG. 12, the load shake detection device 1 </ b> C is a hanging operation of the object 200 using the crane device 300, and is particularly used for a confirmation operation for the inclination of the object 200 by the confirmer 210.

  The load shake detection device 1 </ b> C includes a detection device 3 </ b> B, a processing device 4 or a processing device 4 </ b> A, and a load application device 5. In the present embodiment, the load shake detection device 1 </ b> C will be described using a configuration including the processing device 4. Note that the load shake detection apparatus 1C can be used for the confirmation apparatus 100 when the processing apparatus 4A is used.

  The swing detection device 1C is a device that detects the shake of the object 200 during lifting when the object 200 to be lifted is lifted by the crane device 300 to carry, move, or install the object 200. .

  The control unit 39 of the processing device 4 uses the program using the above-described mathematical formulas (1) to (12) stored in the storage unit 32 and performs the lifting operation of the object 200 twice, thereby applying the load. The amount of eccentricity is calculated based on the estimated load.

  The load application device 5 is formed on the upper surface of the object 200 so that an arbitrary load can be applied. The load application device 5 applies the load in the horizontal direction detected by the detection device 12 of the target object 200 by applying a load on the target object 200 while the lifting position remains the same after the first lifting operation. Change.

The load swing detection device 1C configured in this way can calculate C ₀ and C based on the load applied for the second time, and can determine the amount of eccentricity by calculating the mass m from the calculated C. Become.

  According to the load shake detection apparatus 1C configured as described above, the eccentric amount of the object 200 can be obtained in the same manner as the load shake detection apparatuses 1 and 1B described above, and the lifting position is based on the calculated eccentric amount. By adjusting the, it is possible to prevent load swinging and perform the lifting work safely. Further, according to the load shake detection device 1C, an arbitrary load can be applied to the object 200 by the load application device 5 during the second lifting operation without measuring the load of the object 200 at the start of lifting. Thus, the amount of eccentricity can be detected.

  The present invention is not limited to the above-described embodiments. In the above-described example, the display device 54 is provided only in the pointing device 2, but a display device that can be visually recognized by the worker may be separately provided so that the worker of the crane device 300 can be notified. .

  In the above-described example, the second detection device 12 has been described with the configuration in which the upper horizontal arm 26c and the lower horizontal arm 26d are provided on the upper vertical arm 26a and the lower vertical arm 26b of the second frame 26, respectively. The structure which provides may be sufficient. Further, the frame 22 may have a configuration without the roller 27, or may have a configuration in which the tip of each horizontal arm 26c, 26d has a spherical shape. Moreover, although the 2nd detection apparatus 12 demonstrated the structure which provides the detection means 23 in the 1st flame | frame 25, the structure provided in each horizontal arm 26c, 26d of the 2nd flame | frame 26 may be sufficient, respectively.

  Moreover, although the target object 200 was demonstrated using the structure of a hexahedron in the example mentioned above, it is not limited to this, Even if it is the target object 200 of polygonal column shape, it is detectable. That is, it can be set as appropriate as long as the horizontal force of the object 200 can be detected at a plurality of locations during the lifting operation and in a state where the object 200 is in contact with the ground.

  Moreover, the calculation formula used for the program memorize | stored in the memory | storage part 32 mentioned above is not limited to the example mentioned above, The amount of eccentricity is based on the force of the target object 200 which arises by the shift | offset | difference of a lifting position and a gravity center by lifting work. If it can be detected, it can be set appropriately.

  In addition, the above-described load shake detection devices 1, 1 </ b> A, and 1 </ b> B can naturally detect the amount of eccentricity from the force detected when the object 200 is partly separated from the ground. However, the load shake detection devices 1, 1 </ b> A, and 1 </ b> B detect the amount of eccentricity by the lifting force that can be detected while the object 200 is grounded, so that the lifting position is eccentric from the center of gravity of the object 200. Since it is possible to prevent the swing of the load that occurs when the object 200 is lifted, it is preferable to calculate the amount of eccentricity and adjust the lifting position by the force in the installed state. In addition, various modifications can be made without departing from the scope of the present invention.

DESCRIPTION OF SYMBOLS 1, 1A, 1B, 1C ... Detection apparatus, 2 ... Instruction apparatus, 2a ... 1st portable apparatus, 2b ... 2nd portable apparatus, 3, 3B ... Detection apparatus, 4, 4A ... Processing apparatus, 4a ... Outer body, 4a DESCRIPTION OF SYMBOLS 1st outer body, 4A ... Processing apparatus, 4b ... 2nd outer body, 5 ... Load application apparatus, 11 ... 1st detection apparatus, 12 ... 2nd detection apparatus (detection apparatus), 21 ... Base part, 22 ... Frame, DESCRIPTION OF SYMBOLS 23 ... Detection means 25 ... 1st frame, 26 ... 2nd frame, 26a ... Upper vertical arm, 26b ... Lower vertical arm, 26c ... Upper horizontal arm, 26d ... Lower horizontal arm, 27 ... Roller, 31 ... Detection apparatus interface 32 ... 1st memory | storage part (memory | storage part), 33 ... Display part, 34 ... Transmission part, 35 ... 2nd memory | storage part, 36 ... Reception part, 37 ... Notification | reporting part, 37R ... 1st signal part, 37Y ... 2nd Signal part, 37B ... 3rd signal part, 39 ... Control part, 5 DESCRIPTION OF SYMBOLS Receiving device 52 ... Notification device 53 ... Input device 54 ... Display device 98 ... Signal line 99 ... Bus line 100 ... Confirmation device 200 ... Object 210 ... Confirmation person 300 ... Crane device 310 ... Vehicle, 321 ... Boom, 322 ... Jib, 323 ... Winch wire, 324 ... Hook, 325 ... Lifting wire.

Claims (8)

A first detection device for detecting a load of the object when the object is lifted;
A plurality of second detection devices that are provided on a side surface of the object and detect a horizontal force when the object is lifted;
A processing device that calculates an eccentric amount of the center of gravity of the object relative to the lifting position of the object from the load detected by the first detection device and the horizontal force detected by the plurality of second detection devices; ,
A load swing detection device comprising: A plurality of detection devices that are provided in contact with the side surface of the object and detect a horizontal force when the object is lifted;
The mass of the object and the amount of eccentricity of the center of gravity of the object with respect to the lifting position of the object are calculated from the horizontal force detected by the detection device when the object is lifted at a different lifting position. A processing device to calculate,
A load swing detection device comprising: A plurality of detection devices that are provided in contact with the side surface of the object and detect a horizontal force when the object is lifted;
A load applying device capable of applying a load to the object;
The mass of the object from the horizontal force detected by the detection device when the object is lifted and when the object is lifted by applying a load to the object with the load application device, And a processing device for calculating the amount of eccentricity of the center of gravity of the object relative to the lifting position of the object;
A load swing detection device comprising:   2. The processing device according to claim 1, wherein the amount of eccentricity is calculated from the horizontal force detected before the object is separated from the ground from a state where the bottom surface of the object is in contact with the ground. The load shake detection apparatus according to claim 3.   The load detection device according to claim 1, wherein the second detection device includes an arm that contacts the object at different heights of side surfaces of the object.   The load detection device according to claim 2, wherein the detection device includes an arm that contacts the object at different heights on a side surface of the object. The load shake detection device according to any one of claims 1 to 6,
A storage unit that is provided in the load shake detection device and stores information on a lifting position with respect to a center of gravity position at which the object can be lifted in a normal posture as a threshold value;
A control unit that is provided in the load shake detection device and determines that the lifting position of the object is a normal posture when the amount of eccentricity detected by the load shake detection device is within the range of the threshold;
An informing means capable of informing the state of the object;
When the control unit determines that the lifting position of the object is a normal posture, an input device that inputs confirmation of the state of the object notified by the notification unit;
A confirmation apparatus comprising: Lift the object,
Detecting the load of the object by the first detection device;
By detecting a horizontal force when the object is lifted by a plurality of second detection devices provided on the side surface of the object,
A processing device calculates an eccentric amount of the center of gravity of the object with respect to the lifting position of the object from the load detected by the first detection device and the horizontal force detected by the plurality of second detection devices. To
A method of detecting a load excursion characterized by the above.