JP2020007134A - Hanging load monitoring system for crane - Google Patents

Abstract

To provide a hanging load monitoring system for a crane capable of realizing more reliable safety measures than before.SOLUTION: The system comprises: cameras 10 and 11 installed at positions where a hanging load 8 on an overhead crane 1 (a crane) can be photographed; and an arithmetic unit 13 that determines by image analysis whether or not a person (a ground worker 9) is present in a dangerous area around the hanging load 8 on the basis of image data 10a and 11a of the cameras 10 and 11. The arithmetic unit 13 is configured to output at least one of an alarm signal and an emergency stop signal if it is determined that a person (the ground worker 9) exists in the dangerous area around the hanging load 8.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a crane suspended load monitoring system.

  2. Description of the Related Art Conventionally, cargo handling operations using cranes are widely known. For example, as shown in FIG. 4, an overhead crane 1 for performing cargo handling indoors in a factory or the like includes a pair of traveling rails 2 laid near an indoor ceiling. A trolley 6 with a hook 5 suspended vertically so that the trolley 6 is mounted on the girder 3 so as to be able to traverse along a traversing rail 7. By driving the traveling wheels 4, the girder 3 is caused to travel in a direction perpendicular to the plane of FIG. 4 and the trolley 6 is traversed along the traversing rail 7, so that the hook 5 is positioned between the traveling rails 2 and 2. The hook 5 can be moved to an arbitrary position and the hook 5 can be moved up and down in such a state to raise and lower the suspended load 8.

  When lifting and lowering the suspended load 8 using such an overhead crane 1, the suspended load 8 may shake and pose a danger to the ground worker 9. At the time of ground removal and lifting, the lifting load 8 is separated from the periphery of the suspended load 8 by a predetermined distance, and safety awareness activities are continued at each site so that such safety measures are always followed by each ground worker 9.

  Prior art document information related to the present invention includes Patent Document 1 below.

JP-A-5-137142

  However, no matter how the safety enlightenment activities are carried out, there is a possibility that omission of confirmation may occur if the ground workers 9 only talk to each other. Since it is not possible to predict the behavior of grabbing the suspended load 8 without being able to complete it, it is a fact that a highly reliable safety measure cannot be realized only by artificial arrangement.

  The present invention has been made in view of the above circumstances, and has as its object to provide a suspended load monitoring system for a crane that can realize more reliable safety measures than before.

  The present invention relates to a camera equipped with a crane at a position capable of photographing a suspended load, and an arithmetic device that determines whether or not a person is present in a dangerous area around the suspended load based on image data of the camera by image analysis. Wherein the arithmetic unit is configured to output at least one of an alarm signal and an emergency stop signal when it is determined that a person is present in the danger area around the suspended load. And a suspended load monitoring system for a crane.

  Further, in the present invention, cameras are provided at a plurality of locations of the crane, and three-dimensional image analysis can be performed on whether or not a person is present in a dangerous area around the suspended load based on image data of each camera. It is preferable that the arithmetic unit is configured to output an emergency stop signal for stopping the hanging load operation of the crane simultaneously with the alarm signal.

  According to the suspended load monitoring system for a crane of the present invention described above, various excellent effects as described below can be obtained.

  (I) According to the invention described in claim 1 of the present invention, an image analysis technique based on image data of each camera is used without relying solely on artificial arrangements such as chatting between ground workers. A highly reliable safety measure can be realized by the suspended load monitoring system.

  (II) According to the invention described in claim 2 of the present invention, it is possible to three-dimensionally determine whether or not a person is present in a dangerous area around a suspended load based on image data of each camera provided at a plurality of locations of the crane. Since the image can be analyzed in a short time, the presence of a person in the dangerous area can be detected with higher accuracy.

  (III) According to the invention described in claim 3 of the present invention, when a person is present in the danger area, not only an alarm signal is output from the arithmetic unit but also an emergency stop signal can be output simultaneously. By immediately stopping the hanging load operation of the crane, it is possible to more reliably prevent the danger to the ground worker.

It is a schematic diagram showing an example of an embodiment for carrying out the present invention. FIG. 2 is a schematic diagram illustrating input and output of signals in the arithmetic device of FIG. 1. 2 is a flowchart of a specific control procedure in the arithmetic device of FIG. It is the schematic which shows an example of a general overhead crane.

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

  FIG. 1 shows an example of an embodiment of the present invention. In the example shown here, the case where the present invention is applied to an overhead crane (crane) 1 similar to FIG. 4 is illustrated. The parts denoted by the same reference numerals as those in FIG. 4 represent the same objects.

  That is, a girder 3 is movably stretched between a pair of traveling rails 2 and 2 laid near an indoor ceiling via traveling wheels 4, and a trolley 6 having a hook 5 capable of moving up and down is mounted on a traversing rail 7. The overhead crane 1 has a structure mounted on the girder 3 so as to be able to traverse along. However, cameras 10 and 11 are provided at positions where the overhead load 8 of the overhead crane 1 can be photographed. In this embodiment, cameras 10 and 11 are provided at two locations separated from each other in the longitudinal direction of the girder 3 so that the cameras 10 and 11 can photograph the suspended load 8 from different angles.

  Here, for convenience of explanation, the case where the cameras 10 and 11 are provided at two places spaced apart in the longitudinal direction of the girder 3 is illustrated, but the cameras may be installed at three or more places. Of course.

  On the other hand, a driver's cab 12 for the driver to perform various operations such as running the girder 3, traversing the trolley 6, and hoisting and lowering the hook 5 is provided at a lower position closer to one longitudinal end of the girder 3. The image data 10a and 11a of the cameras 10 and 11 are input to an arithmetic unit 13 provided in the cab 12.

  Here, the arithmetic unit 13 three-dimensionally determines whether or not a person (ground worker 9) is present in the danger area around the suspended load 8 based on the image data 10a and 11a from the cameras 10 and 11 respectively. In the case where it is determined by image analysis that a person is present in the danger area around the suspended load 8, an alarm signal 18 is output. For example, as shown schematically in FIG. It is possible to display an alarm display on a monitor 14 in the cab 12, turn on a warning lamp 15, and sound a warning buzzer 16. The ground equipment may be provided with a monitor, a warning light, and a warning buzzer to notify a ground worker of danger.

  Further, particularly in the present embodiment, cameras 10 and 11 are provided at two locations separated in the longitudinal direction of the girder 3 so that the cameras 10 and 11 can photograph the suspended load 8 from different angles. Therefore, it is configured to be able to three-dimensionally analyze whether or not a person exists in the dangerous area around the hanging load 8.

  Further, when the alarm signal 18 is output from the arithmetic unit 13, the arithmetic unit 13 is preferably configured to output an emergency stop signal 19 for stopping the suspended load operation of the overhead crane 1 at the same time. More specifically, an emergency stop signal 19 from the arithmetic unit 13 is input to a PLC (Programmable Logic Controller) 17 of the overhead crane 1 so that a suspended load operation of the overhead crane 1 is stopped by a program. It is good to keep it.

  FIG. 3 is a flowchart of a specific control procedure in the arithmetic unit 13. When the image data 10a and 11a from each of the cameras 10 and 11 are acquired in step S1, in the next step S2, all of the images in the image are acquired. For the pixel, it is determined whether the pixel belongs to the moving object or the background, and the moving object is extracted from the background.

  Further, in the next step S3, the moving objects extracted from the background are discriminated into the suspended load 8 and the person (ground worker 9) from the specific shape pattern or the like, and in the next step S4, the suspended load 8 is determined. Is set around the area, and it is determined in the next step S5 whether or not a person exists in the set dangerous area.

  At this time, if it is determined in step S5 that a person is present in the danger area, the process proceeds to step S6, where the warning signal 18 and the emergency stop signal 19 are output from the arithmetic unit 13, while if no person is present, the previous step S1 Then, the determination is repeated in a similar procedure for the new image data 10a and 11a.

  In step S5, it is determined that there is a person in the danger area, and the alarm signal 18 and the emergency stop signal 19 are output, and the suspended load operation is interrupted. The procedure from step S1 may be restarted in accordance with the restart.

  In this way, when lifting and lowering the suspended load 8 using the overhead crane 1, the ground worker 9 exists around the suspended load 8 when the suspended load 8 is grounded or lifted and lowered. In this case, an alarm signal 18 and an emergency stop signal 19 are output from the arithmetic unit 13 on the basis of the image data 10a and 11a from the cameras 10 and 11 that have taken the image, so that an alarm is displayed on the monitor 14 in the cab 12. While the warning light 15 is lit or the warning buzzer 16 sounds, the emergency stop signal 19 is input to the PLC 17 of the overhead crane 1 to stop the suspended load operation of the overhead crane 1 by a program. Will be.

  Therefore, according to the above-described embodiment, the image analysis technique based on the image data 10a and 11a of the cameras 10 and 11 is used without relying only on the artificial arrangement such as the conversation between the ground workers 9 and the like. A highly reliable safety measure can be realized by the suspended load monitoring system. Particularly, as in the present embodiment, the suspended load is monitored based on the image data 10a and 11a of the cameras 10 and 11 provided at a plurality of locations of the overhead crane 1. If three-dimensional image analysis is performed to determine whether or not the ground worker 9 exists in the dangerous area around 8, the presence of the ground worker 9 in the dangerous area can be detected more accurately. When the ground worker 9 is present in the danger area, the arithmetic unit 13 outputs not only the alarm signal 18 but also the emergency stop signal 19 at the same time. It is possible to prevent the possibility that the suspended load work immediately dangerous to ground personnel 9 by stopping spans of more reliably.

  In addition, the suspended load monitoring system of the crane of the present invention is not limited to only the above-described embodiment, and in the embodiment, the example is applied to an overhead crane, but a jib crane, a bridge crane, an unloader, It can be applied to various cranes such as a cable crane, and in the embodiment, when an emergency stop signal is output simultaneously with an alarm signal when it is determined that a person is present in a dangerous area around a suspended load. Although the description is given, at least one of the alarm signal and the emergency stop signal may be output, and the case where only the alarm signal is output or the case where only the emergency stop signal is output is included. Of course, various changes can be made without departing from the spirit of the present invention.

1 overhead crane (crane)
2 running rail 3 girder 4 running wheel 5 hook 6 trolley 7 traversing rail 8 hanging load 9 ground worker 10 camera 10a image data 11 camera 11a image data 12 cab 13 arithmetic unit 14 monitor 15 warning light 16 warning buzzer 17 PLC
18 Alarm signal 19 Emergency stop signal

Claims (3)

  A camera equipped at a position capable of photographing the suspended load in the crane, and a calculating device that determines whether or not a person is present in a dangerous area around the suspended load based on image data of the camera by image analysis, A crane characterized in that the arithmetic unit is configured to output at least one of an alarm signal and an emergency stop signal when it is determined that a person is present in the danger area around the suspended load. Suspended load monitoring system.   Cameras are provided at a plurality of locations of the crane, and are configured to three-dimensionally analyze whether or not a person is present in a dangerous area around the suspended load based on image data of each camera. The suspended load monitoring system for a crane according to claim 1, wherein   3. The system for monitoring a suspended load of a crane according to claim 1, wherein the arithmetic unit is configured to output an emergency stop signal for stopping the suspended load operation of the crane simultaneously with the alarm signal.

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