JP3237558B2 - Position detection device for suspended load of rope suspension type crane - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for detecting a suspended load position of a suspended rope crane for loading and unloading containers at a container yard provided on a quay, for example.

[0002]

2. Description of the Related Art In general, a rope hanging crane is used for loading / unloading containers between a quay and a ship or for loading / unloading containers such as arrangement of containers in a container yard. Conventionally, the operation of this rope-suspended crane has been mostly performed by human operation, and automation has not been achieved. However, there is a problem that the efficiency is poor when operated by a human, and that the operation of the crane requires skill.

In order to solve such a problem, there is a technique disclosed in, for example, Japanese Patent Application Laid-Open No. 6-208624, which relates to a shake sensor for detecting the shake amount of a hanging tool suspended by a container crane or the like. FIG. 13 shows a crane trolley 61 shown in FIG.
A target 67 attached to a hanging tool 65 suspended by a wire 63 and attached with a circular marker 67b,
CCD camera 69 installed on crane trolley 61
, The image captured by the CCD camera 69 is binarized, only the circular marker 67b is extracted from the target 67, and the center of gravity of the circular marker 67b is detected. The shake amount is calculated.

[0004]

However, the above-mentioned prior art has the following problems. That is,
When the suspended load is lowered near the ground surface and the distance from the trolley 61 to the suspended load is long, the suspended load largely swings, and a portion other than the target 67, for example, the suspended load or the ground is reflected in the field of view of the CCD camera. Will be. On the other hand, in the prior art, an image picked up by a CCD
In order to extract the circular marker 67b into a value, a bright object other than the circular marker 67b, for example, the surface of a suspended load that reflects sunlight or the sunlight is reflected in the field of view of the CCD camera. If the sea surface or a bright part on the suspended load is reflected, this is also a circular marker 67b.
Therefore, it is not possible to detect the exact position of the suspended load due to erroneous recognition as a part of the load. In addition, at night, the circular marker 67b is not completely invisible unless a separate illumination is provided. In the daytime, the brightness of the outdoors varies greatly from direct sunlight in the summer to cloudy weather, and the marker on the luminance image is simply changed. A circular marker 67b that is stable only by binarization
Cannot be detected.

[0005] Further, the above-mentioned conventional example is for automating the loading and unloading of containers between a ship and land. However, when high accuracy is required for loading and unloading operations such as when containers are regularly stacked in a container yard, There is also a problem that the position detection accuracy is not so high and cannot be applied sufficiently. Here, as a premise to explain this problem, the accuracy required in the cargo handling work of the container in the container yard will be described. FIG. 14 is an explanatory diagram for explaining this accuracy, and shows a case where containers are stacked in three rows in four rows. In the figure, 51a, 51b, 51c,
51d indicates a container in the first column, 52a indicates a container in the second column, and 53a, 53b, 53c and 53d indicate containers in the third column. The rectangles provided at the four corners of each container indicate corner fittings, and the spreader 55 of the rope-hanging crane 50 holds the corner fittings to carry out lifting or hanging work (loading work) of the container.

[0006] In the figure, A is the size of the gap between adjacent containers, B is the thickness of the gripper of the spreader, and C is the spreader 55, the first row and the first row when the second row of containers are gripped by the spreader 55. The gap dimensions with three rows of containers are shown. The dimension A is 300 mm, the dimension B is 150 mm, and the dimension C is 150 mm. As described above, the C dimension indicating the gap between the spreader 55 and each container at the time of cargo handling is only 150 mm, and it can be seen that considerable accuracy is required for cargo handling work.

Next, the problem of the detection accuracy of the prior art will be described. Generally, a crane that moves a suspended load has a structure in which the gutter itself is curved in advance in consideration of deformation of the gutter due to the suspended load. In addition, it is actually difficult for the track on which the crane body is installed to be on the same plane over the entire moving range of the crane. On the other hand, in the rope suspension type crane, the lifting tool 65 is a trolley 61.
It is suspended vertically regardless of the inclination. Therefore, the target 67 on the hanging tool 65 below the trolley 61
Is imaged, if the trolley 61 is inclined, it is detected that the position of the hanger has moved by the inclination angle of the trolley 61. Therefore, as in the prior art, the trolley 61
If the inclination of the hanger is not considered at all, the position of the hanger cannot be detected accurately.

In the method of installing the target 67 on the hanging tool 65 and detecting the position of the hanging tool 65, the target 6
The position of the upper surface of the hanging device 65 on which the 7 is installed can be measured accurately, but the position of the lower surface of the suspended load suspended on the suspending device 65 cannot be measured. For example, the suspended load has a height like a container. In the case of the object, if the suspended load is tilted due to the tilting of the lifting device 65, there is a large difference between the position of the upper surface of the lifting device 65 and the position of the lower surface of the suspended load, and there is a problem that the containers cannot be stacked accurately. Occurs.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and is not affected by the color of a suspended load such as a container or the natural environment, and can accurately measure the position of the suspended load. It is an object of the present invention to obtain a device for detecting a position of a suspended load of a crane.

[0010]

A position detecting device for a suspended load of a suspended rope crane according to the present invention is provided on a trolley running on a rail and a lower end side of a rope suspended from the trolley. A rope suspension type crane provided with a suspended load gripping means for gripping, at least one luminous body which is installed in the suspended load gripping means and emits light at a predetermined emission wavelength, the emission wavelength of the luminous body and the wavelength A color camera provided on the trolley for photographing the illuminant, and an emission filter based on a video signal of the color camera.
If the light signal of the light emission wavelength of the light body exceeds a predetermined threshold,
The signal of the light having the different predetermined emission wavelength is a predetermined threshold.
If the value does not exceed the value, the video signal at that position
Object, and based on the recognized light position of the illuminant,
And a position detecting device for detecting the position of the suspended load grasping means. Further, in a rope suspended crane provided with a trolley running on a rail and a suspended load gripping means provided at a lower end side of a rope suspended from the trolley and configured to grip a suspended load, the rope is installed on the suspended load gripping means. At least one illuminant that is emitted at a predetermined emission wavelength, and an interference filter that transmits light of a predetermined wavelength different from the emission wavelength of the illuminant and the wavelength,
A color camera provided on the trolley and photographing the light-emitting body , based on a video signal of the color camera,
The light signal of the different predetermined wavelength exceeds a predetermined threshold.
If it can be seen, the video signal at that position
(Including reflected light) and the luminous body
If only the light signal exceeds a predetermined threshold,
The video signal at the position of
And a position detecting device for detecting the position of the suspended load grasping means based on the position of the light emitted from the illuminant .

The present invention further comprises an inclinometer provided on the trolley for detecting the inclination of the color camera, and the suspended load gripping means position detecting device detects a displacement due to the inclination of the color camera based on the detected value of the inclinometer. The correction is made.

Further, the apparatus further comprises an inclinometer provided on the hanging load gripping means for detecting the inclination of the hanging load gripping means, and the hanging load gripping means position detecting device detects the tilt of the hanging load based on the detected value of the inclinometer. The deviation due to the inclination of the gripping means is corrected.

[0013] Further, a trolley running on a rail, a hanging load gripping means provided at a lower end side of a rope suspended from the trolley, and gripping a hanging load, and a target mounted on the hanging load gripping means are imaged. And a hanging load position detecting device for a hanging rope crane, comprising a camera for detecting the position of the hanging load gripping device based on a video signal of the camera. A tilt meter for detecting the tilt of the camera, and the suspended load gripping means position detecting device corrects a shift due to the tilt of the camera based on a detection value of the tilt meter.

[0014] Further, a trolley running on a rail, a hanging load gripping means provided at a lower end side of a rope suspended from the trolley and gripping a hanging load, and a target mounted on the hanging load gripping means are imaged. And a hanging load gripping means for detecting the position of the hanging load gripping means based on a video signal of the camera. An inclinometer provided for detecting the inclination of the suspended load gripping means, wherein the suspended load gripping means position detecting device corrects a shift due to the inclination of the suspended load gripping means based on the detection value of the inclinometer. It was made.

[0015]

FIG. 1 is a block diagram showing an embodiment of the present invention. The configuration of the present embodiment will be outlined based on FIG. In the figure, 1 is a container to be unloaded,
Reference numeral 3 denotes a spreader head block for holding the container 1, 5 and 7 are LED targets which are installed on the upper surface of the head block 3 at a predetermined interval, and 9 is installed on the upper surface of the head block 3 to detect the inclination of the head block 3. The inclinometer 11 converts a voltage signal of the inclinometer 9 into a current signal.

Numeral 13 denotes a trolley for suspending the spreader by a rope 15 and traveling on rails. Numerals 17 and 19 are color cameras mounted on the trolley 13 and photographing the LED targets 5 and 7, and 21 and 23 are color cameras, respectively. Inclinometers installed on the camera 17 and 19 for detecting the inclination of the color cameras 17 and 19. Reference numerals 25 and 27 denote camera housings each accommodating the color camera 17 and the inclinometer 21 and the color camera 19 and the inclinometer 23 as a set. It is. 29
Is a signal converter for converting the voltage signals of the inclinometers 21 and 23 into current signals, 31 is the position, inclination, and the like of the trolley 13 in the running direction and the transverse direction based on the signal of the signal converter 29 and a signal from a computer described later. This is a sequencer that controls the amount of hoisting and unwinding of the rope 15 and the like.

Reference numeral 33 denotes whether or not the incident light is the light of the LED target based on the video signals of the color cameras 17 and 19, converts the identified video signal of the light of the LED target into a digital signal, and Is a color tracker that detects the position of the center of gravity of each LED target on the basis of. 35 is a color tracker 33 and a signal converter 29
The position of the head block 3 is calculated based on each signal of
When the head block 3 is misaligned, the computer calculates a control amount for correcting the misalignment. Note that the color tracker 33 and the computer 35 constitute a suspended load gripping means position detecting device of the present invention.

FIG. 2 is an explanatory view for explaining the head block 3, the trolley 13 and the devices attached thereto shown in FIG. 1, and the same parts as those in FIG. 1 are denoted by the same reference numerals. FIG.
Based on the above, the configurations of the head block 3, the trolley 13, and the devices attached thereto will be described in detail. The LED targets 5 and 7 are formed by arranging a plurality of red LEDs having an emission wavelength of 660 nm in a rectangular shape. Also, trolley 1
The color cameras 17 and 19 installed on the trolley 13
Are set so that their optical axes are vertically downward, and the positions of the centers of gravity of the LED targets 5 and 7 are adjusted to be the camera optical axis centers of the color cameras 17 and 19. I have. This is because the suspended load of the crane is suspended vertically from the trolley 13, and when the suspended load is moved up and down, it moves along this vertical axis.
To accurately detect the position of the suspended load, use a color camera 1
This is because it is necessary to set the optical axes of 7, 19 vertically downward.

Further, as the inclinometers 21 and 23 for measuring the inclination of the color cameras 17 and 19, the inclination of the color cameras 17 and 19 installed on the trolley 13 has two degrees of freedom (or two dimensions). Therefore, an inclinometer capable of measuring the tilt angles of two axes of the X-axis and the Y-axis orthogonal to the camera optical axis is used. In addition, color cameras 17 and 1
When detecting the barycentric positions of the LED targets 5 and 7 from the image 9, the coordinates of the barycentric positions are based on the scanning line direction of the color cameras 17 and 19 and the direction orthogonal to the scanning lines. Each axis is aligned with the scanning line direction of these color cameras and the direction orthogonal thereto. Note that, even if the optical axes of the color cameras 17 and 19 cannot be set vertically in the initial setting, correction can be made by measuring the amount of deviation (angle and position deviation) from the vertical axis in advance.
If the LED targets 5 and 7 cannot be installed directly below the color cameras 17 and 19,
The amount of deviation from the vertical axis of each of the color cameras 17, 19 is measured in advance, and at the same time, the color cameras 17, 19 and the LED targets 5, 7
By measuring the distance between them, it is possible to correct the positional deviation.

The color cameras 17 and 19 are provided with an interference filter 39 which transmits light having a wavelength of 440 nm and light having a wavelength of 660 nm which is the emission wavelength of the LED targets 5 and 7. FIG. 3 is a graph showing the transmittance of the interference filter 39, in which the vertical axis shows the transmittance and the horizontal axis shows the wavelength of light. As can be seen from the graph of FIG. 3, it can be seen that the interference filter 39 transmits only light of wavelengths near the wavelengths of 660 nm and 440 nm.

Next, a description will be given of a method for identifying whether the incident light is the light of the LED targets 5 and 7 or the sunlight by the color tracker 33. The color tracker 33 performs this identification based on the light intensity based on the video signals (R, G, B signals) sent from the color cameras 17 and 19. That is, the color tracker 33 determines a predetermined threshold value for each of the intensities of the input R signal and B signal, and inputs the signal when only the input R signal exceeds the threshold value. Light is LED target 5,
7 is recognized, and when both the R signal and the B signal exceed the threshold value or when only the B signal exceeds the threshold value, it is determined that the input light is sunlight.

FIGS. 4 and 5 are graphs for explaining the relationship between the intensity of light transmitted through the interference filter 39 and a predetermined threshold value. FIG. 4 shows the light of the LED targets 5 and 7 and the predetermined threshold value. FIG. 5 shows the relationship between sunlight and a predetermined threshold value. In the figure, reference numeral 41 denotes a threshold value of the R signal, which is set to a level slightly lower than the lowest level of light of the LED targets 5 and 7. Reference numeral 73 denotes a threshold value of the B signal, which is set to a level slightly lower than the lowest level of sunlight. Color cameras 17, 19 are L
When the light from the ED targets 5 and 7 is captured, the R signal exceeds the threshold value 41 but the B signal does not exceed the threshold value 43 as shown in FIG. On the other hand, the color camera 17,
When 19 captures sunlight, as shown in FIG.
Both the R signal and the B signal exceed the threshold values 41 and 43.

Therefore, when the level of the R signal is
If it exceeds 1 and the level of the B signal does not exceed the level of the threshold value 43, it is determined that the light is from the LED targets 5 and 7, the R signal exceeds the threshold value 41, and the B signal is If the threshold value 43 is exceeded or the R signal is
If the B signal does not exceed the threshold value 43 and exceeds the threshold value 43 (ie, at least if the B signal exceeds the threshold value 43), it is determined that the light is sunlight. Since the sunlight hitting the LED targets 5 and 7 is hardly reflected, there is no need to particularly consider the reflected light of the sunlight hitting the LED targets 5 and 7. The color tracker 33 detects the light incident by the above method
If it is determined that the light is from the D targets 5 and 7, L
The position of the center of gravity of each of the ED targets 5 and 7 is obtained by calculation, and information on the position of the center of gravity is output to the computer 35.

Here, a method of calculating the position of the center of gravity of each of the LED targets 5 and 7 will be described by taking the color camera 17 and the LED target 5 as examples. FIG. 6 shows the camera coordinate system (X axis) in a state where the trolley is not tilted. In the drawing, O is a position directly below the color camera 17 and coincides with the optical axis center (screen center) C. , N
Is the position of the visual field end represented by the number of pixels from the optical axis center O, G
Is the position of the center of gravity of the LED target 5 represented by the number of pixels from the position N of the visual field end. Θ is the color camera 17
Angle of view from the optical axis center O determined by the combination of
α indicates the deflection angle of the LED target 5 from the optical axis, and L indicates the distance between the color camera 17 and the LED target 5. In the state of FIG. 6, the output of the inclinometer 21 is 0.
In this case, the position N of the visual field end, the position G of the center of gravity of the LED target 5, and the angle of view θ are obtained from the image information of the color camera 17. Therefore, from these values, the deflection angle α of the LED target 5 from the optical axis is obtained by the following equation (1). α = tan ^-1 ｛(G / N) tan θ｝ (1) Further, since the distance L between the color camera 17 and the LED target 5 can be obtained from the rope length, the deflection angle α is used. The center of gravity position x of the LED target 5 is obtained by the following equation (2). x = L · tan α (2) The same is obtained for the Y-axis direction.

Next, a method of calculating the position of the head block by the computer 35 will be described. FIG. 7 is an explanatory diagram for explaining a method of calculating the position of the head block 3 from information on the position of the center of gravity of the LED targets 5 and 7 of the color tracker 33. FIG. 7A shows a state in which the head block 3 is in a normal position, and FIG. 7B shows a state in which the head block 3 is displaced due to translation and rotation. In FIG. 7A, 41, 4
3 is the field of view of the color cameras 17 and 19, respectively, P (X1
, Y1) and Q (X2, Y2) indicate the positions of the centers of gravity of the LED targets 5 and 7, respectively, and O (0, 0) indicates the reference point. In the state of FIG. 7A, the reference point O
(0,0) and the center R of the head block 1 (X3, Y3)
Is consistent with

In FIG. 7B, P '(X1', Y1 '),
Q '(X2', Y2 ') indicates the position of the center of gravity of the LED targets 5 and 7, respectively, and R' (X3 ', Y3') indicates the head block 1.
Are the coordinates of the center position of. 7 in the state of FIG.
The positions of the points P, Q, and R are known, and if the two points P ′ and Q ′ in the state of FIG. 7B are known, the coordinates R ′ of the center position of the head block 1 in the state of FIG. Can be determined geometrically. When the coordinates R 'are determined, the amount of displacement of the head block 1 can be determined. By the way, three points P,
Since the positions of Q and R are known in advance and the two points P 'and Q' are obtained by photographing with the color cameras 17 and 19, the coordinates R 'can be obtained.

As described above, if the shift amount of the head block 1 is known, the computer 35 calculates a control amount for correcting the position shift and outputs it to the sequencer 31. Then, the sequencer 31 corrects the positions of the trolley 13 and the head block 1 based on the information of the computer 35.

In the above description, the inclination of the trolley 13 and the head block 3 is not taken into consideration, but the inclination of the trolley 13 and the head block 3 is actually corrected based on information from the inclinometers 21, 23 and 9. I do. First, a calculation method for correcting the inclination of the trolley 13 using the measured values of the inclinometer 21 will be described using the color camera 17, the inclinometer 21 and the LED target 5 as examples. FIG. 8 shows the camera coordinate system in a state where the trolley 13 is inclined by the inclination angle β, and the symbols in the figure are the same as those in FIG. At this time, the inclinometer 21 outputs a signal corresponding to the inclination angle β. In the state of FIG. 8, the deflection angle α of the LED target 5 from the optical axis can be obtained by the above-described equation (1). When the deflection angle α from the optical axis is determined, the LE from the vertical axis is calculated based on the value of α and the inclination angle β determined by the inclinometer 21.
The deflection angle γ of the D target 5 is obtained as γ = α + β. When the deflection angle γ of the LED target 5 from the vertical axis is obtained, the position x of the center of gravity of the LED target 5 is given by the following equation (3).
Desired. x = L · tan γ (3) The same can be obtained for the Y-axis direction.

Next, a method of correcting the influence of the inclination of the head block 3 will be described. 9A and 9B are explanatory diagrams of this method. FIG. 9A shows a state where the head block 3 is not inclined, and FIG. 9B shows a state where the head block 3 is inclined by the inclination angle δ. The inclinometer 9 shown in FIG. 9 is capable of two-axis measurement in which the head block 3 is placed horizontally on the upper surface of the head block 3 and the inclination in two orthogonal directions in a horizontal plane can be measured. Further, the height D from the LED targets 5 and 7 on the head block 3 to the lower end of the suspended load is obtained in advance. The difference z between the center of gravity of the head block 3 obtained from the positions of the LED targets 5 and 7 by the above method and the center of gravity of the bottom surface of the container 1 due to the tilt of the head block 3 is represented by the inclination angle δ of the head block 3.
And the height D from the LED targets 5 and 7 to the lower end of the container 1, z = Dtan δ can be obtained. Thereby, the displacement due to the inclination of the head block 3 can be corrected.

FIGS. 10 and 11 are explanatory diagrams of a method for confirming the accuracy of the positional deviation amount of the head block 3 recognized by the computer 35 by the above method. In the figure, reference numerals 45 and 46 denote transits which are disposed opposite to each other with the container 1 interposed therebetween, 47 denotes a ground marker which is provided on the ground and indicates a reference point on the ground, 48 denotes a container marker provided in the container, and 49 denotes a gripper of the spreader. This is a spreader marker installed in the. In this accuracy checking method, it is assumed that the position where the spreader is in the upper position without gripping the container as shown in FIG. 11 is always constant.

In the state shown in FIG. 10, the deviation between the ground marker 47 and the container marker 48 is measured by the transit 45, 46. Next, the deviation between the ground marker 47 and the spreader marker 49 is measured in the state shown in FIG. The spreader marker 49 is obtained by calculating the difference between the two shift amounts.
And the displacement amount of the container marker 48, that is, the displacement amount of the head block 13 can be obtained. On the other hand, FIG.
The amount of displacement of the head block 13 in the state of 0 is
The calculation is performed by the computer 35 based on the information of the color cameras 17 and 19. Then, by comparing the calculated value with the actual measurement value, the accuracy of the calculated value by the computer 35 can be confirmed.

FIG. 12 is a graph showing the accuracy of the value calculated by the computer 35. The horizontal axis shows the value calculated by the computer 35, and the vertical axis shows the measured value by transit. In the graph, a white point indicates the case where the container is placed on the first stage, and a black point indicates the case where the container is placed on the fourth stage. As can be seen from this graph, the difference between the actually measured value and the calculated value was in the range of 11.3 mm, and it was confirmed that sufficient accuracy was obtained.

In the above embodiment, the LED
Although an example using two targets has been described, one LED target may be used when it is not necessary to determine the rotation of the contour. In the above embodiment, the suspended load of the crane has been described. However, the technology for detecting (measuring) the position of the object using the LED, the color camera, and the interference filter is not limited to the crane, and is not limited to the crane. It is needless to say that the present invention can be applied to the entire technology for detecting the position of an object in (outdoor).

[0034]

As described above, according to the present invention, at least one luminous body which emits light at a predetermined luminous wavelength installed in the container holding means is photographed by a color camera having an interference filter, and Based on the video signal
The light signal of the emission wavelength of the luminous body exceeds a predetermined threshold.
And the light signal of the different predetermined emission wavelength is a predetermined
If the threshold is not exceeded, the video signal at that position is
Recognizes that the illuminant is a light source and the position of the recognized illuminant light
, The position of the suspended load gripping means is detected, so that the position of the container can be measured without being affected by the color of the container or the natural environment.

Since the trolley or the container holding means is provided with an inclinometer and the inclination of the trolley or the container holding means is corrected to measure the position of the container, the position of the container can be measured accurately.

[Brief description of the drawings]

FIG. 1 is a block diagram of one embodiment of the present invention.

FIG. 2 is an explanatory diagram for explaining a part of FIG. 1 in detail;

FIG. 3 is a graph showing the transmittance of the interference filter used in the present embodiment.

FIG. 4 is a graph showing a relationship between light intensity and a threshold when light from an LED target is detected in the embodiment.

FIG. 5 is a graph showing a relationship between a light intensity and a threshold when sunlight is detected in the embodiment.

FIG. 6 is a diagram illustrating a camera coordinate system (X axis) in a state where the trolley according to the present embodiment is not inclined.

FIG. 7 is an explanatory diagram illustrating a method of calculating the position of the head block 3 in the embodiment.

FIG. 8 is a diagram illustrating a camera coordinate system (X axis) in a state where the trolley is inclined in the present embodiment.

FIG. 9 is an explanatory diagram illustrating a method of correcting the influence of the inclination of the head block 3 in the embodiment.

FIG. 10 is an explanatory diagram of a method for confirming position detection accuracy in the present embodiment.

FIG. 11 is an explanatory diagram of a method for confirming position detection accuracy in the present embodiment.

FIG. 12 is a graph showing position detection accuracy in the present embodiment.

FIG. 13 is an explanatory diagram of a configuration of a conventional shake sensor.

FIG. 14 is an explanatory diagram illustrating the accuracy required in the cargo handling work of the container in the container yard.

[Description of Signs] 1 container 3 head block 5, 7 LED target 9, 21, 23 inclinometer 11, 29 signal converter 13 trolley 15 rope 17, 19 color camera 31 sequencer 33 color tracker 35 computer

──────────────────────────────────────────────────続 き Continuation of the front page (56) References Special Table Hei 5-505788 (JP, A) (58) Field surveyed (Int. Cl. ⁷ , DB name) B66C 13/22

Claims (6)

(57) [Claims] 1. A suspended rope crane comprising: a trolley running on a rail; and a suspended load grasping means provided on a lower end side of a rope suspended from the trolley and configured to grasp a suspended load. At least one illuminant that is installed in the means and emits light at a predetermined emission wavelength; and an interference filter that transmits light having an emission wavelength of the illuminant and a predetermined wavelength different from the wavelength. A color camera that shoots the illuminant, and a signal of light having an emission wavelength of the illuminant exceeds a predetermined threshold value based on a video signal of the color camera , and
The light signal of the specified emission wavelength exceeds the specified threshold
If not, the video signal at that position is the illuminant
And a hanging load gripping means position detecting device for detecting the position of the hanging load gripping means based on the recognized light position of the light-emitting body. Detection device. 2. A rope suspended crane comprising: a trolley running on a rail; and a suspended load gripping means provided on a lower end side of a rope suspended from the trolley and configured to grip a suspended load. At least one illuminant that is installed in the means and emits light at a predetermined emission wavelength; and an interference filter that transmits light having an emission wavelength of the illuminant and a predetermined wavelength different from the wavelength. A color camera for photographing the illuminant, and the different predetermined camera based on a video signal of the color camera.
If the light signal of the wavelength exceeds the predetermined threshold,
When the video signal at that position is judged to be sunlight,
In addition, only the signal of the light having the emission wavelength of the luminous body has a predetermined threshold.
If the value exceeds the threshold value, the video signal at that position
Object, and based on the recognized light position of the illuminant,
And a suspended load grasping means position detecting device for detecting the position of the suspended load grasping means. 3. An inclinometer provided on the trolley for detecting an inclination of the color camera, wherein the suspended load grasping means position detecting device detects a displacement due to the inclination of the color camera based on a detected value of the inclinometer. The suspended load position detecting device for a rope suspended crane according to claim 1 or 2 , wherein the suspended load position is detected. 4. An inclinometer provided in said hanging load gripping means for detecting a tilt of said hanging load gripping means, wherein said hanging load gripping means position detecting device detects said hanging load based on a detected value of said inclinometer. 4. The method according to claim 1, wherein a deviation due to the inclination of the gripping means is corrected.
A suspended load position detecting device for a rope suspended type crane according to any of the claims. 5. An image of a trolley running on a rail, a suspended load grasping means provided at a lower end side of a rope suspended from the trolley, and a suspended load grasping means, and a target mounted on the suspended load grasping means. A hanging load position detecting device of a rope suspension type crane, comprising: a camera to perform the operation, and a position detecting device for detecting the position of the suspended load based on a video signal of the camera. An inclinometer for detecting the inclination of the camera, wherein the suspended load gripping means position detecting device compensates for a displacement due to the inclination of the camera based on a detection value of the inclinometer. Load position detection device for mobile cranes. 6. A trolley running on a rail, a suspended load gripping means provided on a lower end side of a rope suspended from the trolley and gripping a suspended load, and an image of a target placed on the suspended load gripping means. And a hanging load gripping means for detecting the position of the hanging load gripping means based on a video signal of the camera. An inclinometer provided to detect the inclination of the suspended load gripping means, wherein the suspended load gripping means position detecting device corrects a shift due to the inclination of the suspended load gripping means based on the detection value of the inclinometer. A suspended load position detecting device for a rope suspended type crane, wherein: