JP6215110B2 - Crane operation support device, crane system, crane operation support method and program - Google Patents

Crane operation support device, crane system, crane operation support method and program Download PDF

Info

Publication number
JP6215110B2
JP6215110B2 JP2014066845A JP2014066845A JP6215110B2 JP 6215110 B2 JP6215110 B2 JP 6215110B2 JP 2014066845 A JP2014066845 A JP 2014066845A JP 2014066845 A JP2014066845 A JP 2014066845A JP 6215110 B2 JP6215110 B2 JP 6215110B2
Authority
JP
Japan
Prior art keywords
information
crane
unit
image
image information
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
JP2014066845A
Other languages
Japanese (ja)
Other versions
JP2015189528A (en
Inventor
豊原 尚
尚 豊原
伸郎 吉岡
伸郎 吉岡
Original Assignee
住友重機械搬送システム株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 住友重機械搬送システム株式会社 filed Critical 住友重機械搬送システム株式会社
Priority to JP2014066845A priority Critical patent/JP6215110B2/en
Publication of JP2015189528A publication Critical patent/JP2015189528A/en
Application granted granted Critical
Publication of JP6215110B2 publication Critical patent/JP6215110B2/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Description

  The present invention relates to a crane operation support device, a crane system, a crane operation support method, and a program.
  A large container crane or the like has a high lift, and the pile shape of containers stacked on a container ship changes in a complicated manner, so that a high level of skill is required for the operation of the lifting work. For example, the operator of the container crane performs an operation of installing the suspended load at a predetermined position while visually checking the state of the container on the container ship below the driver's seat. At this time, in order to carry out the suspended load work efficiently, the ability to accurately grasp the positional relationship between the container and the suspended load is essential.
  In addition, a monitoring system that connects a crane and ground-side equipment with an optical communication line or the like has been proposed (see Patent Document 1).
JP 2000-086149 A
  As described above, in order to efficiently perform a work using a large heavy machine such as a container crane, a skilled operation skill based on accumulated experience is required. However, since the skills related to the operation of the crane (such as the ability to visually grasp the positional relationship) can only be worn by accumulating each person's experience, it is difficult to improve the skill level efficiently.
  An object of the present invention is made in view of the above problems, and provides a crane operation support device, a crane system, a crane operation support method, and a program capable of efficiently improving a driver's crane operation skill. There is.
One aspect of the present invention includes crane operation information, video information including a suspended load suspended from the crane or an object to be suspended, and a height of the object located around the suspended load. A driving information acquisition unit that acquires the height information, a storage processing unit that stores the acquired operation information, the video information, and the height information in the storage unit in association with the acquired time, and is stored in the storage unit The operation information, the video information, and the height information, and an image information generation unit that generates image information for simultaneously displaying the operation information, the video information, and the height information on the display unit for each associated time, and the driving information acquisition unit, As the height information, the profile information of the object along the moving direction of the suspension means is acquired, and further, based on the profile information, the suspended load is to a position below a predetermined threshold with respect to the object. Has approached Or determines, the image information generation unit, a crane driving support apparatus for generating image information for the suspended load to display a determination result indicating whether the approach to a position below the threshold value on the object is there.
According to such a configuration, the crane operation support device sequentially stores the operation state of the crane based on the operation of the driver as operation information, lower detailed video information, and height information, and further, based on the stored various information. Thus, it is possible to reproduce the situation of the driving performed by itself. Therefore, it provides an environment where it is easy to reconfirm the situation of cranes and suspended loads based on the driver's own operation on the spot, and the driver can be made aware of improvements each time. The skill can be improved efficiently.
  Further, according to one aspect of the present invention, in the above-described crane operation support device, the operation information acquisition unit is a lower detailed image that is an image obtained by imaging the object located below the suspension unit as the image information. It is characterized by acquiring information.
  Further, according to one aspect of the present invention, in the above-described crane operation support device, the operation information acquisition unit includes, as the video information, a predetermined range including the suspension unit positioned below the operator's cab of the crane. Visual field video information, which is a captured video, is acquired.
  Further, according to one aspect of the present invention, in the above-described crane operation support apparatus, the operation information acquisition unit further calculates trajectory information indicating an appropriate trajectory of the suspended load based on the profile information, and the image The information generation unit generates image information for displaying the trajectory information together with the profile information of the object.
  One embodiment of the present invention is a crane system including the above-described crane operation support device and a crane.
Further, according to one aspect of the present invention, crane operation information, video information including a suspended load or an object to be a suspended load suspended from the suspension unit of the crane, and the object positioned around the suspended load The height information is acquired, the acquired motion information, the video information, and the height information are stored in association with the acquired time, and the stored motion information, the video information, and the height information are stored. Are simultaneously displayed on the display unit for each associated time, and as the height information, the profile information of the object along the moving direction of the suspension means is obtained, and further, based on the profile information, It is determined whether or not the suspended load has approached the object to a position below a predetermined threshold, and the determination result indicating whether or not the suspended load has approached the object to a position below the threshold is the display to be displayed in the part It is a crane operator support method and butterflies.
In one embodiment of the present invention, the computer of the crane operation support device includes information on the operation of the crane, video information including a suspended load or an object to be suspended on the suspension unit of the crane, and the suspended load. Driving information acquisition means for acquiring height information of the object located in the periphery of the object, storage processing for storing the acquired motion information, the video information, and the height information in the storage unit in association with the acquired time Means, image information generation means for generating image information for displaying the stored operation information, the video information, and the height information on the display unit at the same time corresponding to each other, and the operation The information acquisition means acquires profile information of the object along the moving direction of the suspension means as the height information, and further, based on the profile information, the suspended load is To elephant product to a position of less than a predetermined threshold value to determine whether the approach, the image information generating means, the determination result of the suspended load indicating whether approached to a position below the threshold value on the object Is a program for generating image information for displaying the image .
  According to the above-described crane operation support device, crane system, crane operation support method, and program, the skill of the crane operation of the driver can be improved efficiently.
It is a figure explaining the whole structure of the crane which concerns on 1st Embodiment. It is a figure which shows the structure inside the cab of the crane which concerns on 1st Embodiment. It is a figure which shows the function structure of the crane operation assistance apparatus which concerns on 1st Embodiment. It is a figure which shows the driving | operation information table which the memory | storage process part which concerns on 1st Embodiment memorize | stores in a memory | storage part. It is a figure which shows the image information which the image information generation part which concerns on 1st Embodiment produces | generates. It is a 1st flowchart figure which shows the process sequence of the crane driving assistance apparatus which concerns on 1st Embodiment. It is a 2nd flowchart figure which shows the process sequence of the crane operation assistance apparatus which concerns on 1st Embodiment. It is a figure which shows the function structure of the crane operation assistance apparatus which concerns on 2nd Embodiment. It is a figure which shows the driving | operation information table which the memory | storage process part which concerns on 2nd Embodiment memorize | stores in a memory | storage part. It is a figure which shows the image information which the image information generation part which concerns on 2nd Embodiment produces | generates. It is a figure which shows the function structure of the crane operation assistance apparatus which concerns on 3rd Embodiment. It is a figure which shows the driving | operation information table which the memory | storage process part which concerns on 3rd Embodiment memorize | stores in a memory | storage part. It is a figure which shows a part of image information which the image information generation part which concerns on 3rd Embodiment produces | generates. It is a figure which shows the function structure of the crane operation assistance apparatus which concerns on 4th Embodiment.
<First Embodiment>
Hereinafter, a crane system according to a first embodiment will be described with reference to the drawings.
The crane system according to the present embodiment includes a crane (a crane 10 described later) and a crane operation support device (a crane operation support device 20 described later). In this embodiment, a crane is a container crane which performs the loading / unloading operation | work of the container on a container ship. The crane operation support device is a device that is mounted on the container crane, records the operation of the driver, and assists in improving the skill.
[Overall configuration of crane system]
Drawing 1 is a figure explaining the whole crane composition concerning a 1st embodiment.
As shown in FIG. 1, the crane 10 includes a leg structure portion 11, a boom 12, a trolley 13, a cab 14, and a spreader 15 (suspending means).
The leg structure 11 is installed on the ground of the quay and supports the entire other configuration of the crane 10 while extending upward. The leg structure section 11 has a movable mechanism 11a at the base end, and can traverse the entire crane 10 (moves in the direction toward the back of the page) along a rail provided on the ground. While the boom 12 is supported by the leg structure 11, the suspended ship (container A) and the object to be suspended (a plurality of containers loaded on the container ship 50) are located on the side where the container ship 50 is anchored. Stretched. For the purpose of avoiding contact with the installation equipment (mast or the like) of the container ship 50, the boom 12 is rotatable within a predetermined range in a direction in which the tip thereof is directed upward. The trolley 13 is capable of traveling (moving in the left-right direction on the paper surface) along rails arranged in the extending direction of the boom 12.
  The cab 14 and the spreader 15 are movable in the extending direction of the boom 12 as the trolley 13 travels. A driver who operates the crane 10 gets on the cab 14. The internal structure of the cab 14 will be described later. The spreader 15 is a hanging tool that suspends a suspended load (container A). The spreader 15 is suspended by a rope extending downward from the trolley 13 and can fix the container A that becomes a suspended load. Further, the spreader 15 can be raised and lowered while the container A is fixed and suspended by the rope being wound or lowered in the trolley 13.
  With the configuration as described above, the crane 10 is installed on the quay of the harbor and loads and unloads a plurality of containers loaded on the container ship 50 to be anchored.
FIG. 2 is a diagram illustrating an internal structure of a cab of the crane according to the first embodiment.
As shown in FIG. 2, the cab 14 includes a driver's seat 141, an operation panel 142, an operation window 143, and a terminal device 21 inside.
The driver seat 141 is a seat where the driver X of the crane 10 is located. The operation panel 142 is provided with an input interface (lever, switch, etc.) required for the driver X to operate various operations of the crane 10. The operation window 143 is provided so that the driver X located in the driver's seat 141 can visually recognize the suspended load (container A or the like) suspended below. The terminal device 21 is, for example, a general-purpose personal computer. The terminal device 21 displays predetermined image information via the display unit 216, as will be described later. A specific functional configuration of the terminal device 21 will be described later.
  The driver X located in the driver's seat 141 can visually recognize the spreader 15 and the container A suspended and suspended from the spreader 15 through the operation window 143 disposed below the driver X. The driver X operates the crane 10 via the operation panel 142 arranged on the side surface of the driver seat 141 while visually checking the state of the container A and its surroundings (presence of obstacles) through the operation window 143. Carry out the lifting work.
[Functional configuration of crane operation support device]
FIG. 3 is a diagram illustrating a functional configuration of the crane operation support apparatus according to the first embodiment.
As illustrated in FIG. 3, the crane operation support device 20 according to the present embodiment includes a terminal device 21 installed in the cab 14. Further, the terminal device 21 separately receives input of predetermined information from various external devices provided in the crane 10, that is, the crane control device 31, the imaging device 32, and the profile sensor 33.
  The crane control device 31 is a control mechanism that operates various movable parts of the crane 10 based on the operation of the driver X. The crane control device 31 is operation information indicating the operation state of the crane 10, specifically, the traverse coordinates of the crane 10 (the position of the leg structure 11 in the traverse direction), the hoisting coordinates, and the hoisting angle (the rotation of the boom 12). ), Traverse speed (speed in the traverse direction of the leg structure 11), hoisting speed, travel speed (speed in the travel direction of the trolley 13), and the like.
  The imaging device 32 is, for example, a surveillance camera, and displays a suspended load (container A) suspended from the spreader 15 of the crane 10 or an object (a plurality of containers loaded on the container ship 50) positioned below the suspended load. It is attached so as to face downward from the vicinity of the spreader 15 so that a predetermined range including it can be photographed. As another modification, for example, the imaging device 32 is attached to a predetermined location outside the trolley 13 or the crane 10 so that the entire range that is a blind spot from the viewpoint of the driver X can be taken. It may be done.
  The profile sensor 33 acquires height information indicating the height of an object (a plurality of containers loaded on the container ship 50) located around the suspended load. Specifically, the profile sensor 33 according to the present embodiment irradiates an object to be measured with a laser and measures the distance between the apparatus and the laser reflecting surface according to the incident time of the reflected light. It is. The profile sensor 33 can detect, as height information, a two-dimensional profile (contour) in the height direction of a plurality of containers and the like loaded on the container ship 50 by scanning the laser in one axis direction. . For example, the profile sensor 33 is provided in the trolley 13, the spreader 15, etc., and scans the laser along the moving direction of the spreader 15 (traveling direction of the trolley 13) in a predetermined range below where the object (container) is arranged. To do.
The terminal device 21 includes a CPU (Central Processing Unit) 210, a communication connection unit 213, a storage unit 215, a display unit 216, and an input reception unit 217.
The CPU 210 is a functional unit that controls the overall operation of the terminal device 21. The CPU 210 functions as an operation information acquisition unit 211, an image information generation unit 212, and a storage processing unit 214 by reading a predetermined program into an internal storage area. The functions of the driving information acquisition unit 211, the image information generation unit 212, and the storage processing unit 214 will be described below.
The communication connection unit 213 is a connection interface for wired connection (or wireless connection) with the crane control device 31, the imaging device 32, and the profile sensor 33, whereby the terminal device 21 is connected to the crane control device 31, the imaging device. Communication with the device 32 and the profile sensor 33 is possible.
The driving information acquisition unit 211 acquires a plurality of driving information for reproducing the crane operation by the driver X. Specifically, the operation information acquisition unit 211 according to the present embodiment sequentially inputs operation information indicating the current operation state of the crane 10 from the crane control device 31 via the communication connection unit 213 as operation information. Accept. Further, the driving information acquisition unit 211 captures in detail the lower detailed video information (videos acquired by the imaging device 32, such as a plurality of containers located below the spreader 15) from the imaging device 32 as driving information. Video) input is received sequentially. Furthermore, the driving information acquisition unit 211 sequentially receives input of profile information that is the height information from the profile sensor 33 as driving information.
  The storage processing unit 214 associates each of the plurality of driving information (operation information, lower detailed video information, profile information) acquired by the driving information acquisition unit 211 with the time when the driving information acquisition unit 211 acquires the driving information. The processing stored in the storage unit 215 is performed. Here, it is assumed that the CPU 210 includes a timer unit (not shown) that counts the current time.
The input receiving unit 217 is a user interface such as a keyboard, a mouse, and a touch sensor, and receives input of various instructions from the driver X.
The image information generation unit 212 generates image information for displaying the driving information stored in the storage unit 215 on the display unit 216 when a predetermined reproduction instruction from the driver X is received. At this time, the image information generation unit 212 generates image information on the display unit 216 such that each of the operation information, the lower detailed video information, and the profile information is simultaneously displayed for each associated time. Furthermore, the image information generation unit 212 sequentially outputs the generated image information to the display unit 216 in the order of associated times. As a result, a plurality of operation information acquired within a predetermined period is reproduced through the display unit 216 in the same time series.
At this time, the driver X can reproduce the driving information at a desired time within the range of the driving information stored in the storage unit 215 by designating the reproduction start time via the input receiving unit 217. Can do.
FIG. 4 is a diagram illustrating an operation information table stored in the storage unit by the storage processing unit according to the first embodiment.
As described above, the storage processing unit 214 according to the present embodiment associates the driving information (operation information, lower detailed video information and profile information) acquired by the driving information acquisition unit 211 with the acquired time, and stores the storage unit 215. To remember. Here, specifically, the storage processing unit 214 creates an operation information table in which the current time provided from the time measuring unit and the acquired various operation information are associated with each other, and stores this in the storage unit 215. .
As shown in FIG. 4, in the driving information table, data constituting each of the operation information, the lower detailed video information, and the profile information is stored in association with the same acquisition time. Specifically, in the operation information table, as the operation information acquired from the crane control device 31, the traverse coordinates in the leg structure unit 11, the traverse speed, the hoisting coordinates of the spreader 15, the hoisting speed, the hoisting angle of the boom 12 Specific numerical data indicating the traveling speed of the trolley 13, ON / OFF of the twist lock, the load of the suspended load (container A), and the like are stored for each acquisition time. Further, as lower detailed video information, image data for each frame (one frame) constituting a video (moving image) acquired via the imaging device 32 is stored for each acquisition time. Then, measurement data (raw data) acquired by the profile sensor 33 is stored as profile information for each acquisition time.
[Image information]
FIG. 5 is a diagram illustrating image information generated by the image information generation unit according to the first embodiment.
When the image information generation unit 212 according to the present embodiment receives a predetermined reproduction instruction from the driver X via the input reception unit 217, the image information generation unit 212 refers to the driving information table (FIG. 4) stored in the storage unit 215. Image information P1 (FIG. 5) for displaying the operation information, the lower detailed video information, and the profile information on the display unit at the same time corresponding to a predetermined time (reproduction time) is generated. The image information P1 includes image information P10 to P13 described below.
As shown in FIG. 5, the image information generation unit 212 is based on the operation information stored in the storage unit 215 (operation information table), and performs a traverse coordinate, a traverse speed, a hoisting coordinate, a winding coordinate corresponding to a predetermined reproduction time. Image information P10 indicating information (numerical data) such as the upper speed, the undulation angle, the traveling speed, the twist lock ON / OFF, and the load is generated.
In addition, the image information generation unit 212 is an image information that is an image corresponding to the same playback time as the above among the lower detailed video information acquired by the imaging device 32 based on the lower detailed video information stored in the storage unit 215. P11 is generated.
Furthermore, the image information generation unit 212 is based on the profile information stored in the storage unit 215 and is an image simulating the contour representing the position and height of the suspended load and its surrounding containers corresponding to the same reproduction time as described above. Information P12 is generated.
Here, the “reproduction time” is an arbitrary time designated from the acquisition times in the driving information table, and for example, in ascending order during the reproduction process (FIG. 6B) based on the reproduction instruction of the driver X. It is specified continuously. That is, the image information generation unit 212 sequentially generates the image information P1 including the above-described image information P10 to P12 for each successive reproduction time, and outputs the image information P1 to the display unit 216. Accordingly, the operation information, the lower detailed video information, and the profile information acquired at the same time are sequentially displayed and reproduced in the same time series on the display unit 216.
  Further, the image information generation unit 212 may add an operation image P13 so that the driver X can specify a desired reproduction time (see FIG. 5). Thus, the driver X operates the input receiving unit 217 and designates a desired reproduction time via the operation image P13, so that the driver can immediately confirm the driving situation at the time he / she wants to confirm. it can. Further, the driver X can perform various operations such as fast forward, rewind, or temporary stop via the operation image P13.
  6A and 6B are first and second flowchart diagrams showing the processing procedure of the crane operation support apparatus according to the first embodiment. FIG. 6A mainly shows the procedure of the storage process by the storage processing unit 214, and FIG. 6B mainly shows the procedure of the reproduction process by the image information generation unit 212.
The terminal device 21 performs the storage process illustrated in FIG. 6A during the operation of the crane 10 by the driver X.
Specifically, as illustrated in FIG. 6A, the operation information acquisition unit 211 obtains operation information (operation information, downward detailed video information, and profile information) from each of the crane control device 31, the imaging device 32, and the profile sensor 33. Obtain (step S11). Next, the memory | storage process part 214 memorize | stores in the memory | storage part 215, matching the acquired driving | operation information and the time information which shows the present time acquired via a time measuring part (step S12). Thereby, an operation information table (FIG. 4) is generated in the storage unit 215. The CPU 210 determines whether or not the operation of the crane 10 has ended based on whether or not a signal indicating the end of operation of the crane 10 has been input (step S13). When receiving an input of a signal indicating the end of operation of the crane 10 (step S13: YES), the terminal device 21 ends the storage process. On the other hand, when the input of the signal indicating the end of the operation of the crane 10 is not accepted (step S13: NO), the terminal device 21 continues to repeat the operation information acquisition and storage processing (steps S11 and S12).
On the other hand, when the terminal device 21 receives a predetermined reproduction instruction from the driver X, the terminal device 21 executes the reproduction process shown in FIG. 6B.
Specifically, as illustrated in FIG. 6B, the image information generation unit 212 refers to the driving information table stored in the storage unit 215, and the operation information and lower detailed video information associated with a predetermined reproduction time. And the image information P1 (FIG. 5) containing profile information is produced | generated (step S21). Next, the image information generation unit 212 outputs the generated image information P1 to the display unit 216. Thereby, the operation information corresponding to the reproduction time, the lower detailed video information, and the profile information are simultaneously displayed on the display unit 216 (step S22).
CPU 210 determines whether or not an instruction to end the regeneration process has been received from driver X (step S23). When receiving an instruction to end the reproduction process (step S23: YES), the terminal device 21 ends the reproduction process. On the other hand, when the input of the signal indicating the end of operation of the crane 10 is not accepted (step S13: NO), the terminal device 21 designates the next regeneration time (step S24), and at the designated regeneration time. The generation of the image information based on the associated driving information and the display thereof (Steps S21 and S22) are repeated.
Thereby, the operation of the crane 10 based on the operation of the driver X is reproduced (reproduced) through the display unit 216.
  In addition, when the input operation of the driver | operator X is received via the operation image P13 during the said reproduction | regeneration processing, the terminal device 21 shall start reproduction | regeneration from the reproduction | regeneration time designated by the said input operation. .
[Function and effect]
As described above, the crane operation support device 20 performs a process of sequentially storing the operation state of the crane 10 based on the operation of the driver X with three pieces of information (operation information, downward detailed video information, and profile information) (memory). processing). Furthermore, the crane driving assistance device 20 reproduces the status of the driving performed by the driver X based on the stored various information (reproduction processing). At this time, the crane operation support apparatus 20 performs processing for simultaneously reproducing the three pieces of information through the display unit 216 in the same time series. Thereby, since the operation state of the past crane 10 is reproduced by a plurality of different pieces of information that are simultaneously reproduced, the driver X can accurately grasp the operation state at that time. For example, the driver X grasps what driving operation he / she has performed on the operation panel 142 based on the operation information of the crane 10 while viewing the image information P1 through the display unit 216, and at the same time, the details below It is possible to recognize the trajectory of the suspended load based on the video information or profile information and the positional relationship with other containers.
Thereby, since the driver | operator X can grasp | ascertain objectively the condition (the locus | trajectory of a suspended load, or positional relationship with another container) directly brought about by own operation, operation of the crane 10 is carried out at the next driving | operation. It becomes easy to improve.
  In the present embodiment, the display unit 216 of the terminal device 21 is installed in the cab 14 where the driver X is located. Thus, when the driver X wants to reconfirm his / her operation, the driver X can immediately execute the regeneration process on the spot while in the cab 14. As a result, the driver X can accurately grasp where the operation should be corrected while the operation is clearly stored.
  As described above, according to the crane operation support device according to the first embodiment, an environment in which it is easy to reconfirm the status of the crane 10 and the suspended load based on the operation of the driver himself on the spot is provided. Therefore, the operator's skill in crane operation can be improved efficiently.
In the crane operation support device 20 described above, one imaging device 32 is described as being installed on the spreader 15. However, in other embodiments, the imaging device 32 is not limited to this mode. The crane 10 may be installed at a plurality of different locations. In this case, for example, the other imaging device 32 may acquire, from the operator's cab 14 of the crane 10, visual field image information that is an imaging of a predetermined range including the spreader 15 positioned below the operator's cab 14. In this case, the image information generation unit 212 generates image information P <b> 1 including both the lower detailed image information and the visual field video information acquired via the plurality of imaging devices 32.
As a result, the crane driving support device 20 can reproduce an image close to a scene that the driver X himself directly views through the operation window 143 through the display unit 216, so that the operation of the driver X can be improved. It can be further promoted.
  Moreover, although the terminal device 21 was demonstrated in the above-mentioned crane driving assistance apparatus 20 as what is installed in the room of the cab 14, in other embodiment, it is not restricted to this aspect. For example, among the functional components of the terminal device 21, the functional components other than the display unit 216 and the input receiving unit 217 are installed in a place different from the driver's cab 14. Also good.
<Second Embodiment>
Next, a crane system according to a second embodiment will be described with reference to the drawings.
The crane system according to the present embodiment stores this as a risk determination when the suspended load approaches a position below a predetermined threshold with respect to the surrounding object based on information acquired from the profile sensor. Proactively provide the driver with information related to the risk determination.
FIG. 7 is a diagram illustrating a functional configuration of a crane operation support apparatus according to the second embodiment.
The crane operation support apparatus 20 according to the present embodiment includes a terminal device 21 installed in the cab 14 as in the first embodiment. The terminal device 21 receives input of predetermined information from the crane control device 31, the imaging device 32, and the profile sensor 33 provided in the crane 10.
The driving information acquisition unit 211 of the terminal device 21 according to the present embodiment further includes a risk determination unit 211a.
Based on the profile information acquired from the profile sensor 33, the danger determination unit 211a determines whether or not the suspended load (container A) has approached the object (the other surrounding containers) or the like to a position equal to or lower than a predetermined threshold value. Determine. Specifically, in the risk determination unit 211a, the distance between the suspended load and the object is equal to or less than a preset threshold Lth (for example, 1 m or less) based on the distance measurement result by the profile sensor 33. In this case, a process for making the predetermined risk determination flag “valid” is performed. In this case, for example, the profile sensor 33 is attached to the spreader 15 and moves with the suspended load to be transported. Thereby, the distance between the suspended load and the object can be calculated based on the distance between the profile sensor 33 itself and the object.
FIG. 8 is a diagram illustrating an operation information table stored in the storage unit by the storage processing unit according to the second embodiment.
The storage processing unit 214 according to the present embodiment stores the determination result by the risk determination unit 211a in the storage unit 215 in association with the acquisition time, together with the operation information, the lower detailed video information, the profile information, and the like. Therefore, as shown in FIG. 8, the driving information table according to the present embodiment is associated with the risk determination flag indicating the determination result of the risk determination in addition to the operation information, the lower detailed video information, and the profile information.
FIG. 9 is a diagram illustrating image information generated by the image information generation unit according to the second embodiment.
When the image information generation unit 212 according to the present embodiment receives a predetermined reproduction instruction from the driver X via the input reception unit 217 as in the first embodiment, the driving information table stored in the storage unit 215. Referring to (FIG. 8), image information P1 (FIG. 9) is generated. The image information P1 according to the present embodiment includes image information P14 indicating the determination result of the risk determination in addition to the above-described image information P10 to P13.
Specifically, the image information generation unit 212 refers to the risk determination flag stored in the driving information table that corresponds to the designated reproduction time. Then, when the danger determination flag at the reproduction time is “valid”, the image information generation unit 212 generates image information P14 having a conspicuous color such as “yellow” or “red”. On the other hand, when the danger determination flag is “invalid”, the image information generation unit 212 generates image information P14 having an inconspicuous color such as “gray”.
By doing in this way, during the reproduction of various driving information, it is indicated by the color of the image information P14 that the suspended load and another container have approached and is in a dangerous state. It becomes easy to identify the time zone that was in a dangerous state by operating the crane 10 of its own.
  In this case, when a predetermined instruction (for example, “cue” or the like) is received from the driver X via the operation image P13, the image information generation unit 212 sets the risk determination flag to “valid”. The playback time may be selected and played back. By doing in this way, the driver | operator X can reconfirm the time slot | zone used as a dangerous situation by simpler operation.
<Third Embodiment>
Next, a crane system according to a third embodiment will be described with reference to the drawings.
The crane system according to the present embodiment calculates and stores trajectory information indicating an appropriate trajectory of the suspended load based on information acquired from the profile sensor, and further provides the trajectory information to the driver.
FIG. 10 is a diagram illustrating a functional configuration of a crane operation support apparatus according to the third embodiment.
The crane operation support apparatus 20 according to the present embodiment includes a terminal device 21 installed in the cab 14 as in the first and second embodiments. The terminal device 21 receives input of predetermined information from the crane control device 31, the imaging device 32, and the profile sensor 33 provided in the crane 10.
The driving information acquisition unit 211 of the terminal device 21 according to the present embodiment further includes a trajectory calculation unit 211b.
The trajectory calculation unit 211b calculates trajectory information indicating an appropriate trajectory of the suspended load (container A) currently being transported from profile information of containers and the like arranged in the vicinity.
Specifically, based on the acquired profile information, the trajectory calculation unit 211b specifies a region that is separated from the contour drawn by the profile information by a certain distance (for example, a threshold Lth used for risk determination). Moreover, if the suspended load is raised to a height higher than necessary, it takes time to move up and down, and the work efficiency is impaired. Accordingly, the trajectory calculation unit 211b displays trajectory information indicating a trajectory that gives the shortest total transport distance while belonging to the above-described region (region distant from the contour drawn by the profile information) by a suspended load (container A) is calculated as an appropriate trajectory.
FIG. 11 is a diagram illustrating an operation information table stored in the storage unit by the storage processing unit according to the third embodiment.
The storage processing unit 214 according to the present embodiment stores the trajectory information calculated by the trajectory calculation unit 211b in the storage unit 215 in association with the acquisition time, along with operation information, lower detailed video information, profile information, and the like. Therefore, as shown in FIG. 11, the driving information table according to the present embodiment is associated with trajectory information indicating an appropriate trajectory of the suspended load in addition to the operation information, the lower detailed video information, and the profile information.
FIG. 12 is a diagram illustrating a part of the image information generated by the image information generation unit according to the third embodiment.
The image information generation unit 212 according to the present embodiment generates image information P12 for displaying the trajectory information calculated by the trajectory calculation unit 211b in addition to the profile information such as the containers arranged around. The image information P10 indicating the operation information of the crane 10, the image information P11 indicating the lower detailed video information acquired by the imaging device 32, and the like are the same as those in the first and second embodiments, and are not shown. To do.
Based on the profile information and trajectory information stored in the storage unit 215, the image information generation unit 212 imitates a contour representing the position and height of the suspended load and its surrounding containers corresponding to the designated reproduction time. Image information P12 obtained by superimposing an image and an image indicating a locus drawn based on the locus information is generated.
As shown in FIG. 12, the image information P12 includes a contour image Pm representing the position and height of the surrounding container and the like drawn by the profile information, and the relative of the suspended load (container A) being transported to the surrounding container and the like. The suspended load image Pn indicating the target position is included. Further, the image information P12 includes a trajectory image Pt indicating an appropriate trajectory of the suspended load in addition to the contour image Pm and the suspended load image Pn. The trajectory image Pt shows a trajectory of a suspended load that has the shortest transport distance while maintaining a predetermined threshold Lth from the stacked containers.
By doing in this way, the driver | operator X can grasp | ascertain the locus | trajectory which can carry a suspended load efficiently for every shape of the stacked container during reproduction | regeneration of various driving | operation information. In addition, it is possible to grasp how far the actual trajectory of the suspended load based on the operation performed by the driver X deviates from the proper trajectory.
Thereby, the operator's X crane operation skill can be improved more efficiently.
  Note that the processing content (appropriate trajectory calculation method) by the trajectory calculation unit 211b according to the third embodiment is merely an example, and is not limited thereto. For example, the operation characteristics unique to the crane 10 and the physical load A phenomenon (such as a pendulum motion) may be taken into consideration.
  Moreover, the aspect which combined the above-mentioned 2nd Embodiment with the 3rd Embodiment may be sufficient as the crane driving assistance apparatus 20 which concerns on other embodiment. Specifically, the driving information acquisition unit 211 according to the other embodiment includes a risk determination unit 211a and a trajectory calculation unit 211b. In this case, the danger determination unit 211a may determine whether or not the currently carried suspended load is out of the region corresponding to the trajectory calculated by the trajectory calculation unit 211b.
<Fourth Embodiment>
Next, a crane system according to a fourth embodiment will be described with reference to the drawings.
In the crane system according to the present embodiment, the stored operation information is transferred to a device (operation information storage device) installed on the ground (for example, a work room in a container yard) via a conveyance recording medium. to manage.
FIG. 13 is a diagram illustrating a functional configuration of a crane operation support apparatus according to the fourth embodiment.
As shown in FIG. 13, the crane operation support device 20 according to the present embodiment includes a terminal device 21 provided in the cab 14 and an operation information storage device 22 provided on the ground side.
The terminal device 21 according to the present embodiment includes a transport recording medium receiving unit 218. The transport recording medium accepting unit 218 is a so-called memory card interface, and accepts a corresponding transportable transport storage medium (memory card). The storage processing unit 214 according to the present embodiment stores the operation information acquired in the transport storage medium inserted into the transport recording medium receiving unit 218.
On the other hand, the driving information storage device 22 on the ground side includes an image information generation unit 222, a storage unit 225, a display unit 226, and an input reception unit 227. Each of these functions is equivalent to the storage unit 215, the display unit 216, and the input reception unit 217 of the terminal device 21 according to the first to third embodiments, and thus detailed description thereof is omitted.
For example, during a break time, the driver X or the like travels to the driving information storage device 22 with a transport storage medium storing driving information based on his / her operation, and stores the driving information in the storage unit 225 of the driving information storage device 22. Perform the transfer operation. At this time, the driving information storage device 22 stores the stored driving information in association with an identifier for identifying the driver X.
As a result, driving information acquired based on the operations of a plurality of drivers is stored and accumulated in the storage unit 225 of the driving information storage device 22 and is centrally managed.
  In addition, the driver X inputs a reproduction instruction via the input reception unit 227 of the driving information storage device 22, so that the driver X passes through the image information generation unit 222 and the display unit 226 of the driving information storage device 22. Driving information based on the operation of oneself or another driver can be reproduced and reconfirmed.
  As described above, according to the crane operation support apparatus according to the fourth embodiment, not only the operation information based on the operation of the driver himself but also the operation information based on the operation of another driver can be easily reproduced and confirmed. An environment is provided. Accordingly, the driver can obtain an opportunity to refer to the operations of other people, particularly the operations of the skilled worker, so that the driver's skill in crane operation can be improved more efficiently.
  In addition, the crane operation support apparatus according to the present embodiment can transfer operation information by a conveyance storage medium (such as a memory card) via the conveyance storage medium reception units 218 and 228. Even in an environment where a communication line with the installed operation information storage device 22 is not laid, the operation information can be transferred and stored, and unified management can be performed with a simpler configuration. However, in other embodiments, the present invention is not limited to this aspect, and the crane 10 main body and the operation information storage device 22 can communicate with each other via a predetermined communication line (including a wireless communication line). The mode in which the driving information is transferred may be possible.
  In this case, the driving information storage device 22 may further have a function of determining whether each of the plurality of driving information accumulated in the storage unit 225 is due to the operation of the “expert”. Good. Specifically, for example, the driving information storage device 22 determines whether or not the driver associated with the driving information is an expert based on the contents of the plurality of driving information stored in the storage unit 225. An expert determination unit is provided. For example, the expert determination unit determines that the average value of the reproducible time (that is, the continuous work time of operation of the crane 10) in the plurality of operation information associated with a specific driver X is greater than a predetermined determination threshold. When the number is small, the driver X is determined to be an “expert”. In addition, the expert determination unit determines that the driver X when the sum of the times when the risk determination flag (see the second embodiment) stored in the driving information is “valid” is less than a predetermined determination threshold. May be determined as “expert”.
  Thus, by giving a constant evaluation for each driver based on the content of the acquired operation information, the driver can be motivated to improve the skill of crane operation. Therefore, the operator's skill in crane operation can be improved more efficiently.
  In addition, a process for realizing the function of the CPU 210 in each of the above-described embodiments is recorded on a computer-readable recording medium, and the program recorded on the recording medium is read into a computer system and executed. You may go. Here, the “computer system” includes an OS and hardware such as peripheral devices. The “computer-readable recording medium” refers to a storage device such as a flexible medium, a magneto-optical disk, a portable medium such as a ROM and a CD-ROM, and a hard disk incorporated in a computer system. Further, the “computer-readable recording medium” refers to a volatile memory (RAM) in a computer system that becomes a server or a client when a program is transmitted via a network such as the Internet or a communication line such as a telephone line. In addition, those holding programs for a certain period of time are also included.
  The program may be transmitted from a computer system storing the program in a storage device or the like to another computer system via a transmission medium or by a transmission wave in the transmission medium. Here, the “transmission medium” for transmitting the program refers to a medium having a function of transmitting information, such as a network (communication network) such as the Internet or a communication line (communication line) such as a telephone line. The program may be for realizing a part of the functions described above. Furthermore, what can implement | achieve the function mentioned above in combination with the program already recorded on the computer system, and what is called a difference file (difference program) may be sufficient.
  As mentioned above, although some embodiment of this invention was described, these embodiment is shown as an example and is not intending limiting the range of invention. These embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the scope of the invention. These embodiments and modifications thereof are included in the invention described in the claims and equivalents thereof, as long as they are included in the scope and gist of the invention.
DESCRIPTION OF SYMBOLS 1 Crane system 10 Crane 11 Leg structure part 12 Boom 13 Trolley 14 Driver's cab 141 Driver's seat 142 Operation panel 143 Operation window 15 Spreader (suspending means)
20 Crane operation support device 21 Terminal device 210 CPU
211 Driving information acquisition unit 211a Risk determination unit 211b Trajectory calculation unit 212, 222 Image information generation unit 213 Communication connection unit 214 Storage processing unit 215, 225 Storage unit 216, 226 Display unit 217, 227 Input reception unit 218, 228 Transport storage medium Reception unit 22 Operation information storage device 31 Crane control device 32 Imaging device 33 Profile sensor 50 Container ship

Claims (7)

  1. Operation information for acquiring crane operation information, video information including an object to be suspended or suspended by the crane suspension means, and height information of the object located around the suspended load An acquisition unit;
    A storage processing unit that stores the acquired motion information, the video information, and the height information in a storage unit in association with the acquired time;
    An image information generating unit that generates image information for displaying the operation information, the video information, and the height information stored in the storage unit on the display unit at the same time for each associated time;
    Equipped with a,
    The operation information acquisition unit acquires profile information of the object along the moving direction of the suspension means as the height information, and further, the suspended load is applied to the object based on the profile information. Determine whether or not you have approached a position below a predetermined threshold,
    The said image information generation part is a crane driving assistance apparatus which produces | generates the image information for displaying the determination result which shows whether the said hanging load approached the said target object to the position below the said threshold value .
  2. The crane operation according to claim 1, wherein the operation information acquisition unit acquires, as the image information, lower detailed image information that is an image obtained by imaging the object located below the suspension unit. Support device.
  3. The operation information acquisition unit acquires, as the image information, visual field image information that is an image of a predetermined range including the suspension means positioned below the operator's cab of the crane. The crane driving assistance device according to claim 1 or claim 2.
  4. The driving information acquisition unit further calculates trajectory information indicating an appropriate trajectory of the suspended load based on the profile information,
    The image information generating unit, along with the profile information of the object, according to any one of claims 1 to 3, characterized in that for generating image information for displaying overlapping the locus information Crane driving support device.
  5. A crane operation support device according to any one of claims 1 to 4 ,
    A crane,
    Crane system with
  6. Obtaining crane operation information, video information including an object to be suspended or suspended by the crane suspension means, and height information of the object located around the suspended load,
    The acquired operation information, the video information, and the height information are stored in association with the acquired time,
    The stored operation information, the video information, and the height information are simultaneously displayed on a display unit for each associated time ,
    As the height information, the profile information of the object along the moving direction of the suspension means is acquired, and further, based on the profile information, the suspended load is to a position below a predetermined threshold with respect to the object. Determine whether they approached,
    A crane operation support method , wherein a determination result indicating whether or not the suspended load has approached the object to a position equal to or less than the threshold value is displayed on the display unit .
  7. The crane operation support computer
    Operation information for acquiring crane operation information, video information including an object to be suspended or suspended by the crane suspension means, and height information of the object located around the suspended load Acquisition means,
    Storage processing means for storing the acquired motion information, the video information, and the height information in a storage unit in association with the acquired time;
    Image information generating means for generating image information for displaying the stored operation information, the video information, and the height information on a display unit at the same time for each associated time;
    To function as,
    The driving information acquisition means acquires profile information of the object along the moving direction of the suspension means as the height information, and further, based on the profile information, the suspended load is applied to the object. Determine whether or not you have approached a position below a predetermined threshold,
    The image information generating means is a program for generating image information for displaying a determination result indicating whether or not the suspended load has approached the object to a position equal to or less than the threshold value .
JP2014066845A 2014-03-27 2014-03-27 Crane operation support device, crane system, crane operation support method and program Active JP6215110B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2014066845A JP6215110B2 (en) 2014-03-27 2014-03-27 Crane operation support device, crane system, crane operation support method and program

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2014066845A JP6215110B2 (en) 2014-03-27 2014-03-27 Crane operation support device, crane system, crane operation support method and program

Publications (2)

Publication Number Publication Date
JP2015189528A JP2015189528A (en) 2015-11-02
JP6215110B2 true JP6215110B2 (en) 2017-10-18

Family

ID=54424375

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2014066845A Active JP6215110B2 (en) 2014-03-27 2014-03-27 Crane operation support device, crane system, crane operation support method and program

Country Status (1)

Country Link
JP (1) JP6215110B2 (en)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6259712B2 (en) * 2014-05-13 2018-01-10 Ihi運搬機械株式会社 Grab bucket unloader operation support device
JP2017171470A (en) * 2016-03-24 2017-09-28 三菱重工メカトロシステムズ株式会社 Deck crane system
JP2019024151A (en) * 2017-07-21 2019-02-14 株式会社タダノ Guide information display device and crane including the same and guide information display method
JP6895835B2 (en) * 2017-07-21 2021-06-30 株式会社タダノ Guide information display device and crane

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3881873B2 (en) * 2001-11-16 2007-02-14 三菱重工業株式会社 Crane control device and control method
EP2578757B1 (en) * 2010-05-24 2019-05-08 Hitachi Construction Machinery Co., Ltd. Work machine comprising a safety device
JP6017782B2 (en) * 2011-12-09 2016-11-02 株式会社タダノ Information system for height information of objects around suspended loads

Also Published As

Publication number Publication date
JP2015189528A (en) 2015-11-02

Similar Documents

Publication Publication Date Title
JP6215110B2 (en) Crane operation support device, crane system, crane operation support method and program
JP2018115077A (en) Optical detection and analysis for boom angles on crane
JP6017691B2 (en) Information presenting apparatus, crane system and information presenting method
JP6017782B2 (en) Information system for height information of objects around suspended loads
ES2683294T3 (en) Rotary tower crane
CN108025896B (en) Control of a lifting device
JP2011079648A (en) Stationary image display system
JP2011063358A (en) Monitoring system and monitoring method of suspending cargo lower part
JP2018095367A (en) crane
JP2019218198A (en) Operation support system
JP2017109847A (en) Maintenance work support device of elevator and maintenance work support method
CN110072797B (en) Crane control method, computer program, equipment and crane updating method
KR101258851B1 (en) Apparatus and Method for Controlling Crane
JP6897075B2 (en) Overwinding detector
WO2019212795A1 (en) System and method for monitoring operations and personnel on offshore unit
CN111882597A (en) Method for estimating upper surface of measurement object, guidance information display device, and crane
JP2018156257A (en) Vehicle dispatching system
JP2021151920A (en) Crane work management system and management equipment
JP6919817B2 (en) Crane control system and control method
JP2021004119A (en) Suspension rope swing determination method, data processing device, and crane
JP6940118B2 (en) Crane operation support system
JP2020132361A (en) Crane operation support system and operation support method
JP6601903B2 (en) Notification device and moving system
JP2018080054A (en) Work support device, and work support method
JP6058777B1 (en) Sensor device and sensor adjustment system

Legal Events

Date Code Title Description
A711 Notification of change in applicant

Free format text: JAPANESE INTERMEDIATE CODE: A712

Effective date: 20160129

A625 Written request for application examination (by other person)

Free format text: JAPANESE INTERMEDIATE CODE: A625

Effective date: 20160713

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20170309

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20170404

A521 Written amendment

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20170531

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20170919

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20170920

R150 Certificate of patent or registration of utility model

Ref document number: 6215110

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150