JP6300152B2 - Crane ship hanging position measuring device and hanging position measuring method - Google Patents

Description

  The present invention relates to a crane ship hanging position measuring apparatus and a hanging position measuring method used for crane operation support of a crane ship such as a gut ship.

  When constructing a rubble mound, which is the foundation of an underwater structure, a crane swivel installed on a trolley that can be swiveled, a jib that can be swung up and down on the crane swivel, and a wire fed from the tip of the jib Using a crane ship such as a gut ship equipped with the above, a grab bucket suspended from the tip of a wire by a crane is operated to throw rubble away.

  Conventionally, in this rubble throwing work, a method such as installing a flag or the like at a position where a rubble is thrown and a crane is operated by an operator using the mark as a guideline, but in this method, There was a problem that a marker such as a flag may be moved due to a tidal current or the like, and that a crane operation that relies on visual observation requires skill.

  On the other hand, in recent years, the GPS antenna is fixed to the tip of the jib, the position of the jib tip is specified by measuring the position of the GPS antenna, and the grab bucket at the position suspended from the tip of the jib is A hanging position measuring device for detecting a position has been developed, and a rubble throwing operation and the like can be performed efficiently and easily based on detection data from the hanging position measuring device (see, for example, Patent Document 1).

  Further, as a means for measuring the position of a suspended body such as a grab bucket, measurement is performed using a target fixed to the suspended body, for example, a reflecting prism (target) is fixed to a suspended body such as a grab bucket. In addition, there is also known a method in which a surveying instrument such as a tracking total station installed on the ground or on a ship is collimated according to a reflecting prism, and a distance is measured from a time difference until sensing reflected light by the reflecting prism (for example, patent Reference 2).

JP 2009-24400 A JP-A-10-25089

  However, in a conventional suspension position measuring device using a GPS antenna attached to the tip of a jib, it is assumed that a suspended body such as a grab bucket is located directly under the jib. When moved, there is a possibility that a deviation occurs between the horizontal position of the jib tip and the horizontal position of the grab bucket, leading to a decrease in measurement accuracy.

  In addition, the work of fixing the GPS antenna to the jib tip involves a dangerous work at a high place, and the work is complicated and requires a lot of time.

  In addition, gut ships that can be used for rubble throwing work have special circumstances that differ from day to day depending on the operation schedule, so it is necessary to install and remove the hanging position measuring device each time it is used, which is dangerous and complicated each time. Since the GPS antenna is fixed to the tip of the jib, there is a problem that the efficiency is very low.

  On the other hand, in the measurement method using the target fixed to the suspended body, when the suspended body is a grab bucket or the like, there is a possibility that the target such as the reflecting prism may be damaged or dropped due to vibration accompanying the operation.

  Therefore, in view of such a conventional problem, the present invention does not require mounting work at a high place in a crane ship such as a gut ship and can accurately measure the position of a suspended body such as a grab bucket. The present invention was made for the purpose of providing a ship hanging position measuring device and a hanging position measuring method.

The feature of the invention according to claim 1 for solving the above-described conventional problems is that a crane turning unit is installed on a carriage so as to be capable of turning, and is supported by the crane turning unit so as to be rotatable up and down. jib and, a wire fed out of the tip of the jib, and a bucket suspended to the wire, in the crane ship to put the stone in the water around the barge grasp the stone by the bucket, the In a crane ship hanging position measuring device that measures a horizontal position of a measurement object for specifying a bucket and calculates a horizontal position of the bucket from a horizontal position of the measurement object, an arbitrary position of the crane ship A laser beam fixed in a detachable manner and directed parallel to the plane of the crane ship or the horizontal plane is swung in a desired scan range in a direction parallel to the plane of the crane ship or in a horizontal direction. When the laser beam is reflected by an object, the reflected beam is received, and the scanning laser distance meter that measures the distance and scanning angle between the object and the position of the scanning laser distance meter is measured. A distance meter position measuring means for
A distance meter azimuth measuring means for measuring the true orientation of the scanning laser rangefinder, a wire of the object based on the scanning information by the laser beam, buckets, one of the measurement object specific to the measurement object determination stone A horizontal center position of the object to be measured based on means, a distance and a scanning angle measured by the scanning laser distance meter, a position of the scanning laser distance meter, and a true direction of the scanning laser distance meter. It is in the hanging position measuring device of a crane ship provided with the calculating means to calculate.

According to a second aspect of the present invention, in addition to the configuration of the first aspect, the scanning laser distance meter is detachably fixed to an arbitrary position on the carriage, and the distance meter position measuring means includes: A GPS antenna fixed in an detachable manner at an arbitrary position on the carriage is provided, and the distance meter bearing measuring means includes a bearing meter for measuring the bearing of the GPS antenna, based on the position and orientation of the GPS antenna. Thus, the position of the scanning laser distance meter and the true direction of the scanning laser distance meter are respectively calculated.

According to a third aspect of the present invention, in addition to the configuration of the second aspect, the calculation means includes a position of the scanning laser distance meter, a true direction of the scanning laser distance meter, the scanning laser distance meter and the The position and true orientation of the trolley are calculated based on the relative positional relationship with the trolley.

According to a fourth aspect of the present invention, in addition to the configuration of the first aspect, the scanning laser distance meter is detachably fixed to an arbitrary position of the crane turning portion toward the jib, and the distance meter The position measuring means includes a GPS antenna that is detachably fixed at an arbitrary position of the crane turning unit, and the distance meter azimuth measuring means includes an azimuth meter that measures the azimuth of the GPS antenna, and the GPS based on the position and orientation of the antenna lies in the true azimuth position and before Symbol scanning laser rangefinder of the scanning laser rangefinder to calculate respectively.

According to a fifth aspect of the present invention, in addition to the configuration of any one of the first to fourth aspects, an inclinometer that measures the inclination of the carriage is provided, and the computing means is measured by the inclinometer. The attitude of the crane ship is detected based on the inclination of the crane ship, and the horizontal center position of the measurement object is calculated according to the attitude information of the crane ship.

Features of the invention described in claim 6, in addition to the configuration of any one of claims 1 to 5, wherein the calculating means detects the excluded object other than the object of measurement from the scanning information by the laser beam The horizontal position of the suspended body is calculated by excluding information on the non-target object from the scanning information.

The feature of the invention described in claim 7 is that a crane turning part installed on a trolley so as to be turnable, a jib supported so as to be turnable up and down on the crane turn part, and a wire fed from the tip of the jib A crane ship suspension position measuring method for measuring the position of a bucket suspended from the tip of the wire of a crane ship, and is detachably fixed at an arbitrary position on the crane ship, A laser beam directed parallel to the horizontal plane is swiveled and scanned in a direction parallel to the crane ship plane or in a horizontal direction within a desired scanning range, and when the laser beam is reflected by an object, the reflected beam is received, A scanning laser distance meter for measuring a distance between the scanning laser and a scanning angle; distance meter position measuring means for measuring a position of the scanning laser distance meter; and the scanning laser distance Use hanging position measuring device and a distance meter azimuth measuring means for measuring the true bearing of the meter,
The bucket is suspended at a desired height position within the expected movement range, the laser beam is swung and scanned within the expected movement range, and the object and the scanning laser rangefinder when the laser beam is reflected by the object The object is identified as a measurement object of wire, bucket, or stone based on the distance and the scanning angle between the position and the position of the scanning laser distance meter and the true orientation of the scanning laser distance meter. And if the said object is a measuring object, it exists in the hanging position measuring method of the crane ship which calculates the horizontal direction center position of the said bucket based on the scanning information.

As described above, the crane ship suspension position measuring apparatus according to the present invention includes a crane turning unit that is installed to be turnable on a carriage, a jib that is rotatably supported by the crane turning unit, and A crane ship comprising a wire fed from the tip of a jib and a bucket suspended from the wire, grabbing the stone by the bucket and throwing the stone into the water around the carriage , and identifying the bucket In a crane ship hanging position measuring device that measures the horizontal position of a measurement object for the purpose and calculates the horizontal position of the bucket from the horizontal position of the measurement object, it can be attached to and detached from any position on the crane ship The laser beam fixed to the plane of the crane ship or parallel to the horizontal plane of the crane ship is swiveled and scanned in a direction parallel to the plane of the crane ship or in a horizontal direction within a desired scanning range. When the laser beam is reflected by an object, the reflected beam is received, and a scanning laser rangefinder that measures the distance and scanning angle between the object and the position of the scanning laser rangefinder is measured. A distance measuring device position measuring means, a distance measuring device azimuth measuring means for measuring a true direction of the scanning laser distance meter, and an object to be measured based on scanning information by the laser beam. The measurement object discrimination means for specifying an object, the distance and scanning angle measured by the scanning laser distance meter, the position of the scanning laser distance meter, and the true direction of the scanning laser distance meter The calculation means for calculating the center position in the horizontal direction of the object does not require a dangerous and troublesome attachment of the GPS antenna to the tip of the jib. Without fixing the Getto it can accurately measure the horizontal position of the measurement object. Moreover, the stone input height can be detected according to the specified object.

In the present invention, the scanning laser distance meter is detachably fixed at an arbitrary position on the carriage , and the distance meter position measuring means is detachably fixed at an arbitrary position on the carriage. with a GPS antenna, the said distance meter azimuth measuring means, said comprising a compass for measuring the orientation of the GPS antenna, the position and the scanning of the scanning laser rangefinder based on the position and orientation of the GPS antenna By calculating the true azimuths of the laser rangefinders , the measurement target range can be suitably set outside the carriage.

Further, in the present invention, the calculation means is configured to determine the position of the scanning laser distance meter, the true orientation of the scanning laser distance meter, and the relative position relationship between the scanning laser distance meter and the carriage. By calculating the position and true orientation of the vehicle, it is possible to grasp the relative positional relationship between the carriage and the suspended body.

Further, in the present invention, an inclinometer for measuring the inclination of the carrier ship is provided, and the calculation means detects the attitude of the crane ship based on the inclination of the crane ship measured by the inclinometer, and the crane ship By calculating the horizontal center position of the measurement object according to the posture information, the suspended body position can be measured with high accuracy.

  Further, in the present invention, the calculation means detects a non-target object other than the measurement target object from the scanning information by the laser beam, and removes the information on the non-target object from the scanning information in the horizontal direction of the suspension body. By calculating the position, it is possible to remove noise and accurately extract the coordinates of the measurement object.

A crane ship suspension position measuring method according to the present invention includes a crane turning unit installed on a pedestal so as to be able to turn, a jib supported so as to be able to turn up and down on the crane turning unit, and a leading end of the jib. In a crane ship suspension position measuring method for measuring the position of a bucket suspended at the tip of a wire of a crane ship provided with a wire, the crane ship is detachably fixed at an arbitrary position on the crane ship. A laser beam directed parallel to a plane or a horizontal plane is swung in a desired scanning range in a direction parallel to the crane ship plane or in a horizontal direction, and when the laser beam is reflected by an object, the reflected beam is received, A scanning laser distance meter for measuring a distance and a scanning angle between the object, a distance meter position measuring means for measuring a position of the scanning laser distance meter, Use hanging position measuring device and a distance meter azimuth measuring means for measuring the true bearing of査式laser rangefinder, with down hanging the desired height position within the expected range of movement of the bucket, the expected The laser beam is swiveled and scanned within a moving range, and the distance and scanning angle between the object and the scanning laser rangefinder when the laser beam is reflected by the object, the position of the scanning laser rangefinder, Based on the scanning information of the scanning laser rangefinder, the object is specified as a measurement target of any one of a wire, a bucket, and a stone, and if the object is a measurement target, by calculating the horizontal center position of the bucket, without being influenced by the swinging of the bucket, and, without the target provided on the hanging member such as a bucket, it is possible to accurately measure the position of the hanging member That.

It is a top view which shows the 1st usage condition of the hanging position measuring device of the crane ship which concerns on this invention. It is a front view same as the above. It is the schematic which shows the structure of the hanging position measuring apparatus of the crane ship in FIG. It is a schematic plan view for demonstrating the measurement principle of the hanging position measuring device of the crane ship which concerns on this invention. It is a top view which shows the 2nd usage condition of the hanging position measuring device of the crane ship which concerns on this invention. It is a front view same as the above. It is a schematic plan view for demonstrating the measurement principle of the hanging position measuring apparatus of a crane ship same as the above. (A) is the elements on larger scale which show the other embodiment of the hanging position measuring apparatus of the crane ship which concerns on this invention, (b) is the sectional view on the aa line.

  Next, a first embodiment of a crane ship hanging position measuring apparatus according to the present invention will be described based on the embodiment shown in FIGS. In the figure, symbol A is the water surface and symbol 1 is a crane ship.

  Here, the coordinate system in the present embodiment is a plane rectangular coordinate system formulated for displaying a position in rectangular coordinates, and a point indicated by a predetermined longitude and latitude is set as the coordinate system origin, and this coordinate system The axis that coincides with the meridian at the origin is the x-axis, the axis that is orthogonal to the x-axis is the y-axis, and the direction toward true north and the direction toward true east are positive.

  The crane ship 1 is a gut ship used for throwing rubble at the time of creating a rubble mound. The crane ship hanging position measuring device 10 according to the present invention is in such a crane ship 1 and the tip of the jib 4 The horizontal position of a suspended body such as a bucket 6 suspended from the tip of the wire 5 fed out from the section can be measured.

  As shown in FIGS. 1 and 2, the crane ship 1 is supported by a crane turning part 3 that is turnably supported at the center of the end part on the carriage 2, and is supported by the crane turning part 3 so as to be turnable up and down. A jib 4 and a wire 5 fed out from the tip of the jib 4 are provided, and a bucket 6 is suspended from the tip of the wire 5 as a suspension.

  Moreover, this crane ship 1 is provided with a hold part 7 on which stones such as rubble are loaded, grabs the stones such as rubble in the hold part 7 with the bucket 6, and moves the bucket 6 to the outside of the ship edge by crane operation. By releasing the bucket 6 at that position, the stones 8, 8... Are put into the water.

  The hanging position measuring device 10 is detachably fixed at an arbitrary position on the carriage 2 and a laser beam 11 directed parallel to the plane of the carriage 2 is parallel to the plane of the carriage 2 within a desired scanning range. When the laser beam 11 is reflected by the object, the reflected beam 12 is received and the scanning laser distance meter 13 for measuring the distance and the scanning angle between the object and the scanning laser distance meter 13 is rotated. A distance meter position measuring means for measuring the position, a distance meter bearing measuring means for measuring a true orientation in a desired direction with the scanning laser distance meter 13 as a base point, and whether the object is the measurement object 18 And a calculating means for calculating based on information transmitted from the scanning laser distance meter 13, distance meter position measuring means, distance meter azimuth measuring means, and a horizontal position of a suspended body such as the grab bucket 6 To be able to measure You have me.

  The suspension position measuring apparatus 10 includes an inclinometer 15 that measures the inclination of the crane ship 1, specifically, the trolley 2, and when the trolley 2 is inclined due to waves or the like, the computing means is an inclinometer 15 detects the attitude of the carriage 2 based on the inclination of the carriage 2 transmitted from 15, adjusts the error of each measurement value caused by the attitude displacement of the carriage 2 corresponding to the attitude information of the carriage 2, The horizontal position of the suspended body such as the grab bucket 6 can be measured more accurately.

  Note that, as shown in FIG. 3, for example, the hanging position measuring device 10 includes a GPS compass 16 and a scanning type using a GPS compass 16 that serves as both a distance meter position measuring unit and a range azimuth measuring unit. The laser distance meter 13 and the inclinometer 15 can be connected to the computer 14 by wire or wirelessly.

  The scanning laser rangefinder 13 is detachably fixed at an arbitrary position on the carriage 2 and emits a laser beam 11 from the carriage 2 parallel to the plane of the carriage, and the laser beam 11 is emitted by a scanning mechanism. The desired scanning angle range (maximum 300 °) is swiveled at a period of 5 to 100 Hz, and the scanning line group composed of the laser beams 11 forms a fan-shaped measurement range plane 17.

  The scanning angle range is set so that the fan-shaped measurement range plane 17 formed by rotating and scanning the laser beam 11 overlaps with the expected movement range of the suspended body such as the bucket 6 so as to match it. A scanning laser distance meter 13 is fixed to the carriage 2.

  Although not particularly shown, the scanning laser distance meter 13 includes a transmitter that transmits a laser beam 11 such as a laser diode, and a receiver such as a photodiode that is arranged coaxially with the transmitter. The time interval between the emission signal associated with the emission of the laser beam and the reception signal when the reflected beam 12 is received by the receiving unit is measured, and the distance between the scanning laser distance meter 13 and the object can be calculated based on the time interval. It has become.

  The scanning laser distance meter 13 includes a reflecting mirror that is rotated by a motor that constitutes a swivel scanning means, although not shown in particular, and the laser beam 11 is transmitted from the scanning laser distance meter 13 by this reflecting mirror and its rotation. It is fired in the horizontal direction and swiveled and scanned within a desired scanning angle range.

  Further, the scanning laser distance meter 13 is provided with an angle sensor such as a rotary encoder in the motor constituting the turning scanning means so that the scanning angle of the laser beam 11 can be detected according to the angular resolution.

  In the scanning laser distance meter 13, a fan-shaped measurement range plane 17 is formed by horizontally scanning the laser beam 11 within a desired scanning angle range, and the measurement range plane 17 is arranged so as to straddle up and down. A laser beam 11 scans the outer peripheral surface of an existing object, and each point on the scanning target portion, that is, each point reflected by the laser beam 11 and a distance L1 to Ln between the scanning laser distance meter 13 and its reflected beam. 12 are detected, and the distances L1 to Ln between each point on the scanning target portion and the scanning laser rangefinder 13 and the scanning angle β1 when the reflected beam 12 is received are detected. βn is transmitted to the computer 14 constituting the calculation means as needed.

  The GPS compass 16 includes a pair of GPS antennas 20 and 21 detachably fixed at arbitrary positions on the carriage 2 and a GPS receiver body 22 connected to both GPS antennas 20 and 21. The receiver body 22 measures the horizontal position of the GPS antenna 20 based on the radio wave received by the GPS antenna 20, and the direction between the GPS antennas 20, 21 based on the positional relationship between the GPS antennas 20, 21, that is, An azimuth (azimuth angle α) with one GPS antenna 20 as a base point is measured, and the measurement data is transmitted from the GPS receiver main body 22 to the computer 14 constituting the calculation means by wire or wirelessly.

  When both the GPS antennas 20 and 21 are attached, the distance d between the scanning laser distance meter 13 and the GPS antenna 20, the direction between the scanning laser distance meter 13 and the GPS antenna 20, and the direction between both GPS antennas 20 and 21 are formed. The angle γ and the mounting angle ε of the scanning laser distance meter 13, that is, the angle ε formed by the direction between the GPS antennas 20 and 21 and the reference direction of the scanning laser distance meter 13 are measured in advance, and the measured value d , Γ, ε are input to the calculation means, so that the position of the scanning laser distance meter 13 and the scanning laser are calculated based on the horizontal position (x1, y1) and the true direction α measured by the GPS azimuth meter 16. The true azimuth in any direction from the distance meter 13 can be measured.

  The aspect of the distance meter position measuring means and the distance meter bearing measuring means is not limited to the GPS bearing meter 16 described above, and the distance meter position measuring means and the distance meter bearing measuring means are separately provided, and the distance meter position measuring means. GPS positioning may be used, and a true azimuth meter such as a gyrocompass may be used for azimuth measurement. The azimuth measurement using both GPS antennas 20 and 21 and a true azimuth meter such as a gyrocompass may be used in combination. It may be a thing.

  Further, the GPS antennas 20 and 21 and the azimuth meter may be integrated into the scanning laser distance meter 13 as a unit, and the position and azimuth of the scanning laser distance meter 13 may be directly measured.

  As the calculation means, for example, a portable computer terminal such as a notebook personal computer or a tablet PC provided with display means such as the monitor M is used. From the relationship shown in FIG. The distances L1 to Ln between each point on the target portion and the scanning laser rangefinder 13 and the scanning angles β1 to βn when the reflected beam 12 is received, and the position (x1, y1) transmitted from the GPS bearing meter 16 The horizontal position coordinates (x21, y21) to (x2n, y2n) of each point on the scanning target portion are calculated based on the true azimuth angle α. For example, the horizontal position of each point is calculated using the following equation: Calculate the position coordinates.

  Then, the calculation means determines whether the object is the measurement object 18 based on information obtained from the horizontal plane position coordinates of each point on the scanning target part (hereinafter referred to as scanning information), It also functions as a measurement object discrimination means.

  Although the aspect of the measurement object discrimination means is not particularly limited, for example, it may be discriminated by observing the displacement of the scanning information. The shape information of the object is detected from the scanning information, and the shape information of the object is obtained. You may make it discriminate | determine whether an object is the measurement target object 18 by comparing with the shape information of the measurement target object 18 previously input into the calculating means. Further, the measurement object discriminating means may be visually observed.

  Further, the measurement object discriminating means compares the scanning information of the object with the shape information of the wire 5, bucket 6, stones 8, 8... Inputted in advance, and the measurement object 18 is connected to the wire 5 based on the result. , Bucket or stone may be specified.

  Further, the calculation means calculates the center position coordinate of the measurement object 18 from the coordinates of each point on the scanning target part, and the horizontal position of the suspended body such as the bucket 6 based on the horizontal position of the measurement object 18. Is specified and output to the display means such as the monitor M and the control device for the crane and the bucket.

  The calculation of the center position coordinate of the measurement object 18 is performed by, for example, detecting the horizontal coordinate of a point located at the center of the scanning target portion among the measured points on the scanning target portion, and using the coordinates and the calculation means in advance. It may be calculated based on the input radius of the measurement object 18, and based on the measured coordinates of each point on the scanning target portion, the center position coordinates of the wire 5 as the center coordinates of a circle passing through each point (X, y) may be calculated.

  In addition, the calculation means can detect a non-target object other than the measurement target object 18 based on the scanning information, and when the non-target object is detected, the position of the measurement target object 18 is calculated excluding the information of the non-target object. It is supposed to be.

  That is, when there is an existing caisson or the like adjacent to the rubble throwing work area, when the caisson is located in the fan-shaped measurement range plane 17 formed from the scanning line group, the scanning laser rangefinder 13 is measured. In addition to the object 18, the side surface of the caisson is scanned, and the scanning information is output to the calculation means.

  Therefore, the calculation means compares the scanning information with the shape information of the measurement object 18 and extracts only the portion determined as the measurement object 18 from the scanning information obtained from the scanning laser distance meter 13. In other words, the scanning information relating to the caisson portion is deleted, and the horizontal position of the measurement object 18 is calculated.

  Further, it is desirable that the measurement object discriminating unit excludes the influence of the weather, that is, the influence of the reflected beam 12 reflected by fog, rain, dust, or the like based on the received reflection intensity of the reflected beam 12.

  Further, the calculation means includes the position (x1, y1) of the scanning laser distance meter 13, the true direction α with respect to the scanning laser distance meter 13, the scanning laser distance meter 13 previously measured and set in the calculation means. The position and true orientation of the trolley 2 are calculated based on the relative positional relationship between the trolley 2 and the trolley 2.

  The crane ship suspension position measuring apparatus configured as described above measures the position of the suspended body using the scanning laser distance meter 13, the distance meter position measurement means and the distance meter bearing measurement means installed on the carriage 2. Because it can be easily attached to and detached from the crane ship 1 without the need for installation work at high places such as jib tips or at dangerous places, it is easy to replace the entire equipment between crane ships. Can do.

  Further, in this hanging position measuring apparatus, the measurement target 18 is swung and scanned by the laser beam, and the center horizontal direction position coordinate of the measurement target 18 is calculated from the coordinates of each point on the scanning target portion. Even if a target is not installed at 18, the accurate position of the measurement object 18 can be measured.

  Next, a method for measuring the hanging position of the crane ship 1 using the hanging position measuring apparatus 10 will be described. In addition, the same code | symbol is attached | subjected and demonstrated to the structure similar to the above-mentioned Example.

  First, as a preliminary preparation, the suspension position measuring device 10 is attached to the crane ship 1. That is, the scanning laser rangefinder 13 is fixed at an arbitrary position on the ship's edge, the GPS direction meter 16 is fixed at a predetermined position, the relative angle γ of the scanning laser rangefinder 13 with respect to the GPS direction meter 16, the scanning laser The relative distance d and the mounting angle ε between the distance meter 13 and the GPS antennas 20 and 21 are actually measured and input to the computer 14 which is a calculation means.

  In addition, the object shape information of any or all of the wire 5, the bucket 6, and the stone material 8 that are the measurement target 18 is input to the calculation unit in advance.

  Next, when the measurement of the position of a suspended body such as the bucket 6 is actually started, the GPS azimuth meter 16 calculates the positions (x1, y1) of the GPS antennas 20, 21 and the true direction α in the directions of both the GPS antennas 20, 21. The calculation means calculates the position of the scanning laser distance meter 13 and the true azimuth in a desired direction based on the scanning laser distance meter 13 based on this, and stores it in the storage unit of the calculation means.

  Further, the calculation means includes the position (x1, y1) of the GPS antenna 20, the true direction α with respect to the GPS antenna 20, the scanning laser distance meter 13 and the carriage 2 that are measured in advance and set in the calculation means. Based on the relative positional relationship and the shape information of the ship, the position and true orientation of the entire ship 2 are calculated.

  On the other hand, the scanning laser rangefinder 13 swivels and scans the laser beam 11 horizontally within a desired scanning angle range, and swirls and scans the laser beam 11 outside the side edge of the carriage 2 so that the fan-shaped measurement range plane 17 is grabbed. It is formed so as to overlap the expected movement range of the bucket 6 (initial measurement state).

  In this state, the scanning laser distance meter 13 does not receive the reflected beam 12 when there is no object that vertically traverses the fan-shaped measurement range plane 17 obtained by rotating the laser beam 11.

  On the other hand, when an existing caisson or the like exists in the measurement range plane 17, the laser beam 11 scans the outer peripheral surface of the caisson, and the distance between each point on the scanning target portion and the scanning laser distance meter 13 The scanning angle is transmitted to the calculation means, and the calculation means detects the caisson as a non-target object other than the measurement target 18 based on the scan information, and stores the scan information in the storage unit as non-target object information.

  Then, the crane is operated to move the bucket 6 to an arbitrary position within the expected movement range, and the wire 5 is further fed out at that position to lower the bucket 6 to a desired height position, or the bucket 6 is opened. When the stones 8, 8... Are dropped, the wire 5, the bucket 6 or the stones 8, 8... Are placed across the measurement range plane 17, and the outer peripheral surface of the measurement object 18 is scanned with the laser beam 11. The distances L1 to Ln between each point on the scanning target part and the scanning laser distance meter 13 and the scanning angles β1 to βn of each laser beam 11 are transmitted from the scanning laser distance meter 13 to the calculation means.

  Further, the tilt of the carriage 2 is transmitted from the inclinometer 15 to the computing means as needed.

  The computing means that has received the distances L1 to Ln between the respective points on the scanning target portion and the scanning laser rangefinder 13 and the scanning angles β1 to βn of the respective laser beams 11 and the respective points on the scanning target portion and the scanning laser The distances L1 to Ln between the distance meters 13 and the scanning angles β1 to βn of each laser beam 11, the GPS antenna 20, 21 position (x1, y1) and the true direction α transmitted from the GPS direction meter 16 are set in advance. Based on the relative angle γ of the scanning laser distance meter 13 to the GPS azimuth meter 16, the relative distance d between the scanning laser distance meter 13 and the GPS antennas 20 and 21, and the mounting angle ε, The horizontal coordinates (x21, y21) to (x2n, y2n) are calculated from the relationship shown in FIG. 4 using, for example, Equation 1, and stored in the storage unit as scanning information.

  In the calculation means, the scanning information is stored in the storage unit, and the measurement object determining means determines whether the object is the measurement object 18 based on the scanning information. At this time, if the non-target object information is stored, the non-target object information is excluded from the scanning information, and it is determined whether the object is the measurement target 18.

  Next, the calculation means adjusts the error of each measurement value caused by the change in the attitude of the carriage 2 according to the attitude information of the carriage 2 obtained from the inclinometer 15, and uses each point coordinate on the scanning target portion. The center coordinates (x, y) of the object discriminated as the measurement object 18 are calculated from the coordinates of the point located at the center on the scanning target part and the radius of the measurement object 18, and the result is displayed on a display means such as a monitor. Output to the crane and bucket control device.

  In the above-described embodiment, an example in which the scanning laser distance meter 13 is fixed on the carriage 2 has been described. However, in the present invention, the crane turns as in the second embodiment shown in FIGS. The scanning laser distance meter 13 may be fixed to the unit 3. Note that the same components as those in the first embodiment described above are denoted by the same reference numerals, and description thereof will be omitted as appropriate.

  This hanging position measuring device includes a scanning laser distance meter 13 detachably fixed on the crane turning unit 3, a distance meter position measuring means for measuring the position of the scanning laser distance meter 13, and a scanning laser. Distance meter azimuth measuring means for measuring a true azimuth in a desired direction based on the distance meter 13; discriminating means for discriminating whether the object is the measurement object 18; a scanning laser distance meter 13; a distance meter Computation means for performing computation based on information transmitted from the position measurement means and the distance meter bearing measurement means is provided, and the horizontal position of a suspended body such as the grab bucket 6 can be measured.

  The suspension position measuring device is provided with an inclinometer 15 for measuring the inclination of the crane ship 1, and when the crane ship 1 is inclined due to waves or the like, the computing means transmits the crane ship 1 transmitted from the inclinometer 15. Based on the inclination, the attitude of the crane ship 1 is detected, the error of each measurement value caused by the attitude displacement of the crane ship 1 is adjusted in accordance with the attitude information of the crane ship 1, and the suspended body such as the grab bucket 6 is leveled. The direction position can be measured more accurately.

  The scanning laser distance meter 13 uses the same configuration as that of the first embodiment described above, and is placed on an arbitrary position on the crane turning unit 3, for example, on the upper surface of a crane operation room that is easily accessible by workers. The laser beam 11 is fixed in a detachable manner and is emitted in parallel with the crane ship plane from the crane turning part 3 toward the jib, and the laser beam 11 is scanned by a scanning mechanism at a desired scanning angle range (5 to 100 Hz). The scanning line group consisting of the laser beams 11 forms a fan-shaped measurement range plane 17.

  In this hanging position measuring device, the scanning laser rangefinder 13 is fixed to the crane turning unit 3 so that the fan-shaped measurement range plane 17 formed on the jib side follows the turning operation of the crane turning unit 3. It moves in a state where it overlaps with the expected movement range of a suspended body such as 6 or the like.

  Then, the laser beam 11 scans the outer peripheral surface of the object that is arranged in the measurement range plane 17 so as to straddle up and down, and each point on the scanning target portion, that is, each point reflected by the laser beam 11 and the scanning type. The distances L1 to Ln between the laser distance meters 13 and the scanning angles β1 to βn when the reflected beam 12 is received are detected, and the distances L1 to Ln between each point on the scanning target portion and the scanning laser distance meter 13 are detected. The scanning angles β1 to βn when the reflected beam 12 is received are transmitted to the computer 14 constituting the calculation means as needed.

  On the other hand, the distance meter position measuring means includes a GPS antenna 20 detachably fixed to an arbitrary position of the crane turning unit 3, for example, an upper surface of an operation room that is easily accessible by a worker. The 20 positions are measured and transmitted to the computer 14 constituting the calculation means as needed.

  The distance meter azimuth measuring means includes an azimuth meter for measuring the true azimuth (azimuth angle θ) of the GPS antenna 20, and the measured true azimuth (azimuth angle θ) of the GPS antenna constitutes a computing means. 14 is transmitted from time to time.

  In the present embodiment, a GPS compass 16 serving as both a distance meter position measuring unit and a distance meter compass measuring unit is used, and the GPS compass 16 can be attached to and detached from an arbitrary position on the crane turning unit 3. A pair of fixed GPS antennas 20 and 21 are provided, the horizontal position of the GPS antenna 20 is measured based on the radio wave received by the GPS antenna 20, and both GPS antennas 20 and 21 are measured based on the positional relationship between the GPS antennas 20 and 21. The direction between 20, 21, that is, the azimuth (azimuth angle θ) with one GPS antenna 20 as a base point is measured, and the measurement data is transmitted to the computer 14 constituting the calculation means by wire or wirelessly. .

  When the GPS antennas 20 and 21 are attached, the distance D1 between the scanning laser distance meter 13 and the GPS antenna 20, the direction between the scanning laser distance meter 13 and the GPS antenna 20, and the direction between the GPS antennas 20 and 21 are formed. The angle ω and the mounting angle of the scanning laser distance meter 13, that is, the angle ν formed by the direction between both the GPS antennas 20 and 21 and the reference direction of the scanning laser distance meter 13, the crane turning portion 3 of the GPS antenna 20 The distances D2 and D3 indicating the relative positions with respect to the turning center C are measured in advance, and the measured values D1, D2, D3, ω, and ν are input to the calculation means, whereby the horizontal direction measured by the GPS compass 16 Based on the position (x1, y1) and the true orientation θ, the position of the scanning laser distance meter 13 and the true direction in any direction with the scanning laser distance meter 13 as a base point can be measured. It has become so.

  The aspect of the distance meter position measuring means and the distance meter bearing measuring means is not limited to the GPS bearing meter 16 described above, and the distance meter position measuring means and the distance meter bearing measuring means are separately provided, and the distance meter position measuring means. GPS positioning may be used, and a true azimuth meter such as a gyrocompass may be used for azimuth measurement. The azimuth measurement using both GPS antennas 20 and 21 and a true azimuth meter such as a gyrocompass may be used in combination. It may be a thing.

  Alternatively, the GPS antenna 20 and the azimuth meter may be integrated into the scanning laser distance meter 13 as a unit, and the position and orientation of the scanning laser distance meter 13 may be directly measured.

  As in the first embodiment, a portable computer terminal such as a notebook personal computer or a tablet PC having display means such as the monitor M is used as the arithmetic means, and the scanning type is calculated from the relationship shown in FIG. The distances L1 to Ln between each point on the scanning target portion transmitted from the laser distance meter 13 and the scanning laser distance meter 13 and the scanning angles β1 to βn when the reflected beam 12 is received, and the GPS direction meter 16 Based on the transmitted position (x1, y1) and the true azimuth angle θ of the GPS antenna 20, the horizontal position coordinates (x21, y21) to (x2n, y2n) of each point on the scanning target unit are calculated. For example, the horizontal position coordinates of each point are calculated using the following equation.

  Further, since the distances D2 and D3 indicating the relative position of the GPS antenna 20 with respect to the turning center C are known, the calculation means 15 receives the position (x3, y3) of the turning center C of the crane turning unit 3 and the GPS antenna that is input. From the relationship with the position (x1, y1) of 20, the position (x3, y3) of the turning center C can be calculated based on the position (x1, y1) of the GPS antenna 20 by the following equation, for example.

  Further, the computing means determines whether the object is the measurement object 18 based on information obtained from the horizontal plane position coordinates of each point on the scanning target portion (hereinafter referred to as scanning information), It also functions as a measurement object discrimination means.

  Note that the aspect of the measurement object discriminating means is the same as that of the first embodiment described above, and therefore the description thereof is omitted here.

  Further, the calculation means calculates the center position coordinate of the measurement object 18 from the coordinates of each point on the scan target portion, and based on the horizontal position of the measurement object 18, as in the first embodiment. The horizontal position of the suspended body such as the bucket 6 is specified, and the position is output to the display means such as the monitor M, the crane and the bucket control device.

  Further, the calculation means enables detection of a non-target object other than the measurement target 18 from the scanning information, and when a non-target object is detected, calculates the position of the measurement target 18 excluding the information on the non-target object. It is supposed to be.

  On the other hand, in the suspension position detection apparatus according to the second embodiment, since the scanning laser distance meter 13 and the GPS compass 16 are installed in the crane turning part 3, the positional relationship between the crane turning part 3 and the carriage 2 is the crane turning. It changes for every turning operation of the section 3.

  Therefore, in this embodiment, a trolley position measuring unit as shown in FIG. 5 is provided so that the attitude of the trolley 2 can be detected.

  For example, DGPS or RTK-GPS is used as the trolley position measurement means, and the horizontal position coordinates (x4, y4) of the trolley position measurement GPS antenna 30 installed at an arbitrary position on the trolley 2 are measured. It is like that.

  In addition, the calculating means is a relative positional relationship between the position (x1, y1) and true orientation (azimuth angle θ) of the GPS antenna 20 obtained from the position / orientation measuring means 13 and the turning center C of the crane turning portion 3 of the GPS antenna 20. The position (x3, y3) of the turning center C of the crane turning unit 3 is calculated on the basis of the lengths D2, D3 indicating the position of the turning center (x3, y3) and the GPS antenna for measuring the position of the trolley Based on the 30 positions (x4, y4), the position and azimuth (azimuth angle φ) of the carriage 2 are calculated.

  The relative position relationship between the GPS antenna 30 for measuring the position of the carriage and the turning center C is such that each of the right-angled triangles each having a straight line connecting the GPS antenna 30 for measuring the position of the carriage and the turning center C is orthogonal to each other. The distances D4 and D5 are obtained by actually measuring the distances D4 and D5 and set in the calculation means. In addition, it is desirable to set the orthogonal sides of the right triangle to be parallel or orthogonal to the full length direction of the carriage 2 respectively.

  In the suspension position measuring method according to the second embodiment, when measurement of the position of a suspended body such as the bucket 6 is actually started, the position (x1, y1) of the GPS antenna 20 and the GPS antennas 20, The true direction θ in 21 directions is transmitted to the computing means as needed, and the computing means calculates the position of the scanning laser distance meter 13 and the true orientation in a desired direction based on the scanning laser distance meter 13 based on that, and the computing means Is stored in the storage unit.

  On the other hand, the scanning laser range finder 13 scans the laser beam 11 horizontally in a desired scanning angle range, and scans the laser beam 11 on the jib side of the crane swivel unit 3 to scan the fan-shaped measurement range plane 17. Form.

  In this state, when the crane is operated to feed the wire 5 and the bucket 6 is lowered to a desired height position, the measurement object 18 is arranged to straddle the measurement range plane 17 in the vertical direction, and the outer periphery of the measurement object 18 The surface is scanned with the laser beam 11, and the distances L 1 to Ln between each point on the scanning target part and the scanning laser distance meter 13 and the scanning angles β 1 to βn of each laser beam 11 are calculated from the scanning laser distance meter 13. Sent to the means.

  On the other hand, when the crane turning unit 3 is turned and the suspension body such as the bucket 6 is moved to the outside of the carriage 2, the measurement range plane 17 moves following the turning operation of the crane turning unit 3, and the measurement range plane 17 and the expected movement range of the bucket 6 and the like are moved and the suspended surface such as the bucket 6 is lowered to a desired height position, the outer peripheral surface of the measurement object 18 is a laser beam. 11, the distances L1 to Ln between each point on the scanning target portion and the scanning laser distance meter 13 and the scanning angles β1 to βn of each laser beam 11 are transmitted from the scanning laser distance meter 13 to the computing means as needed. Is done.

  The calculation means that receives the distances L1 to Ln between the respective points on the scanning target portion and the scanning laser distance meter 13 and the scanning angles β1 to βn of the respective laser beams 11 scans with the respective points on the scanning target portion. Distances L1 to Ln between the laser rangefinders 13 and the scanning angles β1 to βn of the laser beams 11, the position (x1, y1) of the GPS antenna 20 transmitted from the GPS azimuth meter 16, and the true azimuth θ are preset. Each point on the scanning target portion based on the relative angle ω of the scanning laser range finder 13 to the GPS azimuth meter 16, the relative distance D1 between the scanning laser range finder 13 and the GPS antennas 20 and 21, and the mounting angle ν. The horizontal coordinates (x21, y21) to (x2n, y2n) are calculated from the relationship shown in FIG. 7 using, for example, the above-described formula 2, and stored in the storage unit as scanning information.

  Next, the calculation means adjusts the error of each measurement value caused by the change in the attitude of the carriage 2 according to the attitude information of the carriage 2 obtained from the inclinometer 15, and uses each point coordinate on the scanning target portion. The center coordinates (x, y) of the object discriminated as the measurement object 18 are calculated from the coordinates of the point located at the center on the scanning target part and the radius of the measurement object 18, and the result is displayed on a display means such as a monitor. Output to the crane and bucket control device.

  Further, since the distances D2 and D3 indicating the relative position of the GPS antenna 20 with respect to the turning center C are known, the calculation means 15 receives the position (x3, y3) of the turning center C of the crane turning unit 3 and the GPS antenna that is input. From the relationship with the position (x1, y1) of 20, the position (x3, y3) of the turning center C is calculated based on the position (x1, y1) of the GPS antenna 20.

  On the other hand, the position coordinates (x4, y4) of the GPS antenna 30 for measuring the position of the ship installed at an arbitrary position on the carriage 2 are measured by the carriage position measuring means, and the measurement data is output to the computing means as needed. And stored in the storage unit of the computing means.

  Here, the distances D4 and D5 indicating the relative positional relationship between the GPS antenna 30 for measuring the ship position and the turning center C are known, and the turning center position (x3, y3) is also calculated at any time. Based on the relationship between the horizontal position coordinates (x3, y3) and the input horizontal position coordinates (x4, y4) of the GPS antenna 30 for measuring the position of the ship, for example, the absolute azimuth (azimuth angle φ) of the ship 2 by the following equation: Is calculated.

  Further, the state of the entire carrier 2 includes the turning center position (x3, y3) or the position coordinates (x4, y4) of the GPS antenna 30 for measuring the vessel position, and the calculated absolute azimuth (azimuth angle φ of the carrier 2). ) And the dimensions of the carrier 2 input in advance to the computing means 15, and the result is displayed on the monitor M and stored in the storage unit.

  In addition, when the measurement range plane 17 and the existing caisson and the like interfere with the turning of the crane turning unit 3, the laser beam 11 scans the outer peripheral surface of the caisson and the like to each point on the scanning target portion. The distance between the scanning laser rangefinders 13 and the scanning angle are transmitted to the calculation means, and the calculation means detects the caisson as a non-target object other than the measurement object 18 based on the scan information, and the scan information is excluded from the target. It memorize | stores in a memory | storage part as object information.

  If the non-target object information is stored, the non-target object information is excluded from the scanning information, and then it is determined whether the object is the measurement target 18.

  In the suspension position detecting device according to the second embodiment, instead of the trolley position measuring means in the above-described embodiment, a turning reference detecting means for detecting a desired turning position with respect to the trolley 2 of the crane turning portion 3 is provided. The calculation means may calculate the position and direction of the carriage 2 based on the position (x1, y1) and direction (azimuth angle θ) of the GPS antenna 20 at the desired turning position.

  As shown in FIG. 8, the turning reference detection means 40 includes a proximity sensor 41 that is detachably fixed to the lower surface of the crane turning portion 3, and the proximity sensor 41 is provided on the outer periphery of the turntable portion 42 of the carriage 2. The approach of the detection target body 43 such as an iron plate that is fixed and moves relative to the proximity sensor 41 in the turning direction with the turning of the crane turning unit 3 is detected, and the detection information is output to the calculation means by wire or wirelessly.

  The proximity sensor 41 and the detection target body 43 detect when the jib 4 is positioned on the hold part 7, preferably when the jib tip is positioned on the crane original position, that is, on the central axis SC line of the carriage 2. Install as follows. For example, the proximity sensor 41 is fixed to the base end position of the jib 4 on the lower surface of the crane swivel unit 3, and the detection target body 43 is fixed so as to be positioned on the center axis SC line of the swivel base unit 42.

  A turning reference detecting means is installed so that a turning position where the longitudinal direction of the jib 4 and the central axis SC of the carriage 2 are parallel can be detected, and the longitudinal direction of the jib 4 and the orientation of the GPS antenna 20 are parallel. By attaching the GPS antenna 20 to an arbitrary position of the crane turning portion so that the orientation of the carriage 2 coincides with the orientation of the GPS antenna 20 (azimuth angle θ), the orientation of the carriage 2 is set to the GPS antenna 20. Can be detected based on only the azimuth (azimuth angle θ).

  In the above-described embodiment, when the scanning laser rangefinder 13 turns and scans the laser beam 11 directed parallel to the crane ship plane in a direction parallel to the crane ship plane, the crane ship 1 tilts. The example in which the error is adjusted based on the attitude information of the crane ship obtained from the inclinometer 15 has been described, but the scanning laser rangefinder 13 has a function of detecting the horizontal level in the rangefinder itself, Regardless of the inclination of the crane ship 1, the laser beam 11 always directed parallel to the horizontal plane may be swung in the horizontal direction.

  Moreover, although the above-mentioned Example demonstrated to the example the gut ship used for the rubble throwing operation | work at the time of rubble mound formation, the crane ship 1 is not limited to a gut ship, It can apply also to a grab dredger.

  Furthermore, in the above-described embodiment, the bucket is exemplified as the suspension body. However, the aspect of the bucket is not limited to the above-described embodiment, and a grab bucket or other bucket may be used, and the suspension body is an object other than the bucket. May be.

  Furthermore, the coordinate system used for position measurement is not limited to the rectangular plane coordinate system shown in the above-described embodiment, and other coordinate systems established for position measurement may be used. May be used.

  Further, each calculation formula used for calculating the horizontal coordinate (x, y) of the center position of the measurement object 18, a calculation formula used for calculating the absolute azimuth (azimuth angle φ) of the carriage 2, and other Calculation formulas are not limited to the calculation formulas shown in the above-described embodiments, and calculation formulas based on other mathematical methods may be applied.

A Water surface 1 Crane ship 2 Cargo ship 3 Crane turning part 4 Jib 5 Wire 6 Bucket 7 Cargo part 8 Stone 10 Hanging position measuring device 11 Laser beam 12 Reflected beam 13 Scanning laser distance meter 14 Calculation means 15 Inclinometer 16 GPS compass 17 Measurement range plane 18 Measurement object 20, 21 GPS antenna 22 GPS receiver main body 30 GPS antenna 40 for ship position measurement Turn reference detection means 41 Proximity sensor 42 Turntable part 43 Detection object

Claims (7)

A crane swivel unit that is pivotably installed on a trolley, a jib that is pivotally supported by the crane swivel unit, a wire that is fed from the tip of the jib, and a bucket that is suspended from the wire. A crane ship that grabs the stone by the bucket and throws the stone into the water around the carriage , measures the horizontal position of the measurement object for identifying the bucket , In the crane ship hanging position measuring device that calculates the horizontal position of the bucket from the horizontal position,
Removably fixed to an arbitrary position of the crane ship, a laser beam directed parallel to the crane ship plane or horizontal plane is swung in a direction parallel to the crane ship plane or horizontally within a desired scanning range, and A scanning laser rangefinder that receives a reflected beam when the laser beam is reflected by an object and measures a distance and a scanning angle between the laser beam and the object;
Distance meter position measuring means for measuring the position of the scanning laser distance meter;
A distance meter azimuth measuring means for measuring the true orientation of the scanning laser rangefinder,
A measurement object discriminating means for specifying the object as a measurement object of any one of a wire, a bucket and a stone based on scanning information by the laser beam ;
Calculation for calculating the horizontal center position of the measurement object based on the distance and scanning angle measured by the scanning laser distance meter, the position of the scanning laser distance meter, and the true orientation of the scanning laser distance meter And a suspension position measuring device for a crane ship.
The scanning laser distance meter is detachably fixed at an arbitrary position on the trolley, and the distance meter position measuring means includes a GPS antenna detachably fixed at an arbitrary position on the trolley, The distance meter azimuth measuring means includes an azimuth meter for measuring the azimuth of the GPS antenna,
The crane ship hanging position measuring apparatus according to claim 1, wherein the position of the scanning laser distance meter and the true direction of the scanning laser distance meter are calculated based on the position and orientation of the GPS antenna. The computing means determines the position and true orientation of the barge based on the position of the scanning laser rangefinder, the true orientation of the scanning laser rangefinder, and the relative positional relationship between the scanning laser rangefinder and the carriage. The crane ship hanging position measuring device according to claim 2, wherein the crane ship hanging position measuring device is calculated. The scanning laser rangefinder, the crane pivot portion toward the jib side is detachably fixed to any position, the said distance meter position measuring means, detachably fixed to an arbitrary position of the crane swivel part The distance meter bearing measuring means includes a bearing meter for measuring the bearing of the GPS antenna,
Crane hanging position measuring device according to claim 1 which is adapted to calculate each of the true orientation of the position and before Symbol scanning laser rangefinder of the scanning laser rangefinder based on the position and orientation of the GPS antenna. An inclinometer for measuring the inclination of the carriage , and the computing means detects the attitude of the crane ship based on the inclination of the crane ship measured by the inclinometer, and according to the attitude information of the crane ship The hanging position measuring device for a crane ship according to any one of claims 1 to 4, wherein a horizontal center position of the measurement object is calculated. The calculation means detects a non-target object other than the measurement target object from the scanning information by the laser beam, and calculates the horizontal position of the suspended body by excluding the non-target object information from the scanning information. The crane ship hanging position measuring apparatus according to any one of claims 1 to 5 . The tip of the wire of the crane ship provided with the crane turning part installed on the trolley so that turning is possible, the jib supported so that it can turn up and down on the crane turning part, and the wire drawn out from the tip of the jib In the crane ship suspension position measurement method for measuring the position of the bucket suspended by
A laser beam that is detachably fixed at an arbitrary position on the crane ship and that is parallel to the plane of the crane ship or the horizontal plane is swiveled and scanned in a direction parallel to the plane of the crane ship or in a horizontal direction within a desired scanning range, When a laser beam is reflected by an object, the reflected beam is received, and a scanning laser distance meter that measures the distance and scanning angle between the laser beam and the position of the scanning laser distance meter is measured. Using a hanging position measuring device comprising a distance meter position measuring means and a distance meter bearing measuring means for measuring the true bearing of the scanning laser distance meter,
The bucket is suspended at a desired height position within the expected movement range, and the laser beam is swung and scanned within the expected movement range,
Based on the distance and scanning angle between the object and the scanning laser distance meter when the laser beam is reflected by the object, the position of the scanning laser distance meter, and the true orientation of the scanning laser distance meter The object is specified as a measurement target of any one of a wire, a bucket, and a stone, and if the object is a measurement target, the horizontal center position of the bucket is calculated based on the scanning information. A crane ship suspension position measurement method as a feature.

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