JP6977618B2 - Crane for calculating slinging tool length and method for calculating slinging tool length - Google Patents

Description

The present invention relates to a crane for calculating the slinging tool length and a method for calculating the slinging tool length.

Conventionally, a crane, which is a typical work vehicle, has been known. Since the crane performs a turning operation or the like while the cargo is lifted, the cargo may swing laterally. Therefore, a crane for calculating the load swing cycle (hereinafter referred to as "load swing cycle") has been proposed. For example, as described in Patent Document 1.

By the way, the crane disclosed in Patent Document 1 recognizes the distance from the tip end portion of the boom to the hook, and calculates the load swing cycle based on this distance. However, since the crane lifts the load through the sling tool hung on the hook, accurate load swing unless the sling tool length, which is the distance from the hook to the load, is added to the distance from the tip of the boom to the hook. The cycle cannot be calculated. Therefore, there has been a demand for a crane for calculating the slinging tool length and a method for calculating the slinging tool length.

Japanese Unexamined Patent Publication No. 10-07273

A crane for calculating the slinging tool length and a method for calculating the slinging tool length are provided.

The first invention is
With an undulating and stretchable boom,
The wire rope hanging from the boom and
A hook that moves up and down by feeding and feeding the wire rope is provided.
In a crane that lifts cargo via a slinging tool hung on the hook,
A camera that captures an image including the hook and the baggage,
A control device connected to the camera and processing information is provided.
The control device
The distance from the camera to the hook is recognized based on the position of the hook grasped from the posture of the boom and the feeding amount of the wire rope.
Based on the length from the hook to the luggage on the image, the angle formed by the virtual line connecting the camera and the hook and the virtual line connecting the camera and the luggage is recognized.
The slinging tool length, which is the actual distance from the hook to the luggage, is calculated based on the distance and the angle.

The second invention is the crane according to the first invention.
The position of the center of gravity of the baggage is estimated from the image of the baggage,
The angle is calculated using a virtual line connecting the camera and the position of the center of gravity of the luggage.

The third invention is
With an undulating and stretchable boom,
The wire rope hanging from the boom and
A hook that moves up and down by feeding and feeding the wire rope is provided.
In a crane that lifts cargo via a slinging tool hung on the hook,
A camera that captures an image including the hook and the baggage,
It is provided with a control device that stores the total length value of the hook and is connected to the camera to process information.
The control device
Based on the length from the hook to the luggage on the image, the first angle formed by the virtual line connecting the camera and the hook and the virtual line connecting the camera and the luggage is calculated.
Based on the length from the upper end to the lower end of the hook on the image, the second angle formed by the virtual line connecting the camera and the upper end of the hook and the virtual line connecting the camera and the lower end of the hook is calculated.
Based on the total length value of the hook, the first angle, and the second angle, the slinging tool length, which is the actual distance from the hook to the luggage, is calculated.

The fourth invention is the crane according to the third invention.
The position of the center of gravity of the baggage is estimated from the image of the baggage,
The first angle is calculated using a virtual line connecting the camera and the position of the center of gravity of the luggage.

The fifth invention is
With an undulating and stretchable boom,
The wire rope hanging from the boom and
A hook that moves up and down by feeding and feeding the wire rope is provided.
It is a method of calculating the slinging tool length of a crane that lifts a load through a slinging tool hung on the hook.
An image shooting process in which an image including the hook and the baggage is taken by a camera,
A distance recognition step of recognizing the distance from the camera to the hook based on the position of the hook grasped from the posture of the boom and the feeding amount of the wire rope.
An angle recognition step of recognizing an angle formed by a virtual line connecting the camera and the hook and a virtual line connecting the camera and the luggage based on the length from the hook to the luggage on the image.
It has a slinging tool length calculation step of calculating the slinging tool length which is the actual distance from the hook to the luggage based on the distance and the angle.

The sixth invention is
With an undulating and stretchable boom,
The wire rope hanging from the boom and
A hook that moves up and down by feeding and feeding the wire rope is provided.
It is a method of calculating the slinging tool length of a crane that lifts a load through a slinging tool hung on the hook.
An image shooting process in which an image including the hook and the baggage is taken by a camera,
A first angle recognition step of recognizing the first angle formed by the virtual line connecting the camera and the hook and the virtual line connecting the camera and the luggage based on the length from the hook to the luggage on the image.
A second angle that recognizes the second angle formed by the virtual line connecting the camera and the upper end of the hook and the virtual line connecting the camera and the lower end of the hook based on the length from the upper end to the lower end of the hook on the image. The recognition process and
It has a slinging tool length calculation step of calculating the slinging tool length which is the actual distance from the hook to the luggage based on the total length value of the hook, the first angle, and the second angle. , The thing.

The crane according to the first invention includes a camera that captures an image including a hook and luggage, and a control device that is connected to the camera and processes information. Then, the control device recognizes the distance from the camera to the hook based on the position of the hook grasped from the posture of the boom and the amount of extension of the wire rope, and the camera and the camera are based on the length from the hook to the luggage on the image. The angle between the virtual line connecting the hook and the virtual line connecting the camera and the luggage is recognized, and the slinging tool length, which is the actual distance from the hook to the luggage, is calculated based on this distance and the angle. According to such a crane, the slinging tool length can be calculated accurately even though it has a simple structure. As a result, an accurate load swing cycle can be calculated.

The crane according to the second invention estimates the position of the center of gravity of the luggage from the image of the luggage. Then, the angle is calculated using the virtual line connecting the camera and the position of the center of gravity of the luggage. According to such a crane, the distance from the hook to the position of the center of gravity of the load can be calculated as the slinging tool length. As a result, a more accurate load swing cycle can be calculated.

The crane according to the third invention includes a camera that captures an image including a hook and a load, and a control device that stores the total length value of the hook and is connected to the camera to process information. Then, the control device calculates the first angle between the virtual line connecting the camera and the hook and the virtual line connecting the camera and the luggage based on the length from the hook to the luggage on the image, and from the upper end of the hook on the image. Calculate the second angle between the virtual line connecting the camera and the upper end of the hook and the virtual line connecting the lower end of the camera and the hook based on the length to the lower end, and based on the total length value of the hook and the first and second angles. The length of the slinging tool, which is the actual distance from the hook to the luggage, is calculated. According to such a crane, the slinging tool length can be calculated accurately even though it has a simple structure. As a result, an accurate load swing cycle can be calculated.

The crane according to the fourth invention estimates the position of the center of gravity of the luggage from the image of the luggage. Then, the first angle is calculated using the virtual line connecting the camera and the position of the center of gravity of the luggage. According to such a crane, the distance from the hook to the position of the center of gravity of the load can be calculated as the slinging tool length. As a result, a more accurate load swing cycle can be calculated.

The method of calculating the slinging tool length according to the fifth invention is based on the image shooting process of taking an image including the hook and luggage by the camera, and the position of the hook grasped from the posture of the boom and the amount of extension of the wire rope. The distance recognition process that recognizes the distance from the camera to the hook based on it, and the angle between the virtual line connecting the camera and the hook and the virtual line connecting the camera and the luggage based on the length from the hook to the luggage on the image. It has an angle recognition step and a slinging tool length calculation step of calculating the slinging tool length which is the actual distance from the hook to the luggage based on the distance and the angle. According to the method of calculating the slinging tool length, the slinging tool length can be accurately calculated even though the structure is simple. As a result, an accurate load swing cycle can be calculated.

The method of calculating the slinging tool length according to the sixth invention is to take an image including the hook and the luggage by the camera, and to attach the camera and the hook based on the length from the hook to the luggage on the image. The first angle recognition process that recognizes the first angle between the virtual line connecting the camera and the luggage, and the virtual line connecting the camera and the upper end of the hook based on the length from the upper end to the lower end of the hook on the image. And the second angle recognition process that recognizes the second angle formed by the virtual line connecting the camera and the lower end of the hook, and the actual distance from the hook to the luggage based on the total length value of the hook and the first and second angles. It has a slinging tool length calculation step for calculating the slinging tool length. According to the method of calculating the slinging tool length, the slinging tool length can be accurately calculated even though the structure is simple. As a result, an accurate load swing cycle can be calculated.

The figure which shows the crane. The figure which shows the inside of a cabin. The figure which shows the slinging tool length calculation system. The figure which shows the flowchart of the method of calculating the slinging tool length. The figure which shows the positional relationship of a hook and a baggage with respect to a camera. The figure which shows the image taken by the camera. The figure which shows the slinging tool length calculation system. The figure which shows the flowchart of the method of calculating the slinging tool length. The figure which shows the positional relationship of a hook and a baggage with respect to a camera. The figure which shows the image taken by the camera.

The technical idea disclosed in the present application can be applied to other cranes in addition to the crane 1 described below.

First, the crane 1 according to the first embodiment will be described with reference to FIGS. 1 and 2.

The crane 1 is mainly composed of a vehicle 2 and a crane device 3.

The vehicle 2 includes a pair of left and right front wheels 4 and rear wheels 5. Further, the vehicle 2 is provided with an outrigger 6 that is grounded for stability when carrying the luggage W. Further, the vehicle 2 is provided with an engine, a transmission, and the like for driving them.

The crane device 3 can be swiveled by a swivel hydraulic motor 7 (see arrow A). The crane device 3 includes a boom 8 so as to project forward from the rear portion. The boom 8 is undulated by the undulating hydraulic cylinder 9 (see arrow B). Further, the boom 8 can be expanded and contracted by the expansion and contraction hydraulic cylinder 10 (see arrow C). In addition, a wire rope 11 is bridged over the boom 8. A winch 12 around which a wire rope 11 is wound is arranged on the base end side of the boom 8, and a hook 13 is hung on the tip end side of the boom 8 by the wire rope 11. Further, the winch 12 is integrally configured with the winding hydraulic motor 14, and enables winding and unwinding of the wire rope 11. Therefore, the hook 13 can be raised and lowered by the winding hydraulic motor 14 (see arrow D). The crane device 3 is provided with a cabin 15 on the side of the boom 8. Inside the cabin 15, in addition to the handle 16 and the shift lever 17 required for the traveling operation, the turning operation tool 18, the undulation operation tool 19, the expansion / contraction operation tool 20, and the winding operation tool 21 required for the transportation operation are provided. Has been done. Further, a display device 22 for displaying an image is provided.

Next, the slinging tool length calculation system 23 will be described with reference to FIG.

Here, the slinging tool 24 will be described. The slinging tool 24 is a rope-shaped object that is hung on the hook 13 for performing slinging work. The slinging tool 24 is rotated under the luggage W and hung, and the luggage W is lifted.

The slinging tool length calculation system 23 calculates the slinging tool length L. The slinging tool length L is the length from the hook 13 to the luggage W (see FIG. 1). Here, the slinging tool length L will be described as the length from the lower end of the hook 13 to the position of the center of gravity of the luggage W. The slinging tool length calculation system 23 includes a camera 25, a display device 22, a boom posture detector 26, a wire rope feeding amount detector 27, and a control device 28.

The camera 25 captures an image. The camera 25 is attached to the base boom member of the boom 8 so that the hook 13 and the luggage W can be photographed. The camera 25 may be attached to the cabin 15 or other parts in addition to the tip portion of the boom 8, for example, as long as the hook 13 and the luggage W can be photographed.

The display device 22 displays an image. The display device 22 includes a touch panel, and when the operator touches an arbitrary position on the image of the display device 22, this arbitrary position is selected. The selected arbitrary position is hereinafter referred to as "touch position".

The boom posture detector 26 detects the posture of the boom 8. The posture of the boom 8 is represented by an angle E of the boom 8 with respect to the horizontal plane and a length F from the base end portion to the tip end portion of the boom 8 (see FIG. 1).

The wire rope feeding amount detector 27 detects the feeding amount of the wire rope 11. The feeding amount of the wire rope 11 is the length of the wire rope 11 drawn from the winch 12. The length Lw from the tip portion of the boom 8 to the hook 13 is calculated from the feeding amount of the wire rope 11.

The control device 28 calculates the slinging tool length L. The control device 28 has a display control unit 28a, a hook distance calculation unit 28b, an angle calculation unit 28c, and a slinging tool length calculation unit 28d. The control device 28 stores various programs and data used in the display control unit 28a, the hook distance calculation unit 28b, the angle calculation unit 28c, and the slinging tool length calculation unit 28d.

The display control unit 28a controls the display of the image captured by the camera 25. The display control unit 28a is connected to the camera 25 and acquires an image taken by the camera 25. Further, the display control unit 28a is connected to the display device 22 and displays an image on the display device 22.

The hook distance calculation unit 28b calculates the distance R (see FIG. 5) from the camera 25 to the hook 13. The hook distance calculation unit 28b is connected to the boom posture detector 26 and acquires the posture (angle E and length F) of the boom 8. Further, the hook distance calculation unit 28b is connected to the wire rope feeding amount detector 27, and acquires the feeding amount of the wire rope 11.

The angle calculation unit 28c calculates the angle θ (see FIG. 5) formed by the virtual line L1 connecting the camera 25 and the hook 13 and the virtual line L2 connecting the camera 25 and the luggage W. The angle calculation unit 28c is connected to the display control unit 28a and acquires an image.

The slinging tool length calculation unit 28d calculates the slinging tool length L. The method of calculating the slinging tool length L will be described later. The slinging tool length calculation unit 28d is connected to the angle calculation unit 28c and acquires the angle θ. Further, the slinging tool length calculation unit 28d is connected to the hook distance calculation unit 28b and acquires the distance R.

Next, a method of calculating the slinging tool length L will be described with reference to FIGS. 4 to 6.

The slinging tool length L is calculated through an image photographing step K101, a distance recognition step K102, an angle recognition step K103, and a slinging tool length calculation step K104.

In the image capturing step K101, the control device 28 captures an image including the hook 13 and the luggage W by the camera 25 (see FIG. 6).

In the distance recognition step K102, the control device 28 recognizes the distance R from the camera 25 to the hook 13. Specifically, the hook distance calculation unit 28b acquires the angle E and the length F detected by the boom posture detector 26. Further, the hook distance calculation unit 28b calculates the length Lw based on the feeding amount of the wire rope 11 detected by the wire rope feeding amount detector 27. Then, the position of the hook 13 is grasped from the angle E, the length F, and the length Lw, and the distance R from the camera 25 to the hook 13 is calculated based on the grasped position of the hook 13.

In the angle recognition step K103, the control device 28 recognizes the angle θ formed by the virtual line L1 connecting the camera 25 and the hook 13 and the virtual line L2 connecting the camera 25 and the luggage W. Specifically, the slinging tool length calculation unit 28d acquires the position of the lower end of the hook 13 and the position of the center of gravity of the luggage W on the image by estimation by image recognition or manual input by the operator from the captured image. In the case of estimation by image recognition, the slinging tool length calculation unit 28d extracts the contours of the hook 13 and the luggage W from the image. Then, the slinging tool length calculation unit 28d recognizes the lower end of the contour of the hook 13. Further, the slinging tool length calculation unit 28d estimates that the center of the figure surrounded by the outline of the luggage W is the center of gravity of the luggage W. In the case of manual input by the operator, the operator touches and inputs the point Pa which is the lower end of the hook 13 and the point Pb which is estimated to be the position of the center of gravity of the luggage W. The angle calculation unit 28c calculates the pixel distance Lp, which is the length from the lower end of the hook 13 to the position of the center of gravity of the luggage W, based on the image-recognized position or the touch position. The pixel distance Lp is a distance measured by the number of pixels (the smallest unit element constituting the image) from the lower end of the hook 13 to the position of the center of gravity of the luggage W. Then, the angle calculation unit 28c calculates the angle θ based on the pixel distance Lp. Since the slinging tool length calculation unit 28d grasps the angle per pixel, the angle θ is calculated by multiplying the pixel distance Lp by the angle per pixel.

In the slinging tool length calculation step K104, the control device 28 calculates the slinging tool length L based on the distance R and the angle θ. Specifically, the slinging tool length calculation unit 28d calculates the slinging tool length L by the following mathematical formula (1).
L = R × θ ... (1)
The mathematical formula (1) consists of the geometrical positional relationship between the hook 13 and the luggage W with respect to the camera 25 (see FIG. 5). More specifically, the arc length of the angle θ having the distance R as the radius is close to the slinging tool length L. Therefore, it is considered that the slinging tool length L is almost equal to the arc length of the angle θ having the distance R as the radius.

As described above, the crane 1 includes a camera 25 that captures an image including the hook 13 and the luggage W, and a control device 28 that is connected to the camera 25 and processes information. Then, the control device 28 recognizes the distance R from the camera 25 to the hook 13 based on the position of the hook 13 grasped from the posture of the boom 8 and the extension amount of the wire rope 11, and the load W from the hook 13 on the image. The angle θ formed by the virtual line L1 connecting the camera 25 and the hook 13 and the virtual line L2 connecting the camera 25 and the luggage W is recognized based on the length up to (pixel distance Lp), and based on this distance R and the angle θ. The slinging tool length L, which is the actual distance from the hook 13 to the luggage W, is calculated. According to the crane 1, the slinging tool length L can be calculated accurately even though it has a simple structure. As a result, an accurate load swing cycle can be calculated.

Further, the crane 1 calculates the position of the center of gravity of the luggage W from the image of the luggage W. Then, the angle θ is calculated using the virtual line L2 connecting the camera 25 and the position of the center of gravity of the luggage W. According to the crane 1, the distance from the hook 13 to the position of the center of gravity of the luggage W can be calculated as the slinging tool length L. As a result, a more accurate load swing cycle can be calculated.

By the way, when focusing on the method of calculating the slinging tool length L, it is grasped from the image shooting process K101 for taking an image including the hook 13 and the luggage W by the camera 25, the posture of the boom 8 and the feeding amount of the wire rope 11. The distance recognition step K102 that recognizes the distance R from the camera 25 to the hook 13 based on the position of the hook 13, and the camera 25 and the hook based on the length from the hook 13 to the luggage W (pixel distance Lp) on the image. The angle recognition step K103 that recognizes the angle θ formed by the virtual line L1 connecting 13 and the virtual line L2 connecting the camera 25 and the luggage W, and the actual length from the hook 13 to the luggage W based on this distance R and the angle θ. It has a slinging tool length calculation step K104 for calculating the slinging tool length L. According to the method of calculating the slinging tool length L, the slinging tool length L can be accurately calculated even though the structure is simple. As a result, an accurate load swing cycle can be calculated.

Next, the crane 1 according to the second embodiment of the crane will be described with reference to FIGS. 7 to 10. In addition, the crane 1 according to the following embodiment refers to the same crane 1 by using the names, drawing numbers, and symbols used in the explanations in the crane 1 shown in FIGS. 1 to 6, and in the following embodiment, the same thing is used. Regarding the same points as those of the above-described embodiment, the specific description thereof will be omitted, and the differences will be mainly described.

The slinging tool length calculation system 23 will be described with reference to FIG. 7.

The control device 28 calculates the slinging tool length L. The control device 28 has a display control unit 28a, an angle calculation unit 28c, a slinging tool length calculation unit 28d, and a hook size storage unit 28e. The control device 28 stores various programs and data used in the display control unit 28a, the angle calculation unit 28c, the slinging tool length calculation unit 28d, and the hook size storage unit 28e.

The hook size storage unit 28e stores the total length value Lh (see FIG. 9) of the hook 13. The hook size storage unit 28e stores information on the hook size such as the total length value Lh of the hook 13 and the total width value of the hook 13.

The angle calculation unit 28c calculates the angle θh (see FIG. 9) formed by the virtual line L3 connecting the camera 25 and the upper end of the hook 13 and the virtual line L1 connecting the camera 25 and the lower end of the hook 13. The angle calculation unit 28c is connected to the display control unit 28a and acquires an image.

The slinging tool length calculation unit 28d is connected to the hook size storage unit 28e, and acquires the total length value Lh of the hook 13.

Next, a method of calculating the slinging tool length L will be described with reference to FIGS. 8 to 10.

The method for calculating the slinging tool length L includes an image photographing step K101, a first angle recognition step K103, a second angle recognition step K105, and a slinging tool length calculation step K104. The processing performed by the angle recognition step K103 of the first embodiment and the first angle recognition step K103 of the present embodiment are the same.

In the second angle recognition step K105, the control device 28 recognizes the angle θh formed by the virtual line L3 connecting the camera 25 and the upper end of the hook 13 and the virtual line L1 connecting the camera 25 and the lower end of the hook 13. Specifically, the slinging tool length calculation unit 28d acquires the position of the upper end of the hook 13 and the position of the lower end of the hook 13 on the image by estimation by image recognition or manual input by the operator from the captured image. .. In the case of estimation by image recognition, the slinging tool length calculation unit 28d extracts the contour of the hook 13 from the image. Then, the slinging tool length calculation unit 28d recognizes the upper end and the lower end of the contour of the hook 13. In the case of manual input by the operator, the operator touches and inputs the point Pc which is the upper end of the hook 13 and the point Pa which is the lower end of the hook 13. The angle calculation unit 28c calculates the pixel distance Lph, which is the length from the upper end to the lower end of the hook 13, based on the image-recognized position or the touch position. The pixel distance Lph is a distance measured by the number of pixels from the upper end to the lower end of the hook 13. Then, the slinging tool length calculation unit 28d calculates the angle θh from the pixel distance Lp.

In the slinging tool length calculation step K104, the control device 28 calculates the slinging tool length L. Specifically, the slinging tool length calculation unit 28d calculates the slinging tool length L by the following mathematical formula (2) based on the total length value Lh of the hook 13 and the angle θ and the angle θh.
L = θ / θh × Lh ... (2)
Equation (2) consists of the geometrical positional relationship between the hook 13 and the luggage W with respect to the camera 25 (see FIG. 9). Specifically, the ratio of the slinging tool length L and the total length value Lh and the ratio of the angle θ and the angle θh are close to each other. Assuming that these ratios are almost equal, the formula (3) holds.
L: Lh = θ: θh ... (3)
The mathematical formula (2) is a modification of the mathematical formula (3).

Since the angle (angle θ, angle θh) has a proportional relationship with the pixel distance (pixel distance Lp, pixel distance Lph) on the screen, θ / θh and Lp / Lph are equal. Therefore, the slinging tool length L may be calculated using the pixel distance instead of the angle. The calculation formula of the slinging tool length L in this case is expressed by the following formula (4).
L = Lp / Lph × Lh ... (4)

As described above, the crane 1 has a camera 25 that captures an image including the hook 13 and the luggage W, and a control device 28 that stores the total length value Lh of the hook 13 and is connected to the camera 25 to process information. And, it is equipped with. Then, the control device 28 forms a virtual line L1 connecting the camera 25 and the hook 13 and a virtual line L2 connecting the camera 25 and the luggage W based on the length (pixel distance Lp) from the hook 13 to the luggage W on the image. The first angle (angle θ) is calculated, and the virtual line L3 connecting the camera 25 and the upper end of the hook 13 and the camera 25 and the hook 13 are connected based on the length (pixel distance Lph) from the upper end to the lower end of the hook 13 on the image. The second angle (angle θh) formed by the virtual line L1 connecting the lower ends of the hook 13 is calculated, and the hook 13 in reality is based on the total length value Lh of the hook 13, the first angle (angle θ), and the second angle (angle θh). The slinging tool length L, which is the distance to the luggage W, is calculated. According to the crane 1, the slinging tool length L can be calculated accurately even though it has a simple structure. As a result, an accurate load swing cycle can be calculated.

Further, the crane 1 estimates the position of the center of gravity of the luggage W from the image of the luggage W. Then, the first angle (angle θ) is calculated using the virtual line L2 connecting the camera 25 and the position of the center of gravity of the luggage W. According to the crane 1, the distance from the hook 13 to the position of the center of gravity of the luggage W can be calculated as the slinging tool length L. As a result, a more accurate load swing cycle can be calculated.

By the way, focusing on the method of calculating the slinging tool length L, the image shooting step K101 for taking an image including the hook 13 and the luggage W by the camera 25, and the length (pixels) from the hook 13 to the luggage W on the image. The first angle recognition step K103 that recognizes the first angle (angle θ) formed by the virtual line L1 connecting the camera 25 and the hook 13 and the virtual line L2 connecting the camera 25 and the luggage W based on the distance Lp), and on the image. The second angle (angle) formed by the virtual line L3 connecting the camera 25 and the upper end of the hook 13 and the virtual line L1 connecting the camera 25 and the lower end of the hook 13 based on the length from the upper end to the lower end of the hook 13 (pixel distance Lph). The distance from the hook 13 to the luggage W in reality based on the second angle recognition step K105 that recognizes θh), the total length value Lh of the hook 13, the first angle (angle θ), and the second angle (angle θh). It has a slinging tool length calculation step K104 for calculating the slinging tool length L. According to the method of calculating the slinging tool length L, the slinging tool length L can be accurately calculated with a simple structure. As a result, an accurate load swing cycle can be calculated.

The above-described embodiment only shows a typical embodiment, and can be variously modified and implemented within a range that does not deviate from the gist of one embodiment. It goes without saying that it can be carried out in various forms, and the scope of the present invention is indicated by the description of the scope of claims, and further, the meaning of equality described in the scope of claims and all modifications within the scope of the claims. including.

1 Crane 2 Vehicle 3 Crane device 8 Boom 11 Wire rope 12 winch 13 Hook 22 Display device 24 Sling tool 25 Camera 28 Control device L Sling device length Lh Overall length L1 Virtual line L2 Virtual line L3 Virtual line R Distance W Luggage θ Angle (First angle)
θh angle (second angle)

Claims (6)

With an undulating and stretchable boom,
The wire rope hanging from the boom and
A hook that moves up and down by feeding and feeding the wire rope is provided.
In a crane that lifts cargo via a slinging tool hung on the hook,
A camera that captures an image including the hook and the baggage,
A control device connected to the camera and processing information is provided.
The control device
The distance from the camera to the hook is recognized based on the position of the hook grasped from the posture of the boom and the feeding amount of the wire rope.
Based on the length from the hook to the luggage on the image, the angle formed by the virtual line connecting the camera and the hook and the virtual line connecting the camera and the luggage is recognized.
A crane characterized in that the slinging tool length, which is the actual distance from the hook to the luggage, is calculated based on the distance and the angle. The position of the center of gravity of the baggage is estimated from the image of the baggage,
The crane according to claim 1, wherein the angle is calculated using a virtual line connecting the camera and the position of the center of gravity of the luggage. With an undulating and stretchable boom,
The wire rope hanging from the boom and
A hook that moves up and down by feeding and feeding the wire rope is provided.
In a crane that lifts cargo via a slinging tool hung on the hook,
A camera that captures an image including the hook and the baggage,
It is provided with a control device that stores the total length value of the hook and is connected to the camera to process information.
The control device
Based on the length from the hook to the luggage on the image, the first angle formed by the virtual line connecting the camera and the hook and the virtual line connecting the camera and the luggage is calculated.
Based on the length from the upper end to the lower end of the hook on the image, the second angle formed by the virtual line connecting the camera and the upper end of the hook and the virtual line connecting the camera and the lower end of the hook is calculated.
A crane characterized in that the slinging tool length, which is the actual distance from the hook to the luggage, is calculated based on the total length value of the hook, the first angle, and the second angle. The position of the center of gravity of the baggage is estimated from the image of the baggage,
The crane according to claim 3, wherein the first angle is calculated using a virtual line connecting the camera and the position of the center of gravity of the luggage. With an undulating and stretchable boom,
The wire rope hanging from the boom and
A hook that moves up and down by feeding and feeding the wire rope is provided.
It is a method of calculating the slinging tool length of a crane that lifts a load through a slinging tool hung on the hook.
An image shooting process in which an image including the hook and the baggage is taken by a camera,
A distance recognition step of recognizing the distance from the camera to the hook based on the position of the hook grasped from the posture of the boom and the feeding amount of the wire rope.
An angle recognition step of recognizing an angle formed by a virtual line connecting the camera and the hook and a virtual line connecting the camera and the luggage based on the length from the hook to the luggage on the image.
A method comprising: a slinging tool length calculation step of calculating a slinging tool length which is an actual distance from the hook to the baggage based on the distance and the angle. With an undulating and stretchable boom,
The wire rope hanging from the boom and
A hook that moves up and down by feeding and feeding the wire rope is provided.
It is a method of calculating the slinging tool length of a crane that lifts a load through a slinging tool hung on the hook.
An image shooting process in which an image including the hook and the baggage is taken by a camera,
A first angle recognition step of recognizing the first angle formed by the virtual line connecting the camera and the hook and the virtual line connecting the camera and the luggage based on the length from the hook to the luggage on the image.
A second angle that recognizes the second angle formed by the virtual line connecting the camera and the upper end of the hook and the virtual line connecting the camera and the lower end of the hook based on the length from the upper end to the lower end of the hook on the image. The recognition process and
It has a slinging tool length calculation step of calculating the slinging tool length which is the actual distance from the hook to the luggage based on the total length value of the hook, the first angle, and the second angle. , A method characterized by that.

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