JP7322548B2 - Hanging rope deflection determination method, data processing device, crane - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a suspension rope swing determination method, a data processing device, and a crane for determining the swing state of a suspension rope suspended from the tip of a boom.

A crane lifts a load with a suspension rope and moves the load by swinging a boom from which the suspension rope hangs. It is important for the operator of the crane to grasp the swaying state of the suspension rope.

For example, a camera attached to the tip of the boom shoots downward, and the position of the target attached to the end of the suspension rope is detected by image processing, thereby detecting the swing angle of the suspension rope. is known (see, for example, Patent Document 1).

It is also known that a swing angle detection sensor including a weight and an inertia sensor is attached to the suspension rope (see, for example, Patent Document 2).

JP-A-6-72693 JP 2013-18616 A

By the way, when a swing angle detection device for detecting the swing angle of the suspension rope is attached to a movable part such as the suspension rope, troubles such as damage to the swing angle detection device or the suspension rope are likely to occur.

Further, the position of the terminal end of the suspension rope may be detected by image processing of an image obtained by a camera that photographs the downward direction from the upper end of the boom. In this case, when the hanging length of the suspension rope becomes long, it may become difficult to correctly detect the position of the end portion of the suspension rope by the image processing.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a suspension rope deflection determination method, a data processing device, and a crane that can accurately determine the deflection state of the suspension rope even when the suspension rope has a long hanging length without a detection device being attached to the suspension rope. is to provide

A suspension rope swing determination method according to one aspect of the present invention is a method for determining the swing state of a suspension rope suspended from the tip of a boom of a crane. The method includes a condition data acquisition step, a detection data acquisition step, and a derivation step as steps executed by a data processing device. is the step of obtaining condition data including data on the length of the boom portion, which is the length from the tip to the tip, and data on the viewing direction of the object detection sensor based on the longitudinal direction of the boom. The detection data obtaining step obtains detection data including data on a detected boom angle detected by a boom angle sensor for detecting the tilt angle of the boom and data on a three-dimensional detection position of an object detected by the object detection sensor. This is the step of acquiring. The deriving step is a step of deriving a swaying direction and swaying angle of the suspension rope with respect to a vertical line passing through the tip portion of the boom from data of the boom portion length, the viewing direction, the detected boom angle, and the detected position. is.

A data processing device according to another aspect of the present invention is a device that executes the suspension rope deflection determination method.

A crane according to another aspect of the present invention includes a boom supported so as to be able to rise and fall, a suspension rope suspended from the tip of the boom, a boom angle sensor for detecting an inclination angle of the boom, and a boom fixed to the boom. an object detection sensor for detecting a three-dimensional position of an object existing in the field of view; and the data processing device.

ADVANTAGE OF THE INVENTION According to the present invention, a suspension rope deflection determination method, a data processing device, and a crane that can accurately determine the deflection state of the suspension rope even when the hanging length of the suspension rope is long without a detection device being attached to the suspension rope. can be provided.

FIG. 1 is a configuration diagram of a crane according to the first embodiment. FIG. 2 is a block diagram showing the configuration of control-related equipment in the crane according to the first embodiment. FIG. 3 is a block diagram showing configurations of a main controller, an ECU, and a position data processing device in the crane according to the first embodiment. FIG. 4 is a flow chart showing an example of the procedure of suspension rope deflection determination processing in the crane according to the first embodiment. FIG. 5 is a flow chart showing an example of the procedure of visual field direction calibration processing in the crane according to the first embodiment. FIG. 6 is a diagram showing an example of an object detection image representing the detection result of the object detection sensor in the crane according to the first embodiment. 7A and 7B are diagrams showing the swinging state of the suspension rope, FIG. 7A is a diagram showing the swinging direction of the suspension rope, and FIG. 7B is a diagram showing the swing angle of the suspension rope. FIG. 8 is a diagram schematically showing the relationship between four reference points related to the position of the object detection sensor, the position of the tip of the boom, and the position of the hanging rope. FIG. 9 is a diagram showing an example of an object detection image representing the detection result of the object detection sensor in the crane according to the second embodiment.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. It should be noted that the following embodiment is an example that embodies the present invention, and does not limit the technical scope of the present invention.

[Configuration of Crane 10]
A crane 10 according to the first embodiment of the present invention is a working machine that lifts a load (not shown) and moves the load. An example in which the crane 10 is a mobile crane will be described below.

As shown in FIG. 1, the crane 10 includes a lower running body 11, an upper rotating body 12, a cab 13, a gantry 15, a winch device 16, a counterweight 17, a boom 21, a hook 30, a hoisting rope 31, a suspension rope 32, and the like. Prepare. The winch device 16 includes a first winch device 161 and a second winch device 162 .

The gantry 15 is fixed to the upper revolving body 12 while standing up from the upper revolving body 12 . The counterweight 17 is connected to the upper revolving body 12 and protrudes rearward of the upper revolving body 12 .

The lower traveling body 11 is a pedestal portion that supports the upper revolving body 12 . The upper turning body 12 is provided above the lower traveling body 11 so as to be able to turn relative to the lower traveling body 11 . The upper revolving body 12 is driven to revolve by a revolving motor (not shown) provided in the lower traveling body 11 . The undercarriage 11 is an example of a base that supports the boom 21 so that it can rise and fall.

Cab 13 is the cockpit. The cab 13 is connected to the upper revolving body 12 . The upper revolving body 12 constitutes a revolving section that revolves together with the cab 13, the gantry 15, the winch device 16 and the counterweight 17. As shown in FIG.

The crane 10 shown in Figure 1 is a mobile crane. Therefore, the traveling device 14 is connected to the lower traveling body 11 . FIG. 1 shows an example in which the traveling device 14 is a crawler type device.

The boom 21 is formed extending from the upper revolving body 12 . The boom 21 is supported by the upper slewing body 12 so as to be able to rise and fall. The boom 21 suspends a suspension rope 32 from a boom point idler sheave 22 provided at its tip.

A hook 30 is connected to the end of the hanging rope 32 . The suspension rope 32 is hung on a boom point idler sheave 22 provided at the tip of the boom 21 . Thereby, the suspension rope 32 is suspended from the tip of the boom 21 .

The hoisting rope 31 is hung on a gantry sheave 23 provided at the tip of the gantry 15 , and the tip of the hoisting rope 31 is connected to the tip of the boom 21 .

The first winch device 161 supports the boom 21 via the hoisting rope 31 . Also, the second winch device 162 supports the hook 30 via the hanging rope 32 .

The first winch device 161 changes the tilt angle of the boom 21 by winding up or unreeling the hoisting rope 31 . That is, the boom 21 is driven by the first winch device 161 and the hoisting rope 31 so that the tilt angle can be changed.

The second winch device 162 raises and lowers the hook 30 by winding or unreeling the suspension rope 32 . The suspended load is hung on hooks 30 . The counterweight 17 balances the load of the boom 21, hook 30 and the load.

As shown in FIG. 2, the crane 10 includes driving system equipment such as an engine 41, a hydraulic pump 42, a hydraulic control valve 43, an operating device 51, a display device 52, a main controller 61, an auxiliary storage device 62, and a and an ECU (Engine Control Unit) 63 .

Human interface devices such as an operating device 51 and a display device 52 are provided inside the cab 13 . Furthermore, the crane 10 also includes a state detection device 44 that detects the states of various devices provided in the crane 10 .

The operation device 51 is a device that receives an operator's operation, and includes, for example, an operation lever 511, an operation button 512, an operation input device 513, and the like. The operation lever 511 includes a boarding/alighting blocking lever, a turning lever, and the like. The operation input device 513 is a touch panel, a keyboard, or the like.

The display device 52 is a device for displaying information, and is, for example, a panel display device such as a liquid crystal display unit.

The state detection device 44 includes a boom angle sensor 441, an extension length detection device 442, and the like. A boom angle sensor 441 detects the tilt angle of the boom 21 . The paid-out length detection device 442 detects the paid-out length of the suspension rope 32 .

A boom angle sensor 441 is, for example, an inclinometer attached to the boom 21 . The boom angle sensor 441 outputs data of the detected boom angle θ1 (see FIG. 1). In the example shown in FIG. 1, the detected boom angle θ1 is the angle between the boom longitudinal direction D1 and the vertical direction.

Further, the pay-out length detection device 442 detects the pay-out length of the suspension rope 32 by, for example, counting the number of rotations of a rotating body that is driven to rotate in contact with the suspension rope 32 . The payout length detector 442 outputs the data of the detected payout length Lx1 to the main controller 61 .

The main controller 61 executes various controls or data processing according to the operation of the operating device 51, the control of the display device 52, the control of the ECU 63, and the like.

The auxiliary storage device 62 is a nonvolatile storage device that stores data referenced by the main controller 61 or data recorded by the main controller 61 . For example, the auxiliary storage device 62 may be an SSD (Solid State Drive) or an EEPROM (Electrically Erasable Programmable Read-Only Memory).

The ECU 63 controls the engine 41 and the hydraulic control valve 43 according to the detection results of various state detection devices 44 or according to the control commands from the main controller 61 .

The main controller 61 can communicate with the operation device 51, the ECU 63, the state detection device 44, and the like through an in-vehicle network 9 such as a CAN (Controller Area Network). Detection results of the various state detection devices 44 are transmitted to the main controller 61 or the ECU 63 through the in-vehicle network 9 .

The state detection device 44 also includes a load meter and a turning angle detection device (not shown). The load system detects the weight of the suspended load. The turning angle detection device detects the angle at which the upper turning body 12 turns with respect to the lower traveling body 11 .

As shown in FIG. 3, the main controller 61 and ECPU 63 each include an MPU (Miro Processing Unit) 601, a RAM (Random Access Memory) 602, a non-volatile memory 603, a signal interface 604, a communication interface 605, and the like. RAM 602 and nonvolatile memory 603 are computer-readable storage devices.

The MPU 601 is an example of a processor that executes various data processing and controls by executing programs pre-stored in the non-volatile memory 603 .

The RAM 602 is a volatile memory that temporarily stores the program executed by the MPU 601 and data derived or referred to by the MPU 601 .

The nonvolatile memory 603 stores in advance the program executed by the MPU 601 and the data referred to by the MPU 601 . For example, the non-volatile memory 603 may be ROM (Read Only Memory) or flash memory.

The signal interface 604 converts an analog signal input from the outside into digital data and transmits the digital data to the MPU 601 . Further, the signal interface 604 converts command data output from the MPU 601 to the outside into an analog command signal and outputs the analog command signal to the outside.

The communication interface 605 is a device that communicates with other devices such as the state detection device 44 through the in-vehicle network 9 . MPU 601 acquires the detection result of state detection device 44 through communication interface 605 . Furthermore, MPU 601 outputs control commands to other devices through communication interface 605 .

The crane 10 lifts the load hung on the hook 30 by the suspension rope 32, and swings the boom 21 from which the suspension rope 32 hangs down to move the load. It is important for the operator of the crane 10 to grasp the swaying state of the suspension rope 32 .

By the way, if a swing angle detection device for detecting the swing angle of the suspension rope 32 is attached to a movable part such as the suspension rope 32, troubles such as breakage of the swing angle detection device or the suspension rope 32 are likely to occur.

Further, the position of the terminal end of the suspension rope 32 may be detected by image processing of an image obtained by a camera that photographs the downward direction from the upper end of the boom 21 . In this case, when the suspension length of the suspension rope 32 becomes long, it may become difficult to correctly detect the position of the end portion of the suspension rope 32 by the image processing.

On the other hand, the crane 10 executes suspension rope swing determination processing, which will be described later (see FIG. 4). As a result, the crane 10 can correctly determine the swinging state of the suspension rope 32 even when the hanging length of the suspension rope 32 is long without the detection device being attached to the suspension rope 32 .

As shown in FIG. 2, the crane 10 further includes an object detection sensor 45 and a position data processing device 64 in order to execute the suspension rope deflection determination process.

The object detection sensor 45 detects the three-dimensional position of an object existing within the field of view. The three-dimensional position of the object detected by the object detection sensor 45 is a position based on the position of the object detection sensor 45 .

For example, a TOF (Time Of Flight) sensor may be employed as the object detection sensor 45 . The TOF sensor detects the three-dimensional position of objects within a unique field of view. The TOF sensor emits infrared light and receives the infrared light reflected by an object with a plurality of light receiving elements arranged two-dimensionally.

Furthermore, the TOF sensor detects the distance to the object for a plurality of two-dimensionally arranged pixels by measuring the time from the time when the infrared light is emitted to the time when the infrared light is received for each of the light receiving elements.

The data of the object detection position PX1 output from the object detection sensor 45 is pixel value data of a plurality of pixels arranged two-dimensionally, like the image data. The pixel value represents the distance from the TOF sensor to the object.

As shown in FIG. 1, the object detection sensor 45 is fixed to a portion of the boom 21 between the tip portion and the root portion. The object detection sensor 45 is usually fixed to a portion of the boom 21 closer to the tip than the central portion in the longitudinal direction. The object detection sensor 45 is fixed so that the hanging portion of the hanging rope 32 is included in its field of view.

That is, as shown in FIG. 1 , the visual field direction D2 of the object detection sensor 45 is set in the direction in which the boom 21 rises and falls, that is, in front of the upper swing body 12 .

The position data processing device 64 processes data of the detection position PX1 output from the object detection sensor 45 . Since the data of the detection position PX1 is configured in the same manner as the image data, the position data processing device 64 is an image processing device that processes the image data.

For example, as shown in FIG. 3, the position data processing device 64 includes an MPU 601, a RAM 602, a non-volatile memory 603, a signal interface 604, a communication interface 605, and the like, similar to the main controller 61.

The position data processing device 64 acquires data of the detection position PX1 from the object detection sensor 45 through the signal interface 604. FIG. Further, position data processing device 64 outputs data representing the result of processing the data of detected position PX1 to main controller 61 via communication interface 605 .

The main controller 61 includes a plurality of processing modules implemented by the MPU 601 of the main controller 61 executing computer programs. The plurality of processing modules include a main processing section 6a, a condition data acquisition section 6b, a detection data acquisition section 6c, a shake determination section 6d, a determination result output section 6e, a view direction calibration section 6f, and the like.

The main controller 61 and the position data processing device 64 are an example of a data processing device that executes the suspension rope deflection determination process. The suspension rope swing determination process is a process for determining the swing state of the suspension rope 32 .

[Suspension Rope Deflection Processing]
Hereinafter, an example of the procedure of the suspension rope deflection determination process will be described with reference to the flowchart shown in FIG. The procedure of the suspension rope deflection determination process is an example of a suspension rope deflection determination method.

The main processing unit 6a of the main controller 61 starts the suspension rope deflection determination process when a predetermined determination start condition is satisfied. For example, the determination start condition is a condition that a blocking release operation has been performed on the boarding/alighting blocking lever that is a part of the operation lever 511, or a condition that a predetermined start operation has been performed on the operation input device 513. and so on.

In the following description, S101, S102, .

<Step S101>
In the suspension rope deflection determination process, first, the condition data acquisition unit 6 b acquires the condition data DT1 from the auxiliary storage device 62 . Step S101 is an example of a condition data acquisition step.

The condition data DT1 includes data on the boom length L1 and data on the direction of view D2 (see FIGS. 1 and 2). In this embodiment, the condition data DT1 also includes data on the boom portion length L2. The condition data DT1 is preset data.

A boom length L1 is the length of the boom 21 . The boom portion length L2 is the length from the portion of the boom 21 to which the object detection sensor 45 is fixed to the tip of the boom 21 . The visual field direction D2 is the direction from the object detection sensor 45 toward the center P00 of its visual field range (see FIG. 8). The data of the viewing direction D2 is data of the direction based on the boom longitudinal direction D1.

In FIG. 8, a field-of-view center cross section F1 represented by a virtual line (a two-dot chain line) is a plane that passes through the center P00 of the field-of-view range of the object detection sensor 45 and traverses the field-of-view range. The visual field direction D2 is a direction along the visual field central cross section F1.

8, the first reference point P1 is the position of the object detection sensor 45. As shown in FIG. The second reference point P2 is the position of the tip of the boom 21 .

For example, the data on the viewing direction D2 includes data on the first viewing angle φ1 and data on the second viewing angle φ2. The first viewing angle φ1 is an angle between the boom longitudinal direction D1 and the viewing center cross section F1. The second viewing angle φ2 is the angle between the viewing direction D2 and a vertical plane passing through the position of the tip of the boom 21 and the position of the object detection sensor 45 .

Note that when the second viewing angle φ2 is considered to be 0°, the data for the viewing direction D2 is only the data for the first viewing angle φ1.

<Step S102>
Next, the detection data acquisition unit 6c and the position data processing device 64 acquire detection data. Step S102 is an example of a detection data acquisition step.

The detected data includes data on the detected boom angle θ1 and data on the detected position PX1. In this embodiment, the detection data also includes the data of the detection payout length Lx1.

Specifically, the detected data acquisition unit 6c acquires the detected boom angle data and the detected extended length Lx1 data from the boom angle sensor 441 and the extended length detection device 442 . Further, the position data processing device 64 acquires data of the detection position PX1 from the object detection sensor 45. FIG.

<Step S103>
Next, the position data processing device 64 extracts the data of the rope position R1, which is the three-dimensional position of the linear object g2 extending in the vertical direction, from the data of the detected position PX1 (see FIG. 6). Step S103 is an example of a first derivation step.

The position data processing device 64 outputs the extracted rope position R1 data to the main controller 61 .

FIG. 6 is an example of an object detection image g1 representing the data of the detection position PX1 output from the object detection sensor 45 as an image.

As shown in FIG. 6, the data of the detection position PX1 may include the data of the noise object g3 in addition to the data of the linear object g2 that traverses the visual field range of the object detection sensor 45. FIG. A linear object g<b>2 extending in the vertical direction corresponds to the suspension rope 32 .

The position data processing device 64 extracts the data of the linear object g2 that traverses the visual field range from the data of the detected position PX1 as the data of the rope position R1. Data on this rope position R1 is used to determine the swinging state of the suspension rope 32 . As a result, it is possible to prevent the detection result of the noise object g3 from being erroneously used to determine the swinging state of the suspension rope 32 .

Further, when the hanging portion of the suspension rope 32 is composed of a plurality of ropes arranged in parallel, the data of the detection position PX1 includes data of a plurality of linear objects g2. In this case, the position data processing device 64 extracts the representative data of the data of the plurality of linear objects g2 as the data of the rope position R1.

For example, it is conceivable that the representative data is average value data for each vertical position in the data of the plurality of linear objects g2. In this case, the representative data is data representing the position of one virtual suspension rope 32 that exists in the center of the plurality of ropes arranged in parallel. It is also conceivable that the representative data is the data of the rightmost or leftmost linear object g2.

<Step S104>
Next, the swing determination unit 6d derives the swing direction D3 and the swing angle θ2 of the suspension rope 32 from the data of the boom length L2, the viewing direction D2, and the rope position R1 (see FIG. 7). Step S104 is an example of a second derivation step.

Steps S103 and S104 are steps of deriving the deflection direction D3 and deflection angle θ2 of the suspension rope 32 with respect to the reference vertical line Ln1 from the data of the boom portion length L2, the viewing direction D2, the detected boom angle θ1, and the detected position PX1. , which is an example of the derivation process. Further, the step S105 of deriving the hook swing width is also an example of the deriving step.

As shown in FIG. 7A, the swing direction D3 is the direction in which the suspension rope 32 swings with respect to the reference vertical line Ln1, which is a vertical line passing through the tip of the boom 21. As shown in FIG. FIG. 7A shows the suspension rope 32 viewed vertically downward from the tip of the boom 21 .

As shown in FIG. 7B, the swing angle θ2 is the angle at which the suspension rope 32 swings with respect to the reference vertical line Ln1. FIG. 7(B) shows the suspension rope 32 seen along the direction perpendicular to the swing direction D3.

An example of a method for deriving the shake direction D3 and the shake angle θ2 will be described below. Various methods are conceivable for deriving the shake direction D3 and the shake angle θ2, and the method shown below is merely a reference example.

FIG. 8 schematically shows the relationship between the position of the object detection sensor 45, the position of the tip of the boom 21, and the position of the hanging rope 32 and the four reference points.

As described above, the field-of-view center cross section F1 is a plane that passes through the center P00 of the field-of-view range of the object detection sensor 45 and traverses the field-of-view range.

The first reference point P1 is the position of the object detection sensor 45, and the second reference point P2 is the position of the tip of the boom 21. As shown in FIG.

Further, the third reference point P3 is the intersection of the suspension rope 32 and the visual field center cross section F1. In FIG. 8, the direction of the third reference point P3 with the first reference point P1 as the base point is indicated as the third reference point direction Ds3.

The fourth reference point P4 is the intersection of the reference vertical line Ln1 and the visual field center cross section F1. In FIG. 8, the direction of the fourth reference point P4 with the first reference point P1 as the base point is indicated as the fourth reference point direction Ds4.

As shown in FIG. 8, in a triangle having the vertices of the first reference point P1, the second reference point P2 and the fourth reference point P4, the internal angle of the first reference point P1 is the first viewing angle φ1, The inside angle of the second reference point P2 is the detected boom angle θ1. Also, the distance between the first reference point P1 and the second reference point P2 is the boom portion length L2.

Therefore, the shake determination unit 6d can derive the position of the first reference point P1 with respect to the second reference point P2 from the boom portion length L2 and the detected boom angle θ1.

Further, the shake determination unit 6d derives the position of the fourth reference point P4 and the fourth reference point direction Ds4 from the boom portion length L2, the first viewing angle φ1, and the detected boom angle θ1 based on the law of sine or the law of cosine. can do.

Further, as shown in FIG. 6, the shake determination unit 6d derives the coordinates of the rope intersection P01, which is the intersection of the rope position R1 and the central transverse line Ln2 passing through the center P00 of the visual field range of the object detection sensor 45.

Further, as shown in FIG. 6, the shake determination unit 6d determines the displacement width dx1 between the center P00 of the visual field range and the rope intersection point P01, and the rope reference distance Lx1, which is the distance from the object detection sensor 45 to the rope intersection point P01. to derive

For example, the shake determination unit 6d derives the average value of the data within a predetermined vicinity range from the rope intersection point P01 in the data of the rope position R1 as the rope reference distance Lx1. Further, it is conceivable that the shake determination unit 6d derives the data value of the rope intersection point P01 in the data of the rope position R1 as the rope reference distance Lx1.

The shake determination unit 6d can derive a rope deviation angle ψ1, which is the angle of the shake direction D3 with respect to the visual field direction D2, from the deviation width dx1 and the rope reference distance Lx1 (see FIG. 8).

For example, the shake determination unit 6d converts the deviation width dx1 into an actual lateral deviation distance at a position separated from the object detection sensor 45 by the rope reference distance Lx1, and applies the lateral deviation distance and the rope reference distance Lx1 to an inverse trigonometric function. do. Thereby, the shake determination unit 6d can derive the rope deviation angle ψ1.

Further, as shown in FIG. 8, the angle formed by the fourth reference point direction Ds4 and the viewing direction D2 is the second viewing angle φ2.

Then, the shake determination unit 6d determines the second The position of the third reference point P3 relative to the reference point P2 can be derived.

Therefore, the shake determination section 6d can derive the shake direction D3 and the shake angle θ2 from the positions of the fourth reference point P4 and the third reference point P3.

<Step S105>
Furthermore, the swing determination unit 6d derives the swing width of the hook from the data of the swing angle θ2, the detected boom angle θ1, the boom length L1, and the detected extension length Lx1. The swing width of the hook is the swing width of the end portion of the hanging rope 32 .

The relay length, which is the length of the portion of the suspension rope 32 extending from the second winch device 162 to the tip of the boom 21, is uniquely determined according to the combination of the length of the boom 21 and the detected boom angle θ1.

Therefore, the shake determination unit 6d derives the hanging length L3 of the suspension rope 32 by applying the length of the boom 21, the detected boom angle θ1, and the detected extension length Lx1 to a predetermined calculation formula (Fig. 1).

Furthermore, the swing determination unit 6d derives the hook swing width by applying the drooping length L3 and the swing angle θ2 to a trigonometric function.

<Step S106>
Next, the determination result output unit 6e determines whether or not the hook swing width exceeds a preset range. Then, the determination result output unit 6e executes the processing of step S107 when determining that the hook swing width exceeds the setting range, and executes the processing of step S108 otherwise.

<Step S107>
In step S107, the determination result output unit 6e outputs information on the hook swing width, swing angle θ2, and swing direction D3 to the display device 52, and outputs an alarm to alert the operator. After that, the determination result output unit 6e shifts the process to step S109.

<Step S108>
In step S108, the determination result output unit 6e outputs information on the hook swing width, swing angle θ2, and swing direction D3 to the display device 52 without outputting an alarm. After that, the determination result output unit 6e shifts the process to step S109.

<Step S109>
In step S109, the main processing unit 6a determines whether or not a predetermined termination condition is satisfied.

The main processing unit 6a terminates the suspension rope deflection determination process when determining that the termination condition is satisfied, and otherwise proceeds to step S102.

As described above, in the crane 10 , the suspension rope 32 is not equipped with a device for detecting swing of the suspension rope 32 .

Moreover, in the crane 10 , the variation in the distance from the object detection sensor 45 to the suspension rope 32 is not as large as the variation in the suspension length L3 of the suspension rope 32 .

Therefore, the crane 10 can stably and correctly determine the swing state of the suspension rope 32 regardless of the suspension length L3 of the suspension rope 32 by executing the suspension rope deflection determination process.

In the condition data DT1, it is relatively easy to confirm the boom length L1 and the boom portion length L2. In addition, a slight error in the boom length L1 and the boom portion length L2 has little effect on the determination of the deflection state of the suspension rope 32 .

On the other hand, the viewing direction D2 is relatively difficult to confirm. Furthermore, the error in the visual field direction D2 has a great influence on the determination of the swaying state of the suspension rope 32 .

Therefore, the main controller 61 and the position data processing device 64 can derive the viewing direction D2 by executing the following viewing direction calibration processing.

[View direction calibration process]
An example of the viewing direction calibration process will be described below with reference to the flow chart shown in FIG.

The visual field direction calibration process is executed when the hanging rope 32 is held in a vertically hanging state along the reference vertical line Ln1. The main processing unit 6a of the main controller 61 starts the visual field direction calibration process when a predetermined calibration start operation is performed on the operation input device 513 .

In this embodiment, the calibration start operation on the operation input device 513 is an operation of selecting the calibration mode as the operation mode of the main controller 61 . The main processing unit 6a shifts to the calibration mode in response to the calibration start operation, and starts the viewing direction calibration process.

In the following description, S201, S202, .

<Step S201>
First, the condition data acquisition unit 6b acquires the condition data DT1 from the auxiliary storage device 62, as in step S101 of FIG.

However, in step S201, the data of the boom length L1 and the data of the boom portion length L2 should be acquired. That is, the data for the viewing direction D2 may not be acquired. Step S201 is an example of a first calibration step.

<Step S202>
Furthermore, the detection data acquisition unit 6c and the position data processing device 64 acquire the detection data, as in step S102 of FIG. Step S202 is an example of a second calibration step.

However, in step S202, the data of the detected boom angle θ1 and the data of the detected position PX1 may be acquired. That is, it is not necessary to acquire the data of the detected payout length Lx1.

<Step S203>
Next, the position data processing device 64 extracts the data of the rope position R1, which is the three-dimensional position of the linear object g2 extending in the vertical direction, from the data of the detection position PX1, as in step S103 of FIG. Output to the controller 61 (see FIG. 6).

<Step S204>
Next, the viewing direction calibration unit 6f determines whether or not the positional variations in the horizontal direction and the depth direction represented by the data of the rope position R1 are within a predetermined allowable range.

The lateral position variation is the lateral coordinate value variation represented by the rope position R1 data. The variation in the position in the depth direction is variation in the distance represented by the data on the rope position R1, that is, variation in pixel values in the data on the rope position R1.

The process of step S204 is a process of confirming that the data of the rope position R1 is the data obtained by detecting the suspension rope 32 along the reference vertical line Ln1.

Then, when the viewing direction calibration unit 6f determines that the positional variations in the horizontal direction and the depth direction represented by the data of the rope position R1 are within the allowable range, the process of steps S205 and S206 is performed. , otherwise the process proceeds to step S207.

<Step S205>
In step S205, the line-of-sight direction calibration unit 6f adjusts the line-of-sight direction D2 based on the precondition that the rope position R1 is vertically below the tip of the boom 21 and the data of the boom portion length L2 and the rope position R1. to derive Step S205 is an example of a third calibration step.

In the process performed in step S104 of FIG. 4 by the shake determination unit 6d, the unknown values of the swing direction D3 and the swing angle θ2 of the suspension rope 32 are combined with the known values of the boom portion length L2, the line of sight direction D2, and the rope position. Derived from R1.

In step S205, the line-of-sight direction calibration unit 6f uses the same logic as in step S104, and under the precondition that the deflection angle θ2 is 0°, the unknown value is calculated from the known values of the boom portion length L2 and the rope position R1. A first viewing angle φ1 and a second viewing angle φ2 are derived.

<Step S206>
In step S206, the viewing direction calibration unit 6f records the data of the first viewing angle φ1 and the second viewing angle φ2 derived in step S205 in the auxiliary storage device 62 as the data of the viewing direction D2. After that, the viewing direction calibration unit 6f terminates the viewing direction calibration process.

Note that step S206 is an example of a fourth calibration step of storing the derived data of the viewing direction D2 in the storage device. Steps S201 to S206 are an example of a calibration process for deriving the visual field direction D2 when the calibration mode is selected in advance.

<Step S207>
On the other hand, in step S207, the main processing unit 6a outputs a predetermined error notification message to the display device 52, and then terminates the viewing direction calibration process.

In step S101 of FIG. 4, the condition data acquisition unit 6b acquires from the auxiliary storage device 62 the data of the viewing direction D2 recorded in step S206. By executing the viewing direction calibration process, the viewing direction D2 can be easily set.

[Second embodiment]
Hereinafter, a crane according to a second embodiment, which is an application example of the crane 10, will be described with reference to FIG.

The shake determination unit 6d in this embodiment executes the processing of the alternative steps shown below instead of the processing of step S104 in FIG.

In the alternative step, the swing determination unit 6d derives the swing direction D3 and the swing angle θ2 of the suspension rope 32 from the data of a plurality of vertical locations in the data of the rope position R1. The alternative step is an example of a second derivation step.

For example, in the alternative step, the swing determination unit 6d derives the swing direction D3 and the swing angle θ2 of the suspension rope 32 from the data of the upper end position P001 and the data of the lower end position P002 in the data of the rope position R1.

Specifically, the shake determination unit 6d defines the angle formed by the vertical direction and a straight line connecting the first coordinate position represented by the data of the upper end position P001 and the second coordinate position represented by the data of the lower end position P002 as the shake angle θ2. derive

Furthermore, the shake determination unit 6d derives the direction of the second coordinate position with respect to the vertical line passing through the first coordinate position when viewed along the vertical direction as the shake direction D3.

Further, it is conceivable that the first coordinate position is the coordinate corresponding to the pixel at the right end, the left end, or the center in the left-right direction in the data of the upper end position P001. Similarly, it is conceivable that the second coordinate position is the coordinate corresponding to the right end, left end, or center pixel in the left-right direction in the data of the lower end position P002.

Even when this embodiment is adopted, the same effects as when the first embodiment is adopted can be obtained. Moreover, when this embodiment is adopted, step S101 and step S102 in FIG. 4 can be omitted.

[Application example]
An application example of the first embodiment or the second embodiment will be described below.

In this application example, the object detection device 45 is a stereo camera device that measures the three-dimensional position of an object.

The stereo camera device includes a pair of cameras that capture images of a monitoring area from different directions, and an image processing device that derives the three-dimensional position of an object by performing image processing on a pair of captured images obtained by the pair of cameras. .

The image processing device extracts an image of the linear object g2 from each of the pair of captured images. Further, the image processing device converts the extracted position of the linear object g2 in the two-dimensional plane and the data representing the distance from the pair of cameras to the linear object g2 into the main controller 61 as data of the detected position Px1. Output to Even when this application example is adopted, the same effects as when the first embodiment or the second embodiment is adopted can be obtained.

6a: Main processing unit 6b: Condition data acquisition unit 6c: Detection data acquisition unit 6d: Judgment unit 6e: Judgment result output unit 6f: View direction calibration unit 9: In-vehicle network 10: Crane 11: Undercarriage 12: Upper swing structure 13 : Cab 14 : Traveling device 15 : Gantry 16 : Winch device 17 : Counterweight 21 : Boom 22 : Boom point idler sheave 23 : Gantry sheave 30 : Hook 31 : Luffing rope 32 : Hanging rope 41 : Engine 42 : Hydraulic pump 43 : Hydraulic control valve 44 : State detection device 45 : Object detection sensor 51 : Operation device 52 : Display device 61 : Main controller 62 : Auxiliary storage device 63 : ECU
64: Position data processing device 161: First winch device 162: Second winch device 441: Boom angle sensor 442: Detection device 511: Operation lever 512: Operation button 513: Operation input device 601: MPU
602: RAM
603: Nonvolatile memory 604: Signal interface 605: Communication interface D1: Boom longitudinal direction D2: View direction D3: Direction DT1: Condition data Ds3: Third reference point direction Ds4: Fourth reference point direction F1: View center cross section L1 : Boom length L2 : Boom portion length Ln1 : Reference vertical line Ln2 : Center transverse line Lx1 : Rope reference distance P00 : View range center P001 : Upper end position P002 : Lower end position P01 : Rope intersection P1 : First reference point P2 : Second Second reference point P3: Third reference point P4: Fourth reference point PX1: Detection position R1: Rope position dx1: Deviation width g1: Object detection image g2: Linear object g3: Noise object θ1: Detected boom angle θ2: Swing angle φ1: First viewing angle φ2: Second viewing angle ψ1: Rope deviation angle

Claims (6)

A suspension rope swing determination method for determining the swing state of a suspension rope hanging from the tip of a crane boom, comprising:
The crane comprises an object detection sensor that detects the three-dimensional position of an object that is fixed to the boom and exists within the field of view, and a boom angle sensor that detects the tilt angle of the boom,
As steps performed by the data processing device,
Condition data including data on the boom portion length, which is the length from the portion of the boom to which the object detection sensor is fixed, to the tip, and data on the viewing direction of the object detection sensor based on the longitudinal direction of the boom. a condition data acquisition step of acquiring
a detection data acquisition step of acquiring detection data including data on the three-dimensional detection position of the object detected by the object detection sensor and data on the detected boom angle detected by the boom angle sensor;
and a derivation step of deriving the swing direction and swing angle of the suspension rope based on the data of the boom portion length, the viewing direction, the detected boom angle, and the detected position. The derivation step includes
a first derivation step of extracting rope position data, which is a three-dimensional position of a linear object extending in the vertical direction, from the detected position data;
A second deriving step of deriving the swing direction and the swing angle from data of the boom portion length, the viewing direction, the detected boom angle, and the rope position. . further comprising a calibration step of deriving the viewing direction if a calibration mode has been previously selected;
The calibration step includes:
a first calibration step of obtaining data on the boom section length;
a second calibration step of obtaining data of the detected boom angle and data of the detected position detected by the object detection sensor;
a third calibration step of deriving the line-of-sight direction based on the precondition that the detected position is a position vertically below the tip of the boom and data on the boom portion length and the detected position;
a fourth calibration step of storing the derived viewing direction data in a storage device;
3. The suspension rope swing determination method according to claim 1, wherein in said condition data obtaining step, said visual field direction data is obtained from said storage device. the condition data includes data on the length of the boom;
The detection data includes data of a detected pay-out length detected by a device that detects the pay-out length of the suspension rope,
The deriving step includes a step of deriving a swing width of the end portion of the suspension rope from data of the swing angle, the detected boom angle, the length of the boom, and the detected pay-out length. Item 3. The suspension rope deflection determination method according to any one of items 3. A data processing device for executing the suspension rope deflection determination method according to any one of claims 1 to 4. a hoistably supported boom;
a hanging rope suspended from the tip of the boom;
a boom angle sensor that detects the tilt angle of the boom;
an object detection sensor that detects the three-dimensional position of an object that is fixed to the boom and that exists within the field of view;
A crane comprising a data processing device according to claim 5.

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