JP7351231B2 - Hanging load monitoring device, crane, hanging load monitoring method and program - Google Patents

Description

The present invention relates to a suspended load monitoring device, a crane, a suspended load monitoring method, and a program.

Some cranes are equipped with a suspended load monitoring device to monitor suspended loads.

For example, Patent Document 1 discloses a camera having a zoom lens whose magnification is changed depending on the distance from a hook for hanging a load, and a display unit installed in the cabin of a crane that displays images captured by the camera. A hanging load monitoring device is disclosed.

Furthermore, Patent Document 2 describes a swing width sensor that detects the swing width of a suspended load relative to the tip of a boom, a control lever sensor that detects the operation position of a control lever of a crane device, and a swing width detected by the swing width sensor. A suspended load monitoring device is disclosed, which includes: and a display unit that displays an operating position detected by an operating lever sensor.

Japanese Patent Application Publication No. 2001-2369 Japanese Patent Application Publication No. 9-48586

Cranes need to prevent suspended loads from coming into contact with or colliding with obstacles. Therefore, there is a need for a suspended load monitoring device that can inform the operator of the future destination of the suspended load and prevent contact and collision.

However, the hanging load monitoring device described in Patent Document 1 only displays an image of a hanging load of a fixed size on the display unit. Therefore, the crane operator must predict the destination of the suspended load and monitor the destination in order to prevent the crane from coming into contact with or colliding with obstacles.

The suspended load monitoring device described in Patent Document 2 only displays the swing width of the suspended load and the operating position of the operating lever in the form of a bar graph. Therefore, even in the suspended load monitoring device described in Patent Document 2, the operator himself needs to predict the destination of the suspended load and monitor the destination.

The present invention has been made to solve the above problems, and includes a suspended load monitoring device, a crane, a suspended load monitoring method, and a program that can notify an operator of the destination of a suspended load and improve the safety of crane work. The purpose is to provide

In order to achieve the above object, the suspended load monitoring device according to the first aspect of the present invention includes:
a boom position acquisition unit that acquires the position of the boom tip of the crane device;
a suspended load position acquisition unit that acquires the position of the suspended load suspended from the boom tip;
An operating lever for operating the crane device is in a first position based on the position of the boom tip acquired by the boom position acquisition unit and the position of the suspended load acquired by the suspended load position acquisition unit. the first locus of the suspended load over a certain period of time, assuming that the operation lever is in a second position different from the first position; a trajectory prediction unit that predicts two trajectories;
a suspended load movement area determination unit that determines a suspended load movement area based on the first trajectory and the second trajectory predicted by the trajectory prediction unit;
a notification unit that notifies suspended load movement information based on the suspended load movement area determined by the suspended load movement area determination unit;
Equipped with

The trajectory prediction unit is configured such that the operating lever is at the first position based on the position of the boom tip acquired by the boom position acquisition unit and the position of the suspended load acquired by the suspended load position acquisition unit. a first short-term trajectory that the suspended load follows in a shorter period of time than the certain period, assuming that the suspended load is in the second position; predicting a second short-term trajectory to be followed;
The suspended load movement area determination unit determines a monitoring area based on the first short-term trajectory and the second short-term trajectory predicted by the trajectory prediction unit,
It is preferable that the notification unit notifies information of the monitoring area.

Furthermore, the trajectory prediction unit uses a learned model that has learned the position of the boom tip, the position of the suspended load, and the future position of the suspended load with respect to the operation amount of the control lever, and the boom position acquisition unit From the position of the boom tip acquired by the operator, the position of the suspended load acquired by the suspended load position acquisition unit, and the position of the operating lever, determine the position of the suspended load during the certain period or a shorter period of time than the certain period. It is good to predict the trajectory.

further comprising a moving direction calculation unit that calculates a moving direction of the suspended load from a change in the position of the suspended load acquired by the suspended load position acquisition unit,
It is preferable that the suspended load movement area determination section determines the suspended load movement area based on the movement direction calculated by the movement direction calculation section.

Further comprising a camera that images the hanging load,
The notification unit may include a display unit that displays an image showing the suspended load movement area determined by the suspended load movement area determining unit, superimposed on the image captured by the camera.

further comprising an obstacle detection unit that detects whether or not there is an obstacle that obstructs movement of the suspended load in the suspended load movement area determined by the suspended load movement area determination unit,
The notification unit may notify that there is an obstacle when the obstacle detection unit detects an obstacle.

The crane according to the second aspect of the present invention includes the suspended load monitoring device according to the first aspect of the present invention.

The suspended load monitoring method according to the third aspect of the present invention includes:
a boom position acquisition step of acquiring the position of the boom tip of the crane device;
a hanging load position acquisition step of acquiring the position of the hanging load suspended from the boom tip;
An operating lever for operating the crane device is in a first position based on the position of the boom tip obtained in the boom position acquisition step and the position of the suspended load obtained in the suspended load position acquisition step. the first locus of the suspended load over a certain period of time, assuming that the operation lever is in a second position different from the first position; a trajectory prediction step of predicting two trajectories;
a hanging load movement area determination step of determining a hanging load movement area based on the first trajectory and the second trajectory predicted in the trajectory prediction step;
a reporting step of reporting suspended load movement information based on the suspended load movement area determined in the suspended load movement area determining step;
Equipped with

The program according to the fourth aspect of the present invention is a program for causing a computer to execute the suspended load monitoring method according to the third aspect of the present invention.

According to the configuration of the present invention, the suspended load movement area determination unit determines the first locus of the suspended load when the operating lever is assumed to be in the first position, and the second position where the operating lever is different from the first position. The suspended load movement area is determined based on the second locus of the suspended load when it is assumed that the suspended load is located at Therefore, even if the operating lever is operated between the first position and the second position, the suspended load movement area determination unit can determine the area where the suspended load remains as the suspended load movement area. As a result, the suspended load monitoring device can more accurately predict the destination of the suspended load. Furthermore, since the notification unit notifies the suspended load movement information based on the suspended load movement area, the operator can be informed of the destination of the suspended load. As a result, crane work becomes safer.

FIG. 1 is a side view of a rough terrain crane equipped with a suspended load monitoring device according to an embodiment. FIG. 1 is a block diagram showing the configuration of a suspended load monitoring device according to an embodiment. It is a figure which shows an example of the image imaged by the camera with which a hanging load monitoring device is equipped. It is a schematic diagram showing an example of the hardware composition of the control part with which a suspended load monitoring device is provided. It is a schematic diagram of the neural network section of the locus prediction section with which the suspended load monitoring device is provided. (a) It is a schematic diagram showing the composition of the first position information table memorized by the storage part with which a suspended load monitoring device is provided. (b) It is a schematic diagram showing the composition of the second position information table memorized by the same storage part. It is a diagram showing an example of a suspended load movement area and a monitoring area calculated by the suspended load monitoring device. It is a flow chart of hanging load monitoring processing which a hanging load monitoring device carries out.

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a suspended load monitoring device, a crane, a suspended load monitoring method, and a program according to an embodiment of the present invention will be described in detail with reference to the drawings. In addition, in the figures, the same or equivalent parts are given the same reference numerals.

The suspended load monitoring device according to the embodiment includes a display unit that displays an image captured by a camera that monitors the suspended load of a rough terrain crane. This suspended load monitoring device displays suspended load movement information, which is information on the destination of the suspended load, on the display section in order to facilitate crane work with a rough terrain crane.

First, with reference to FIG. 1, the configuration of a rough terrain crane equipped with a suspended load monitoring device will be described. Next, the configuration of the suspended load monitoring device will be described with reference to FIGS. 2 to 7. Next, with reference to FIG. 8, the suspended load monitoring process performed by the suspended load monitoring device will be described.

FIG. 1 is a side view of a rough terrain crane 100 equipped with a suspended load monitoring device 1 according to an embodiment.

As shown in FIG. 1, the rough terrain crane 100 includes a revolving body 110, a boom 120, a winch 130, and a cabin 140.

The revolving body 110 is rotatably provided on the traveling body 101. Further, the revolving body 110 is provided with a boom 120. As a result, the rotating body 110 rotates the boom 120 with respect to the traveling body 101.

On the other hand, the boom 120 is provided so as to be able to rise and fall with respect to the rotating body 110. Further, the boom 120 is of a telescopic type and is extendable and retractable. A boom head 121 is provided at its tip. As a result, the boom 120 stands up with respect to the revolving structure 110 and extends to move the boom head 121 to a desired position.

The boom head 121 has a sheave (not shown) around which a rope 122 is wrapped. A hook 123 for hanging a load is connected to the tip of the rope 122. The hook 123 then hangs down from the boom head 121.

The winch 130 is provided on the revolving body 110 and winds up or down the rope 122. Thereby, the winch 130 raises and lowers the hook 123 at the tip of the rope 122. As a result, when the hanging load 200 is hung from the hook 123, the hanging load 200 moves up and down. In addition, in this specification, the winch 130, the above-mentioned revolving body 110, and the boom 120 are devices for moving the suspended load 200. For this reason, these are also called crane devices.

On the other hand, an operator who operates the rough terrain crane 100 is boarded in the cabin 140. In order to operate the rough terrain crane 100, the cabin 140 is provided with a display panel (not shown) and a plurality of operating levers.

Here, the plurality of operating levers include a turning lever that turns the rotating body 110, a levying lever that raises and lowers the boom 120, a telescoping lever that extends and contracts the boom 120, and a hoisting lever that causes the winch 130 to perform hoisting and hoisting operations. be. Hereinafter, the lever will be referred to as the operating lever unless an individual function is explained.

The display panel displays the state of the rotating structure 110, boom 120, and other machines detected by each sensor. In detail, the rough terrain crane 100 includes a swing angle detection sensor 141 that detects the swing angle of the swing body 110, a boom angle detection sensor 142 that detects the angle when the boom 120 is raised and lowered, and a swing angle detection sensor 142 that detects the swing angle of the swing structure 110, and a boom angle detection sensor 142 that detects the swing angle when the boom 120 is raised and lowered. A boom length detection sensor 143 is provided to detect the length of the boom 120 when the boom 120 is moved. These sensors periodically detect the rotation angle of the revolving structure 110, the up-and-down angle of the boom 120, and the length of the boom 120, and transmit the detection results to the display panel. The information is also transmitted to the suspended load monitoring device 1, which will be described later. The display panel displays the received data on the rotation angle of the revolving structure 110, the up-and-down angle of the boom 120, and the length of the boom 120 as the state of the machine.

When each operating lever is pushed down from a neutral position, the rotating body 110, boom 120, and winch 130 perform various operations such as turning, undulating, extending/contracting, and hoisting. The direction of each operation is then changed depending on the direction in which the operating lever is pushed down. For example, in the case of a turning lever, the direction of turning changes depending on the direction in which the operating lever is pushed down. If it is a raising/lowering lever, the boom 120 will rise or fall depending on the direction in which the operating lever is pushed down.

Further, each operation lever changes the speed of each operation such as turning, undulation, extension/contraction, and winding depending on the position when it is pushed down.

In order to display the operation status on the display panel, each operation lever has a position detection sensor, that is, a swing lever position detection sensor 151, a levitation lever position detection sensor 152, a telescopic lever position detection sensor 153, and a winding lever position detection sensor. 154 are provided. The position of each operating lever is detected by these position detection sensors. The detected position is then transmitted to the display panel. The information is also transmitted to the suspended load monitoring device 1, which will be described later.

On the other hand, the cabin 140 is arranged on the revolving body 110 near the end of the boom 120. Therefore, the cabin 140 is separated from the suspended load 200 at the tip of the boom 120. Further, as described above, the cabin 140 is provided with a display panel on which the status of the rotating body 110, the boom 120, and other machines is displayed.

However, the detailed state of the suspended load 200 is not displayed on the display panel. For this reason, when an operator boards the cabin 140, it is difficult for the operator to grasp the exact position of the suspended load 200, and it is also difficult for the operator to accurately predict its moving direction. As a result, it is not easy to accurately move the hanging load 200 by operating each of the operating levers.

Therefore, in order to facilitate operation, the rough terrain crane 100 is equipped with a suspended load monitoring device 1 that reports suspended load movement information. Next, the configuration of the suspended load monitoring device 1 will be explained with reference to FIGS. 2 to 6.

FIG. 2 is a block diagram showing the configuration of the suspended load monitoring device 1 according to the embodiment. FIG. 3 is a diagram showing an example of an image captured by the camera 10 included in the suspended load monitoring device 1. FIG. 4 is a schematic diagram showing an example of the hardware configuration of the control unit 20 included in the suspended load monitoring device 1. FIG. 5 is a schematic diagram of the neural network unit 250 of the trajectory prediction unit 25 included in the suspended load monitoring device 1. FIG. 6A is a schematic diagram showing the configuration of the first position information table 255 stored in the storage unit 30 included in the suspended load monitoring device 1. FIG. 6(b) is a schematic diagram showing the configuration of the second position information table 256 stored in the storage unit 30. FIG. 7 is a diagram showing an example of the suspended load movement area A1 and the monitoring area A2 calculated by the suspended load monitoring device 1.

As shown in FIG. 2, the suspended load monitoring device 1 includes a camera 10 that images the suspended load 200, and a control unit that performs various processes such as predicting the trajectory of the suspended load 200 and determining the suspended load movement area A1. 20, a storage section 30 in which data and programs used in the processing of the control section 20 are stored, and a display section 40 that displays the image captured by the camera 10 and the monitoring area determined by the control section 20. We are prepared.

The camera 10 is installed on a boom head 121, as shown in FIG. The camera 10 takes an image of the rope 122 and the hook 123 hanging down from the boom head 121 with a lens (not shown) facing downward. Thereby, the camera 10 images the suspended load 200 suspended from the hook 123, as shown in FIG. The camera 10 transmits the captured image to the control unit 20 shown in FIG. 2.

On the other hand, as shown in FIG. 4, the suspended load monitoring device 1 includes a CPU (Central Processing Unit) 300 that executes a suspended load monitoring program, a memory 310 that expands the suspended load monitoring program, a camera 10, and a rotation lever position detection device. It is provided with an I/O port 320 for connecting to various sensors such as a sensor 151 and a lever position detection sensor 152. Among these configurations, the control unit 20 is realized by the CPU 300 executing a suspended load monitoring program stored in the storage unit 30. Thereby, the control unit 20 has processing blocks configured as software.

Specifically, as shown in FIG. 2, the control unit 20 includes an operation information acquisition unit 21 that acquires position information of a swing lever, a luffing lever, a telescopic lever, and a hoisting lever, and a boom position acquisition unit 21 that acquires position information of a boom head 121. an acquisition unit 22, a suspended load position acquisition unit 23 that acquires the position of the suspended load 200, a movement direction calculation unit 24 that calculates the moving direction of the suspended load 200, and a trajectory prediction unit 25 that predicts the trajectory of the suspended load 200. , a suspended load movement area determining unit 26 that determines the suspended load movement area A1 from the calculated moving direction of the suspended load 200 and the predicted locus of the suspended load 200, and an image showing the determined suspended load movement area A1 are synthesized. and an obstacle detection section 28 that detects whether or not there is an obstacle in the suspended load movement area A1.

The operation information acquisition unit 21 has the above-mentioned swivel lever position detection sensor 151, undulation lever position detection sensor 152, telescopic lever position detection sensor 153, and winding lever position detection sensor 154, and the information of each operation lever detected by these sensors. Coordinates are sent periodically. The operation information acquisition unit 21 receives these coordinates and acquires the coordinates of each operation lever. The operation information acquisition section 21 transmits the acquired coordinates of each operating lever to the boom position acquisition section 22 and the trajectory prediction section 25 every time the coordinates are acquired.

On the other hand, the boom position acquisition unit 22 receives data such as the angle and length detected by the above-mentioned swing angle detection sensor 141, boom angle detection sensor 142, and boom length detection sensor 143. Sent periodically. The boom position acquisition unit 22 receives these data. Each time the boom position acquisition unit 22 receives these data, the boom position acquisition unit 22 sets the rotation center of the rotating body 110 as the origin, the front and back direction of the traveling body 101 is the X axis, the horizontal direction of the traveling body is the Y axis, and the vertical direction is the The coordinates of the tip of the boom head 121 in the XYZ coordinate system with the Z axis are calculated. Thereby, the boom position acquisition unit 22 acquires the coordinates of the tip of the boom head 121. Note that these coordinates are hereinafter simply referred to as the coordinates of the boom head 121.

Every time the boom position acquisition unit 22 acquires the coordinates of the boom head 121, it transmits the coordinates to the suspended load position acquisition unit 23. The information is also transmitted to the trajectory prediction unit 25. Furthermore, the boom position acquisition section 22 transmits the rotation angle data of the rotation angle detection sensor 141 to the image composition section 27 .

The suspended load position acquisition unit 23 acquires the coordinates of the suspended load 200 every time the coordinates of the boom head 121 are received. Its coordinates are obtained from the coordinates of camera 10 and boom head 121.

Specifically, each time the suspended load position acquisition unit 23 receives the coordinates of the boom head 121, it acquires image data captured by the camera 10 from the camera 10. The hanging load position acquisition unit 23 performs image processing such as binarization and outline extraction on the acquired image, and extracts the image portion where the hook 123 is captured. Then, from the extracted image portion of the hook 123, the center of gravity C and a plurality of characteristic locations of the image portion are identified. For example, the hanging load position acquisition unit 23 specifies the four corners of the hook 123, which has a substantially rectangular shape when viewed from above, shown in FIG. 3 as characteristic locations. The hanging load position obtaining unit 23 obtains the center of gravity C of the image portion and the coordinates within the image of the characteristic location. Here, the intra-image coordinates refer to coordinates within an image in units of pixels possessed by the image sensor of the camera 10.

On the other hand, survey data 231 is stored in the storage unit 30 described above. Here, the survey data 231 includes field angle data of the lens of the camera 10, pixel data such as the number of pixels and pixel size of the image sensor, and actual measured values of distances between the plurality of characteristic points of the hook 123. It is. The hanging load position acquisition unit 23 reads out this survey data 231, uses the read survey data 231, the obtained center of gravity C of the image portion, and the coordinates in the image of the characteristic location, and calculates the position of the camera 10 by a triangulation method. The actual center of gravity C of the hook 123 with respect to the image element 123 and the position of the above characteristic point are determined.

The hanging load position obtaining unit 23 obtains the coordinates of the hook 123 from the obtained position and the received coordinates of the boom head 121. The suspended load position acquisition unit 23 assumes that the determined coordinates of the hook 123 are the same as the coordinates of the suspended load 200, and sets the coordinates of the hook 123 as the coordinates of the suspended load 200. Thereby, the suspended load position acquisition unit 23 acquires the coordinates of the suspended load 200.

The suspended load position acquisition unit 23 stores the coordinates of the suspended load 200 in the storage unit 30 every time the suspended load position acquisition unit 23 acquires the coordinates of the suspended load 200. Furthermore, the coordinates are transmitted to the movement direction calculation section 24, the trajectory prediction section 25, the suspended load movement area determination section 26, and the image composition section 27.

The moving direction calculation unit 24 receives the coordinates of the suspended load 200 from the suspended load position acquisition unit 23. Further, the previous coordinates of the suspended load 200 are read from the storage unit 30. Then, the moving direction calculation unit 24 calculates the moving direction of the suspended load 200 from the read previous coordinates and the received coordinates. Also, find the moving speed. The moving direction calculation unit 24 transmits data on the determined moving direction and moving speed of the suspended load 200 to the suspended load moving area determination unit 26.

The trajectory prediction unit 25 receives the coordinates of the suspended load 200 from the suspended load position acquisition unit 23 and also receives the coordinates of the boom head 121 from the boom position acquisition unit 22. The trajectory prediction unit 25 uses the received coordinates of the suspended load 200 and the coordinates of the boom head 121 to predict a trajectory that the suspended load 200 may take in the future. The trajectory prediction unit 25 includes a neural network unit 250 shown in FIG. 5 in order to predict the trajectory of the suspended load 200.

The neural network unit 250 has a plurality of nodes 251 called neurons. Then, the nodes 251 and 251 are connected. Accordingly, the neural network unit 250 has an input layer 252, a hidden layer 253, and an output layer 254.

As shown in FIG. 2, the storage unit 30 stores weights θ, which are weight parameters for connections between nodes 251. This weight θ is a weight obtained by causing the neural network unit 250 to learn teacher data obtained through experiments.

In detail, the coordinates of the boom head 121, the coordinates of the suspended load 200, and the control lever coordinates when each control lever was operated at that time, which are teacher data, are input to the input layer 252, and the teacher data The neural network unit 250 is previously trained in a state in which a coordinate group indicating the subsequent position of the suspended load 200 with respect to these coordinates, that is, a locus of the suspended load 200 is output from the output layer 254. The weight θ is the weight of the connection between the nodes 251 that the trained neural network unit 250 has at that time.

Note that the weight θ may be a weight obtained by learning a neural network unit having the same configuration as the neural network unit 250, which is included in a server connected to the storage unit 30 via a network.

The trajectory prediction unit 25 reads this weight θ from the storage unit 30 and sets the weight of connection between the nodes 251 of the neural network unit 250 to the read weight θ. Thereby, the trajectory prediction unit 25 constructs a learned model that predicts the subsequent coordinates of the suspended load 200 with respect to the coordinates of the boom head 121, the coordinates of the suspended load 200, and the coordinates of each operating lever.

Using the constructed learned model, the trajectory prediction unit 25 calculates a first trajectory assuming that when the operator is tilting the control lever in a certain direction, the operator will immediately move the control lever in that direction, and A second trajectory is predicted, which assumes that the operation bar is immediately returned to the opposite direction.

The trajectory prediction unit 25 first predicts a first trajectory. In order to predict the first trajectory, the trajectory prediction unit 25 uses the neural network shown in FIG. input layer 252 of section 250 .

Furthermore, the trajectory prediction unit 25 reads out a first position information table 255 containing the coordinates of each operating lever assumed when determining the first trajectory of the suspended load 200 from the storage unit 30 shown in FIG. The coordinates of are input into the input layer 252.

Here, the first position information table 255 will be explained. The configuration of the first position information table 255 is shown in FIG.
In FIG. 6, the coordinates of each operating lever in the push direction are indicated by +, and the coordinates in the pull direction are indicated by -. Furthermore, the coordinates of each operating lever when in the neutral position are numerically 0, and the coordinates of each operating lever when the maximum operating amount is in the push direction or pull direction are numerically 100.

As shown in FIG. 6, the first position information table 255 includes the assumed coordinates at which each operating lever is assumed to be operated to that position, and the current position coordinate range of each operating lever to which the assumed coordinates are applied. are associated. In the first position information table 255, the assumed coordinates are set to 100, which is the maximum operating amount of each operating lever, in order to assume that the operating lever is operated from a certain position to the maximum position. Furthermore, in order to assume that the operating lever is operated in a certain direction and then further operated in that direction, the current coordinates of each operating lever and the current position coordinate range are set to have the same positive and negative signs. Furthermore, since it is assumed that only the control levers that are operated from the neutral position will be operated immediately after that, the assumed coordinates are set to 100 for the control levers whose current position coordinate range is in coordinates other than the neutral position. There is.

Note that the rough terrain crane 100 normally does not extend or retract the boom 120 when lifting and moving the suspended load 200, so in FIG. The assumed coordinates are 0.

On the other hand, the trajectory prediction unit 25 receives the coordinates of each operating lever from the operation information acquisition unit 21 described above. The trajectory prediction unit 25 receives the coordinates of each operating lever, and selects assumed coordinates of each operating lever corresponding to the received coordinates from the read first position information table 255. As a result, by using the first position information table 255, the assumed coordinates of each operating lever input to the input layer 252 of the neural network unit 250 are determined.

Returning to FIG. 5, when the assumed coordinates of each operating lever are input to the input layer 252 of the neural network section 250, and the coordinates of the boom head 121 and the suspended load 200 described above are input, the output layer 254 When each operating lever is operated to the assumed coordinates input to the input layer 252, a coordinate group indicating the future position of the suspended load 200, that is, a first locus is output. At this time, the trajectory prediction unit 25 acquires trajectory data of the suspended load 200 for a certain period of time, for example, 10 seconds, from the output layer 254. Then, the acquired locus data of the suspended load 200 is transmitted to the suspended load movement area determining section 26.

Further, the trajectory prediction unit 25 obtains a second trajectory after obtaining the first trajectory.

Specifically, the storage unit 30 stores a second position information table 256 for obtaining the second trajectory. As shown in FIG. 6, the second position information table 256, like the first position information table 255, associates assumed coordinates with a current position coordinate range. In the second position information table 256, in order to assume that the operating lever is operated from one direction to the opposite direction, the assumed coordinates of each operating lever and the current position coordinate range have opposite signs. is set to . In order to assume that the operating lever is operated to the maximum position in the opposite direction, the assumed coordinates are set to a numerical value of 100.

Returning to FIG. 2, the trajectory prediction unit 25 reads the second position information table 256 from the storage unit 30, and from the read second position information table 256 corresponds to the coordinates of each operating lever received from the operation information acquisition unit 21. , select the assumed coordinates of each operating lever. Then, the trajectory prediction unit 25 inputs the assumed coordinates of each of the selected operating levers, together with the coordinates of the boom head 121 and the coordinates of the suspended load 200, to the input layer 252 of the neural network unit 250. Then, the trajectory prediction unit 25 acquires the second trajectory from the output layer 254. Also at this time, the trajectory prediction unit 25 acquires trajectory data for a certain period from the output layer 254. The trajectory prediction unit 25 transmits the trajectory data to the suspended load movement area determination unit 26.

In order to obtain a more accurate trajectory, the trajectory prediction unit 25 repeats the same process once again and obtains the first trajectory and the second trajectory from the output layer 254 again. At this time, the trajectory prediction unit 25 acquires trajectory data from the output layer 254 for a short period of time, for example, 2 seconds, which is shorter than the above-mentioned fixed period. The trajectory prediction unit 25 transmits the acquired short-term trajectory data of the first trajectory and the second trajectory to the suspended load movement area determination unit 26. Note that in this specification, the short-term trajectories of the first trajectory and the second trajectory are also referred to as the first short-term trajectory and the second short-term trajectory.

The suspended load movement area determining unit 26 receives data on the moving direction and moving speed of the suspended load 200 transmitted by the moving direction calculation unit 24. Furthermore, the coordinates of the suspended load 200 transmitted by the suspended load position acquisition unit 23 are received. The suspended load movement area determination unit 26 assumes that the suspended load 200 moves in the received moving direction for the above-mentioned fixed period with the received moving speed from the received coordinates of the suspended load 200 as a starting point. Find the coordinates of the future position of. Then, the hanging load movement area determination unit 26 determines a reference line B having the coordinates of the future position as the end point.

Further, the hanging load movement area determination unit 26 receives the trajectory data of the first trajectory and the trajectory data of the second trajectory from the trajectory prediction unit 25. Then, as shown in FIG. 7, the hanging load movement area determination unit 26 determines the first trajectory, the line segment connecting the starting point of the first trajectory and the starting point of the reference line B, the reference line B, and the end point of the reference line B. The area surrounded by the line segment connecting the end points of the first trajectory is defined as the suspended load movement area A1.

Similarly, for the second trajectory, the hanging load movement area determination unit 26 determines the second trajectory, the line segment connecting the starting point of the second trajectory and the starting point of the reference line B, the reference line B, and the line segment connecting the starting point of the second trajectory and the starting point of the reference line B. The area surrounded by the line segment connecting the end points of the two trajectories is added to the above-mentioned suspended load movement area A1, and is defined as a new suspended load movement area A1.

The suspended load movement area determination unit 26 obtains coordinate data for specifying the determined suspended load movement area A1, and transmits the coordinate data to the image synthesis unit 27 and obstacle detection unit 28 shown in FIG.

The suspended load movement area determining unit 26 further receives the short-term trajectory data of the first trajectory and the second trajectory from the trajectory prediction unit 25, and performs similar processing on the received short-term trajectory data. In this process, as the reference line B, a line is used on which the suspended load 200 is assumed to have moved in the moving direction and moving speed received from the moving direction calculation unit 24 during the same period as the short-term trajectory data, for example, 2 seconds. Thereby, the hanging load movement area determination unit 26 determines the monitoring area A2 to be monitored while operating each operating lever shown in FIG. The hanging load movement area determination unit 26 obtains coordinate data for specifying the monitoring area A2, and transmits the coordinate data to the image synthesis unit 27 and obstacle detection unit 28 shown in FIG.

The image synthesis unit 27 acquires image data from the camera 10, extracts the image portion of the hook 123 in the image captured by the camera 10 using the same method as the suspended load position acquisition unit 23, and calculates the center of gravity C of the image portion. Find the coordinates in the image. The image synthesis unit 27 then assumes that the suspended load 200 is located at the center of gravity C of the hook 123 when viewed from above. The image synthesis unit 27 assigns the coordinates of the XYZ coordinate system of the suspended load 200 to the in-image coordinates of the center of gravity C of the image portion of the hook 123.

On the other hand, the image synthesis unit 27 reads the survey data 231 from the storage unit 30 and uses the angle of view data of the survey data 231 to determine the length and width of the rectangular imaging area at the height of the hook 123. Convert the length in the direction in the XYZ coordinate system. The image synthesis unit 27 also receives the rotation angle from the boom position acquisition unit 22, and calculates the longitudinal and lateral inclinations of the imaging area with respect to the X and Y axes of the XYZ coordinate system from the rotation angle. . Then, the image synthesis unit 27 converts the in-image coordinates of the four corners of the imaging area to the in-image coordinates of the center of gravity C of the image portion of the hook 123, and the coordinates of the XYZ coordinate system assigned to the center of gravity C of the image portion of the hook 123. Coordinates in the XYZ coordinate system are assigned to the four corners of the imaging area using the length and inclination in the XYZ coordinate system in the longitudinal and lateral directions of the imaging area. The image synthesis unit 27 uses this assignment to create a conversion table for converting coordinates in the XYZ coordinate system into intra-pixel coordinates.

The image composition unit 27 draws the suspended load movement area A1 and the monitoring area A2 determined by the suspended load movement area determination unit 26 on the image captured by the camera 10 based on the created conversion table. Thereby, the image synthesis unit 27 synthesizes the images of the suspended load movement area A1 and the monitoring area A2 with the image captured by the camera 10. The image composition section 27 transmits the composite image to the display section 40. Further, the image composition section 27 transmits the created conversion table to the obstacle detection section 28.

The obstacle detection section 28 receives the conversion table from the image composition section 27. It also receives image data from the camera 10. Further, the obstacle detection unit 28 receives coordinate data of the monitoring area A2 from the suspended load movement area determination unit 26. The obstacle detection unit 28 obtains the intra-image coordinates of the monitoring area A2 in the image of the camera 10 from the received conversion table and the coordinate data of the monitoring area A2. Then, it is determined whether or not there is a clear outline in the area corresponding to the monitoring area A2 in the received image of the camera 10. When the obstacle detection unit 28 detects a clear outline, it determines that there is an object in the monitoring area A2 that can become an obstacle to the hanging load 200, and transmits a caution signal to the display unit 40.

Although not shown, the display unit 40 includes a liquid crystal display and a buzzer. The display section 40 displays on its liquid crystal display the image transmitted from the image composition section 27 in which the hanging load movement area A1 and the monitoring area A2 are drawn. Thereby, the display unit 40 informs the operator of the moving direction of the suspended load 200. Note that in this specification, the display unit 40 is also referred to as a notification unit because it is a device that notifies the operator.

Further, when the display unit 40 receives the caution signal transmitted from the obstacle detection unit 28, the display unit 40 causes the buzzer to generate a warning sound. Thereby, the display unit 40 calls the operator's attention.

Next, with reference to FIG. 8, the suspended load monitoring device processing performed by the suspended load monitoring device 1 will be described. In the following description, it is assumed that the suspended load monitoring device 1 is provided with an activation button (not shown). In addition, through experiments, we measured the coordinates of the boom head 121 and the suspended load 200 at a certain time, and the subsequent coordinates of the suspended load 200 with respect to the operating lever coordinates when each operating lever was operated at that time. The teacher data shall be created in advance. Furthermore, it is assumed that the neural network unit 250 is trained using the teacher data to obtain weights θ. Further, it is assumed that the obtained weight θ is stored in the storage unit 30.

FIG. 8 is a flowchart of the suspended load monitoring process performed by the suspended load monitoring device 1 according to the embodiment.

First, the operator of the rough terrain crane 100 presses the start button of the suspended load monitoring device 1 to start the suspended load monitoring device 1. Thereby, the suspended load monitoring program is executed by the CPU 300. Thereby, the flow of the hanging load monitoring process is started.

When the flow of the hanging load monitoring process is started, the control unit 20 acquires the coordinates of the operating lever and the boom head, as shown in FIG. 8 (step S1).

Specifically, the control unit 20 receives the output data of the swing lever position detection sensor 151, the undulation lever position detection sensor 152, the telescopic lever position detection sensor 153, and the hoisting lever position detection sensor 154, and receives the output data of the rotation lever position detection sensor 151, the hoisting lever position detection sensor 152, the telescopic lever position detection sensor 153, and the hoisting lever position detection sensor 154, and coordinates each operating lever. get. The control unit 20 also receives output data from the swing angle detection sensor 141, boom angle detection sensor 142, and boom length detection sensor 143, and calculates the coordinates of the boom head 121 from the received output data. This will obtain the coordinates. Note that in this specification, this process is referred to as a boom position acquisition step.

Next, the control unit 20 acquires the coordinates of the hanging load 200 (step S2). Specifically, the control unit 20 determines the position of the hook 123 with respect to the camera 10 provided on the boom head 121 using the above-described triangulation method. Subsequently, the control unit 20 determines the coordinates of the hook 123 from the coordinates of the boom head 121 obtained in step S1, assuming that the coordinates of the boom head 121 are the coordinates of the image sensor of the camera 10. The control unit 20 assumes that the coordinates of the hook 123 are the coordinates of the suspended load 200, and sets the coordinates of the hook 123 as the coordinates of the suspended load 200. Thereby, the coordinates of the suspended load 200 are acquired. The control unit 20 causes the storage unit 30 to store the acquired coordinates of the suspended load 200. Note that in this specification, this process is referred to as a hanging load position acquisition step.

Next, the control unit 20 determines whether the operating lever is at a coordinate other than the neutral position (step S3).

If the control unit 20 determines that the operating lever is at the coordinates of the neutral position (No in step S3), the control unit 20 returns to step S1 and checks the next detection results from the swing lever position detection sensor 151, the hoisting lever position detection sensor 152, etc. Wait until there is output.

On the other hand, if the control unit 20 determines that the operating lever is not at the coordinates of the neutral position (Yes in step S3), it calculates the moving direction of the suspended load (step S4). In this calculation, the control unit 20 obtains the moving direction by reading the previous coordinates of the suspended load 200 from the storage unit 30 and comparing it with the coordinates of the suspended load 200 in step S2.

Subsequently, the control unit 20 predicts the trajectory of the suspended load 200 for a certain period of time (step S5). In this prediction, the control unit 20 first reads the weight θ stored in the storage unit 30 and applies the read weight θ to the connection between the nodes 251 of the neural network unit 250. Build a trained model to predict trajectories. Next, the control unit 20 uses the learned model to obtain the above-described two trajectories of the suspended load 200, the first trajectory and the second trajectory.

To explain the prediction of the first trajectory, the control unit 20 reads the first position information table 255 from the storage unit 30, and the control unit 20 reads out the first position information table 255 from the storage unit 30, and controls the operation lever that corresponds to the coordinates of each operation lever acquired in step S1. Select possible assumed coordinates.

Subsequently, the control unit 20 inputs the selected assumed coordinates, the coordinates of the boom head acquired in step S1, and the coordinates of the hanging load 200 acquired in step S2 to the input layer 252 of the neural network unit 250. The output layer 254 outputs the subsequent trajectory of the suspended load 200 when each operating lever is operated to the assumed coordinates input to the input layer 252, that is, the first trajectory. The control unit 20 acquires trajectory data of the suspended load 200 for a certain period of time from the output layer 254.

In predicting the second trajectory, the control unit 20 reads the second position information table 256 from the storage unit 30. The subsequent processing up to acquiring the second trajectory from the output layer 254 of the neural network unit 250 is the same as that for the first trajectory, except that the second position information table 256 is used. The control unit 20 uses the second position information table 256 to obtain trajectory data of the second trajectory. Note that in this specification, the process of predicting the first trajectory and the second trajectory is referred to as a trajectory prediction step.

Subsequently, the control unit 20 predicts the short-term locus of the suspended load 200 (step S6). In this prediction, the trajectory of the suspended load 200 for a period shorter than the fixed period of Step S5 is predicted by the same process as Step S5. For example, if the fixed period is 10 seconds, the short period is 2 seconds. Further, similarly to step S5, two short-term trajectories corresponding to the first trajectory and the second trajectory are obtained using the first location information table 255 and the second location information table 256, respectively.

Next, the control unit 20 determines the suspended load movement area A1 and the monitoring area A2 (step S7). In this determination, the reference line B is a straight line extending from the coordinates of the suspended load 200 obtained in step S2 to the movement direction of the suspended load 200 determined in step S4. Then, the control unit 20 sets the area between the reference line B and the first locus or the second locus acquired in step S5 as the suspended load movement area A1. Further, the control unit 20 sets the area between the reference line B and each of the short-term trajectories acquired in step S6 as a monitoring area A2. Note that in this specification, the process of determining the monitoring area A2 is referred to as a hanging load movement area determining step.

After determining the suspended load movement area A1 and the monitoring area A2, the control unit 20 displays the suspended load movement area A1 and the monitoring area A2 on the display unit 40. The control unit 20 also monitors the monitoring area A2 (step S8).

Specifically, the control unit 20 combines the image captured by the camera 10 with an image showing the suspended load movement area A1 and the monitoring area A2, and displays the combined image on the display unit 40. Further, in order to detect an object at the same height as the hanging load 200, the control unit 20 uses image processing to monitor whether there is a clear outline in the monitoring area A2. When the control unit 20 determines that there is a clear outline, it indicates that there is a possibility that there is an object interfering with the suspended load 200, and causes the buzzer to generate a warning sound.

This monitoring continues until a new monitoring area A2 is determined. Note that in this specification, the process of displaying the suspended load movement area A1 on the display unit 40 is referred to as a notification step because it is a process of notifying the operator.

After displaying the hanging load movement area A1 and the monitoring area A2 on the display unit 40, the control unit 20 checks whether the start button has been pressed again (step S9). If the activation button is not pressed again (No in step S9), the process returns to step S1. Then, it waits until there is again an output from the swing lever position detection sensor 151, the up/down lever position detection sensor 152, etc. As a result, the hanging load monitoring process continues.

On the other hand, if the start button is pressed again (Yes in step S9), the hanging load monitoring process is ended.

In the suspended load monitoring process, the trajectory of the suspended load 200 is predicted in step S5 after calculating the moving direction of the suspended load 200 in step S4. The trajectory of the load 200 may also be predicted.

Furthermore, in the prediction of the trajectory of the suspended load 200 in step S5, the first trajectory is determined before the second trajectory, but the first trajectory may be determined after the second trajectory. The prediction of short-term trajectories may also be in a similar order.

Although an example is given in which the fixed period is 10 seconds and the short period is 2 seconds, this is an example showing that the short period is shorter than the fixed period, and the specific time is arbitrary as long as this relationship is satisfied.

As described above, in the suspended load monitoring device 1 according to the embodiment, the suspended load movement area determining unit 26 determines the first trajectory of the suspended load 200 assuming that the operating lever is operated in a specific direction, The suspended load movement area A1 is determined based on the second trajectory of the suspended load 200 assuming that the operating lever is operated in the specific direction and the opposite direction. Therefore, the suspended load movement area determination unit 26 can predict the area to which the suspended load 200 will move even when the operating lever is operated in both a specific direction and the opposite direction. As a result, the suspended load monitoring device 1 can more accurately predict the destination of the suspended load 200.

Further, since the display unit 40 displays an image of the suspended load movement area A1 determined by the suspended load movement area determining unit 26, the operator can easily know the destination of the suspended load 200. Since the prediction of the destination of the suspended load 200 by the operator can be assisted, the safety of the crane operation is high.

The hanging load movement area determining unit 26 determines the monitoring area A2 based on a shorter-term trajectory, and the obstacle detecting unit 28 monitors the monitoring area A2 for the presence or absence of an obstacle. It is also easy to avoid.

Although the embodiments of the present invention have been described above, the present invention is not limited to the above embodiments. For example, in the embodiment described above, the first position information table 255 and the second position information table 256 are set on the assumption that only the operating lever that has been pushed down from the neutral position is operated immediately after that. However, the present invention is not limited thereto. In the present invention, the first trajectory and the second trajectory are not only predicted for the operating lever that is tilted from the neutral position. The first trajectory and the second trajectory may be predicted assuming that the operating lever in the neutral position is operated.

Further, in the embodiment, the assumed coordinates of the first position information table 255 and the second position information table 256 are +100 or -100. In other words, it is the maximum assumed coordinate in the operating direction of the operating lever or the maximum in the opposite direction. However, the present invention is not limited thereto. The assumed coordinates may be any range within which the operating lever may be operated, and the current operating lever coordinates at the time of prediction are between the assumed coordinates of the first position information table 255 and the assumed coordinates of the second position information table 256. It is desirable that the Furthermore, it is more desirable that the current coordinates of the operating lever at the time of prediction be located in the center between the assumed coordinates of the first position information table 255 and the assumed coordinates of the second position information table 256.

In the embodiment, since the rough terrain crane 100 is equipped with the swing lever, the hoisting lever, and the hoisting lever, the operating levers are assumed to be operated by predicting the trajectory of the suspended load 200. However, the present invention is not limited thereto. Depending on the type of crane installed, such as a truck crane, the operating lever that is assumed to be operated in trajectory prediction may be different from that in the embodiment. For example, the telescopic lever may be an operating lever that is assumed to be operated based on trajectory prediction. Moreover, only a specific operating lever among the turning lever, the raising/lowering lever, the winding lever, and the telescopic lever may be the operating lever that is assumed to be operated based on the trajectory prediction. In this case, the number of control levers for special moves may be one or more.

In the embodiment described above, the trajectory prediction unit 25 determines the coordinates at which each operation lever is assumed to be operated based on the first position information table 255 and the second position information table 256, but the first position information It is optional whether or not it is based on the table 255 and the second position information table 256. Since it is only necessary to determine the assumed position at which each operating lever will be operated, for example, the assumed position of each operating lever may be determined based on the ratio of the operating amount of each operating lever from its neutral position at the time of prediction.

In the embodiment described above, the trajectory prediction unit 25 predicts the trajectory of the suspended load 200 over a short period of time. Further, the suspended load movement area determination unit 26 determines the monitoring area A2 based on the trajectory of the suspended load 200 over a short period of time. However, the present invention is not limited thereto. In the suspended load monitoring device 1, prediction of the short-term locus of the suspended load 200 and determination of the monitoring area A2 are arbitrary. In the suspended load monitoring device 1, the trajectory prediction unit 25 only needs to predict the first trajectory and the second trajectory of the suspended load 200 for at least a certain period of time. In this case, the suspended load movement area determination unit 26 determines the suspended load movement area A1 based on at least the first locus and the second trajectory, and the display unit 40 displays the suspended load movement area A1 based on the suspended load movement area A1. All you have to do is report the information. Here, the suspended load movement information is information regarding the movement of the suspended load 200, such as the moving direction, the destination position, and the area. Even with such a configuration, the operator can be informed of the destination of the suspended load 200.

In the embodiment described above, the display section 40 includes a liquid crystal display and a buzzer. However, the present invention is not limited thereto. It is preferable that the liquid crystal display and the buzzer notify the suspended load movement information based on the suspended load movement area A1, or notify the information of the monitoring area A2. For this reason, the liquid crystal display and buzzer may be replaced, for example, with a lamp that lights up or flashes. Note that the information on the monitoring area A2 refers to information regarding the monitoring area A2, such as the position of the monitoring area A2 and the presence or absence of an object within the monitoring area A2.

In the embodiment described above, the suspended load position acquisition unit 23 obtains the coordinates of the suspended load 200 using image processing and triangulation techniques, but the specific means for acquiring the coordinates of the suspended load 200 is arbitrary. For example, the suspended load monitoring device 1 may include a displacement meter or a distance meter, and these displacement meters or distance meters may determine the coordinates of the suspended load 200. The suspended load monitoring device 1 may include a positioning meter including an altimeter, and the altimeter may determine the Z coordinate of the suspended load 200, and the positioning meter may determine the X and Y coordinates of the suspended load 200.

In the embodiment described above, the control unit 20 includes the obstacle detection unit 28, but the presence or absence of the obstacle detection unit 28 is arbitrary. Further, although the obstacle detection unit 28 detects an obstacle by detecting a contour line, the obstacle may be detected by a laser displacement meter.

In the above embodiment, the suspended load monitoring device 1 is installed on the rough terrain crane 100, but the suspended load monitoring device 1 can be applied to any device or equipment including a crane device. For example, it is applicable to mobile cranes such as truck cranes, tower cranes, portal cranes, and cable cranes.

DESCRIPTION OF SYMBOLS 1... Hanging load monitoring device, 10... Camera, 20... Control part, 21... Operation information acquisition part, 22... Boom position acquisition part, 23... Hanging load position acquisition part, 24... Movement direction calculation part, 25... Trajectory prediction part , 26... Hanging load movement area determination section, 27... Image synthesis section, 28... Obstacle detection section, 30... Storage section, 40... Display section, 50... Alarm section, 100... Rough terrain crane, 101... Traveling object, 110 ...Swivel body, 120...Boom, 121...Boom head, 122...Rope, 123...Hook, 130...Winch, 140...Cabin, 141...Turning angle detection sensor, 142...Boom angle detection sensor, 143...Boom length detection sensor , 151... Rotating lever position detection sensor, 152... Lifting lever position detection sensor, 153... Telescopic lever position detection sensor, 154... Hoisting lever position detection sensor, 200... Hanging load, 231... Survey data, 250... Neural network section, 251 ...Node, 252...Input layer, 253...Hidden layer, 254...Output layer, 255...First position information table, 256...Second position information table, 300...CPU, 310...Memory, 320...I/O port, A1 ... Hanging load movement area, A2... Monitoring area, B... Reference line, C... Center of gravity, θ... Weight

Claims (9)

a boom position acquisition unit that acquires the position of the boom tip of the crane device;
a suspended load position acquisition unit that acquires the position of the suspended load suspended from the boom tip;
An operating lever for operating the crane device is in a first position based on the position of the boom tip acquired by the boom position acquisition unit and the position of the suspended load acquired by the suspended load position acquisition unit. the first locus of the suspended load over a certain period of time, assuming that the operation lever is in a second position different from the first position; a trajectory prediction unit that predicts two trajectories;
a suspended load movement area determination unit that determines a suspended load movement area based on the first trajectory and the second trajectory predicted by the trajectory prediction unit;
a notification unit that notifies suspended load movement information based on the suspended load movement area determined by the suspended load movement area determination unit;
A hanging load monitoring device equipped with The trajectory prediction unit is configured such that the operating lever is at the first position based on the position of the boom tip acquired by the boom position acquisition unit and the position of the suspended load acquired by the suspended load position acquisition unit. a first short-term trajectory that the suspended load follows in a shorter period of time than the certain period, assuming that the suspended load is in the second position; predicting a second short-term trajectory to be followed;
The suspended load movement area determination unit determines a monitoring area based on the first short-term trajectory and the second short-term trajectory predicted by the trajectory prediction unit,
The notification unit notifies information of the monitoring area,
The hanging load monitoring device according to claim 1. The trajectory prediction unit uses a learned model that has learned the position of the boom tip, the position of the suspended load, and the future position of the suspended load with respect to the operation amount of the control lever, and the boom position acquisition unit acquires the position. From the position of the boom tip, the position of the suspended load acquired by the suspended load position acquisition unit, and the position of the operating lever, determine the trajectory of the suspended load for the certain period or for a shorter period of time than the certain period. Predict,
The suspended load monitoring device according to claim 1 or 2. further comprising a moving direction calculation unit that calculates a moving direction of the suspended load from a change in the position of the suspended load acquired by the suspended load position acquisition unit,
The suspended load movement area determination unit determines the suspended load movement area based on the movement direction calculated by the movement direction calculation unit.
The hanging load monitoring device according to any one of claims 1 to 3. Further comprising a camera that images the hanging load,
The notification unit includes a display unit that displays an image showing the suspended load movement area determined by the suspended load movement area determination unit superimposed on the image captured by the camera.
The suspended load monitoring device according to any one of claims 1 to 4. further comprising an obstacle detection unit that detects whether or not there is an obstacle that obstructs movement of the suspended load in the suspended load movement area determined by the suspended load movement area determination unit,
The notification unit notifies that there is an obstacle when the obstacle detection unit detects an obstacle.
The hanging load monitoring device according to any one of claims 1 to 5. A crane comprising the suspended load monitoring device according to any one of claims 1 to 6. a boom position acquisition step of acquiring the position of the boom tip of the crane device;
a hanging load position acquisition step of acquiring the position of the hanging load suspended from the boom tip;
An operating lever for operating the crane device is in a first position based on the position of the boom tip obtained in the boom position acquisition step and the position of the suspended load obtained in the suspended load position acquisition step. the first locus of the suspended load over a certain period of time, assuming that the operation lever is in a second position different from the first position; a trajectory prediction step of predicting two trajectories;
a hanging load movement area determination step of determining a hanging load movement area based on the first trajectory and the second trajectory predicted in the trajectory prediction step;
a reporting step of reporting suspended load movement information based on the suspended load movement area determined in the suspended load movement area determining step;
A suspended load monitoring method comprising: A program for causing a computer to execute the hanging load monitoring method according to claim 8.

Images