JPH0672693A - Deflection detecting method for crane hoisting load - Google Patents

Abstract

PURPOSE:To perform high accurate deflection detection of a hoisting load by measuring a three-dimensional position of a hoisting hook from upward, and processing an image output of the hook position to detect a deflecting angle. CONSTITUTION:A target 3 is mounted on a hoisting hook 2 suspended through a hoisting rope 4 to a winch 1 of a crane, and on the other hand, a CCD camera 5 and a displacement gage 6 for measuring a hoisting load, that is, the target 3 are mounted so that the target 3 is placed in an image angle D1 of the camera 5. A computer 10 for processing information from the CCD camera 5 and the displacement gage 6 is provided in the crane, here to process an image of the CCD camera 5 further to perform coordinate calculation, and also calculating a deflecting angle with a distance data from the displacement gage. The data thus obtained is input to a control unit of a crane automatic deflection stopping method, to perform high accurate deflection stopping of the crane.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a crane operation in which a sensor detects a swinging state of a load and the swinging load of a crane is controlled by an output indicating the detected swinging state of the load.

[0002]

2. Description of the Related Art The deflection angle of such a suspended load is generally known to be detected by a deflection angle sensor or visually.

[0003]

An automatic steady rest method and an automatic operation of a crane have been proposed so that an operator who does not have specialized skills can safely and accurately perform lifting and unloading work.

However, for that purpose, a detection method capable of accurately measuring the deflection angle of the suspended load and outputting it as real-time data is required.

It is an object of the present invention to provide a method for detecting a shake of a hanging load of a crane capable of accurately measuring the swing angle of the hanging load.

[0006]

According to the present invention, a sensor detects a swinging state of a load by a sensor, and the swinging load of a crane is controlled by an output indicating the detected swinging state of the load. Provided is a method for detecting a swing of a crane suspended load, which comprises measuring a three-dimensional position of a suspension hook from above and performing image processing on the image output to detect a swing angle thereof.

[0007]

In the above-described method for detecting the vibration of the suspended load of the crane, since the sensor directly captures the suspended load (target) and measures the shake, etc., the control for controlling the shake of the suspended load is highly accurate. Since it can be input to the device,
There is no mistake.

[0008]

BEST MODE FOR CARRYING OUT THE INVENTION The above sensor preferably uses two CCD cameras, or one CCD camera and a displacement meter.

[0009]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 shows an embodiment of an apparatus for carrying out the shake detecting method of the present invention, in which a hanging rope 4 is hung between a winch 1 and a hanging hook 2 of a crane. Also,
A CCD camera and a target 3 for measuring with a displacement meter are attached to the hanging hook 2.

On both sides of the winch 1, a suspended load, that is, a CCD camera 5 for measuring the target 3 and a displacement meter 6 are attached so that the target 3 enters the field angle D1 of the camera.

Further, the crane is provided with a computer 10 for processing information from the CCD camera 5 and the displacement gauge 6, which are connected to the CCD camera 5 and the displacement gauge 6, respectively.

Referring to FIG. 2, when the crane work is started, first, an image from the CCD camera 5 and a signal from the displacement meter (distance type) are input (step S1). Next, image processing is performed (step S2), coordinate calculation is performed (step S3), and the deflection angle is calculated together with the distance data from the displacement meter (step S4).

If necessary, the angular velocity of the deflection angle can be obtained by measuring and inputting the period of the target.

If the data detected by the above-described method for detecting the shake of the crane load is input to the controller for the automatic crane steadying method or the controller for the automatic crane operation, highly accurate automatic control can be performed.

FIG. 3 shows another embodiment for carrying out the above-described shake detecting method, in which a second CCD camera 7 is provided in place of the displacement meter so that the target 3 enters the respective field angles D1 and D2. Except for mounting and connecting to computer 11,
It is similar to the device of FIG.

Therefore, the shake can be detected with high accuracy as in the first embodiment.

[0018]

Since the present invention is constructed as described above and directly measures the suspended load, it is possible to detect the swing of the suspended load with high accuracy.

Therefore, using this data, it becomes possible to carry out a highly accurate automatic steady rest method and automatic operation.

[Brief description of drawings]

FIG. 1 is a configuration diagram showing an embodiment of a shake detection apparatus that implements a shake detection method of the present invention.

FIG. 2 is a flowchart of the arithmetic processing of FIG.

FIG. 3 is a diagram showing another embodiment of the shake detection apparatus for carrying out the shake detection method of the present invention.

[Explanation of symbols]

 1 ... Winch 2 ... Suspension hook 3 ... Target 4 ... Suspension rope 5, 7 ... CCD camera 6 ... Displacement meter 10 ... Control device

Claims (1)

[Claims] 1. In a crane operation in which a sensor detects a swinging state of a load and the swinging load of the crane is controlled by an output indicating the detected swinging state of the load, the sensor measures a three-dimensional position of a hanging hook from above. Then, the image output is subjected to image processing to detect the deflection angle, and a deflection detection method for a crane suspended load is characterized.