WO2023162201A1

WO2023162201A1 - Crane equipment control system and crane equipment control method

Info

Publication number: WO2023162201A1
Application number: PCT/JP2022/008214
Authority: WO
Inventors: 晋司 ▲吉▼田; 友浩宇丹; 哲士木嶋; 裕二栗田
Original assignee: 株式会社エムエムアイ; Ｎｅｃソリューションイノベータ株式会社
Priority date: 2022-02-28
Filing date: 2022-02-28
Publication date: 2023-08-31

Abstract

Provided are a crane equipment control system and a crane equipment control method that are capable of preventing an accident, a disaster, or the like caused by crane equipment. This crane equipment control system 100 comprises crane equipment 200, a detection device 300 that detects whether or not there is a person in a detection area below the crane equipment 200, and a control device 240 that controls the crane equipment 200 and the detection device 300. If the detection device 300 determines that there is a person in a specific area within the detection area, the control device 240 stops movement of the crane equipment 200 according to a positional relationship between the crane equipment 200 and the specific area, and then controls movement of the crane equipment 200 according to the positional relationship between the crane equipment 200 and the specific area.

Description

CRANE EQUIPMENT CONTROL SYSTEM AND CRANE EQUIPMENT CONTROL METHOD

The present invention relates to a crane device control system and a crane device control method.

Conventionally, at work sites such as factories and warehouses, crane devices are used to lift heavy loads. 2. Description of the Related Art In order to prevent accidents and disasters (hereinafter referred to as accidents and the like) caused by crane devices at work sites, an accident prevention device has been proposed that issues a warning, for example (see Patent Document 1, for example).

In addition, workers who work on the work site and workers who operate the crane device (hereinafter referred to as operators) must not enter under the suspended load or stand in the direction of movement of the crane device. are working according to

JP-A-04-298497

However, accidents caused by crane equipment still occur. For example, when an operator uses the controller device to operate the crane device, the operator may erroneously operate the controller device. An erroneous operation may cause the crane device to advance toward the operator, which may cause an accident in which the operator is pinched between the suspended load and the wall. In addition, other workers may be in a position (blind spot) that the operator cannot see, and the operator may move the crane device without noticing the worker in the blind spot, resulting in contact between the crane device and the worker. Accidents such as collisions may occur. For this reason, it is required to control the crane equipment so that accidents caused by the crane equipment do not occur even when the operator makes an erroneous operation or another worker is in the operator's blind spot. there is

The present invention has been made in view of the above circumstances, and an exemplary object thereof is to provide a crane device control system and a crane device control method that can prevent accidents, disasters, etc. caused by crane devices.

In order to solve the above problems, the present invention has the following configuration.

(1) a crane device;
a detection device that detects the presence or absence of a person in a detection area below the crane device;
a control device that controls the crane device and the detection device;
with
After the control device stops the movement of the crane device according to the positional relationship between the crane device and the predetermined region when the detection device determines that a person is present in the predetermined region within the detection region. , a crane device control system that controls movement of the crane device according to a positional relationship between the crane device and the predetermined area.

(2) A crane device control method using the crane device control system according to (1),
a detection step of detecting whether or not a person is present in a predetermined area within the detection area by the detection device;
a stopping step of stopping the movement of the crane device by the control device according to the positional relationship between the crane device and the predetermined area when it is determined that a person is present in the detecting step;
a moving step of moving the crane device according to the positional relationship between the crane device and the predetermined area by the control device;
A crane device control method comprising:

Further objects or other features of the present invention will be made clear by preferred embodiments described below with reference to the accompanying drawings.

According to the present invention, it is possible to provide a crane device control system and a crane device control method that can prevent accidents, disasters, etc. caused by crane devices.

Schematic diagram showing the overall configuration of the crane device control system of Embodiments 1 to 3 1 is a perspective view showing a crane device according to Embodiments 1 to 3; FIG. Schematic diagram showing a controller device of a crane device according to Embodiments 1 to 3 Schematic diagram showing a crane device and a detection device of embodiments 1 to 3 1 is a block diagram of a crane device control system according to Embodiment 1. FIG. (a) Schematic diagram for explaining the imaging area of Embodiment 1, (b) and (c) Schematic diagrams showing the relationship between the detection area and the moving direction of the crane device. 4 is a flow chart showing a crane device control method according to the first embodiment; (a) Schematic diagram explaining the detection area of Embodiment 2, (b) Schematic diagram showing the warning device of Embodiment 3

Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following explanation, work sites include, for example, factories, warehouses, construction work sites, container terminals, etc., and also include places where suspended cargo is stored for a certain period of time and intermediate warehouses where suspended cargo is temporarily stored. . In addition, the suspended load includes a heavy load such as a coil that is lifted and moved by a crane device. The storage location for suspended cargo can be indoors or outdoors, as long as there is a facility that can control the crane device.

Also, when the crane device moves in the horizontal direction, it is assumed that a predetermined position on the work site is represented by, for example, two-dimensional coordinates (hereinafter referred to as two-dimensional coordinates) and controlled by a known method. In this case, the two-dimensional coordinate system is described as, for example, a rectangular coordinate system, but other coordinate systems such as a polar coordinate system may be used as long as they can specify a predetermined position in a two-dimensional space. As an orthogonal coordinate system, the running direction (x direction), which is the first direction in the horizontal plane, and the transverse direction (y direction), which is the second direction substantially orthogonal to the first direction in the horizontal plane. Also used is the elevation direction (z direction), which is a third direction substantially perpendicular to the running direction and the transverse direction (that is, the horizontal direction). The direction of a traveling rail of a crane device, which will be described later, is the traveling direction, and the direction of a traversing rail is the traversing direction.

[Embodiment 1]
<Crane device control system>
The crane device control system of Embodiment 1 controls the crane device so as not to advance in the direction in which the person is present when detecting that a person is present in a predetermined area while the crane device is traveling in a predetermined direction. is. FIG. 1 is a schematic diagram illustrating a crane device control system 100 of Embodiment 1. FIG. FIG. 1 is a schematic plan view of a work site 900 as viewed from the ceiling (not shown) side. is shown. Although the suspended load 800 is represented by a black rectangle, only a part of it is given a reference numeral. The worker 700 is drawn as a front view and a side view for easy understanding. In the following description, among workers 700, a worker who operates the crane device is particularly called an operator.

Fig. 1 also shows a direction symbol, a running direction (x direction) and a transverse direction (y direction). The work site 900 of the first embodiment is a facility where the running direction is the north-south direction and the traversing direction is the east-west direction, but how the running direction and the traversing direction are arranged in the north, south, east, and west is not limited. It should be noted that the size ratios, relative distances, and the like of the components illustrated in FIG. 1 do not necessarily represent the actual size ratios, relative distances, and the like. Furthermore, the arrangement of each component is not limited to the state shown in FIG. A crane device control system 100 of Embodiment 1 includes a crane device 200 and a detection device 300 . Worksite 900 has a floor 914 .

<Crane device>
FIG. 2 is a schematic perspective view showing the overall configuration of the crane device 200 of Embodiment 1. FIG. The crane device 200 is a device for lifting and transporting a load 800 at a work site 900, and is, for example, an overhead crane. Note that the crane device 200 is not limited to an overhead crane, and may be a crane having another configuration.

The crane device 200 includes a saddle 210 as first moving means, a club 220 as second moving means, a hoisting portion (hoisting device) 230 as third moving means, a control device 240, and a driving portion 290 (see FIG. 5). , and an operation unit 295 (see FIG. 3). At the place where the crane device 200 is installed, a traveling rail 250 for the saddle 210 to travel along the traveling direction, a girder 260a and a traversing rail 260b for the club 220 to travel (traverse) along the traversing direction are also installed. there is A wire rope 270 and a hook unit 280 are also used for lifting the load 800 .

The saddle 210 is a movable body configured to be linearly movable in the horizontal plane along the running direction (white arrow in the figure). A running rail 250 is laid so as to extend along the running direction, and the saddle 210 can be reciprocated on the running rail 250 by a drive unit 290 based on a control command from the control device 240 .

A girder 260a is installed on the saddle 210. The girder 260a extends along the traverse direction in the horizontal plane, and a traverse rail 260b is installed on the top thereof so as to extend in the same direction as the girder 260a. Therefore, the transverse rail 260b can also linearly reciprocate along the traveling direction together with the saddle 210. As shown in FIG. The club 220 is a moving body configured to be movable on the transverse rail 260b (white arrow in the figure). The club 220 can be reciprocated along the transverse direction on the transverse rail 260 b by the driving section 290 based on the control signal from the control device 240 .

Although the saddle 210 is described as the first moving means and the club 220 as the second moving means in the first embodiment, the present invention is not limited to this. For example, the club 220 may be the first moving means that moves along the first direction (running direction), and the saddle 210 may be the second moving means that moves along the second direction (traverse direction). Which of the saddle 210 and the club 220 should be used as the first moving means or the second moving means is a matter of definition and a matter of design. Similarly, whether the first direction or the second direction should be the x-direction or the y-direction is a matter of definition and a matter of design.

A roll-up part 230 is installed on the club 220 . The roll-up portion 230 is freely movable in the horizontal plane along with the club 220 in the running direction and the transverse direction. The hoisting section 230 has a hoisting drum 232 as shown in FIG. The hoisting drum 232 is a rotating body capable of hoisting and lowering the wire rope 270 for hoisting the suspended load 800 (white arrow in the figure), and is connected to the motor of the driving unit 290 to receive the power from the control device 240. Based on the control command of , forward and reverse rotation is possible.

The wire rope 270 is anchored with a hook unit 280 that is a suspension means for hanging the suspended load 800 or a sling wire (not shown) attached to the suspended load 800 . The hook unit 280 has a hook portion 282 for hooking the suspended load 800 or a sling wire and a sheave 284 for mooring the hook unit 280 to the wire rope 270 . In Embodiment 1, the hook unit 280 holds, for example, two sheaves 284 in parallel, and the wire rope 270 is wound around each of the sheaves 284 . Note that the hook unit 280 only needs to be able to lift and suspend the suspended load 800, and can be replaced with a coil lifter or the like, for example.

The control device 240 controls the crane device 200 and the detection device 300. The control device 240 can transmit and receive information to and from a control unit 330 of the detection device 300 via a wired or wireless communication network (not shown), and controls various operations of the crane device 200 . The control device 240 controls vertical movement, horizontal movement, stopping, etc. of the crane device 200 in accordance with instructions input from the operation unit 295 . The control device 240 has, for example, a CPU, a ROM, a RAM, a timer, and the like. The control device 240 controls the crane device 200 by performing various calculations with the CPU while using the RAM as a temporary work area according to various programs stored in the ROM and monitoring various timings with a timer. In the first embodiment, the control device 240 has a CPU, but it is not limited to this, and may be a programmable logic controller (PLC), for example. Furthermore, an analog circuit such as a relay circuit may be used. That is, the control device 240 may be configured to perform sequence control by software or may be configured to perform sequence control by hardware.

(operation part)
The operation unit 295 is, for example, a controller device operated by an operator, and is used when operating the crane device 200 . The operation unit 295 is, for example, a wireless (eg, teleconverter) or wired (eg, pendant) controller device. FIG. 3 is a diagram showing the operation unit 295. As shown in FIG. FIG. 3A shows a case where the operation unit 295 is a controller device for wirelessly operating the crane device 200, such as a teleconverter, and FIG. A controller device for

Each operation unit 295 has an upper button 295a, a lower button 295b, an east button 295c, a west button 295d, a south button 295e, and a north button 295f. When the upper button 295a is pressed, the controller 240 causes the hoisting drum 232 to hoist the wire rope 270 and move the hook unit 280 upward. The upper button 295a is used, for example, when lifting (raising) the suspended load 800 . When the lower button 295b is pressed, the control device 240 causes the hoisting drum 232 to lower the wire rope 270 and move the hook unit 280 downward. The lower button 295b is used when suspending (lowering) the load 800, for example.

When the east button 295c is pressed, the control device 240 moves the club 220 in the east-west direction (horizontal direction). When the west button 295d is pressed, the control device 240 moves the club 220 in the east-west direction (horizontal direction) in the west direction. In Embodiment 1, the east button 295c and the west button 295d are used when it is desired to move the hook unit 280 (or the suspended load 800) in the east-west direction. When the south button 295e is pressed, the control device 240 moves the saddle 210 in the north-south direction (running direction) in the south direction. When the north button 295f is pressed, the controller 240 moves the saddle 210 in the north-south direction (running direction). In Embodiment 1, the south button 295e and the north button 295f are used when it is desired to move the hook unit 280 (or the suspended load 800) in the north-south direction. In the following description, it is assumed that the operator operates the crane device 200 while facing north.

The operation unit 295 can also press a plurality of buttons, for example, two buttons substantially simultaneously. For example, when the east button 295c and the north button 295f are pressed substantially simultaneously, the crane device 200 moves in the northeast direction. That is, the crane device 200 moves diagonally forward to the right with the hook unit 280 as a reference when viewed from the operator. Further, for example, when the west button 295d and the south button 295e are pressed substantially simultaneously, the crane device 200 moves in the southwest direction. That is, the crane device 200 moves obliquely backward to the left with the hook unit 280 as a reference when viewed from the operator.

Although the operation unit 295 has buttons corresponding to up and down, north, south, east and west as shown in FIG. 3, it is not limited to this. For example, it may be left, right, front and back instead of east, west, north, south. The operation unit 295 also includes a start button for transmitting to the control device 240 that the control of the crane device 200 is to be started, an end button for transmitting to the control device 240 that the control of the crane device 200 is to be terminated, It may further have a lock button or the like for prohibiting button operation. Also, the operation unit 295 may be, for example, known input means (not shown) such as a keyboard and a mouse. Further, the operation unit 295 may be one that controls the target (in this case, the crane device 200) by voice recognition such as a microphone, or one that controls the target by a line-of-sight tracking device. Further, the crane device control system 100 may include a display (not shown) such as a display that displays the states of the crane device 200 and the detection device 300 .

The drive unit 290 has known drive means and transmission means (not shown) such as motors, cylinders, clutches, and gears for driving the saddle 210, the club 220, and the hoisting drum 232.

<Detection device>
The detection device 300 detects the presence or absence of a person in a detection area below the crane device 200, which will be described later. FIG. 4 is a schematic front view showing the configuration of the crane device 200 and the detection device 300, and also shows the transverse direction (east, west). The detection device 300 is arranged on the club 220 and has an imaging unit that captures an image of the detection area below the club 220. The detection area is divided into a plurality of predetermined areas based on the position of the hook unit 280, and the divided plurality of areas are divided into a plurality of predetermined areas. Presence/absence of a person is detected in each of the predetermined areas. The detection device 300 has a camera 310, a support section 312, an image analysis section 320 (see FIG. 5), and a control section 330 (see FIG. 5). A camera 310 that is an imaging unit is attached to the crane device 200 via a support portion 312 . Specifically, two

cameras

310a and 310b are attached to the club 220 of the crane apparatus 200 via

supports

312a and 312b. Note that the camera 310 may be attached directly to the crane device 200 without the support portion 312 interposed therebetween.

The imaging section includes a first imaging section arranged on one end side of the club 220 in the transverse direction, and a second imaging section arranged on the other end side of the club 220 in the transverse direction. The camera 310a, which is the first imaging unit, is supported on one end side (for example, the right side (east side)) of the club 220 in the transverse direction so as to be able to capture an image below the club 220, that is, with the field of view facing downward. It is attached via the portion 312a. The camera 310b, which is the second imaging unit, is arranged so as to be able to capture an image below the club 220, that is, with the field of view directed downward, and on the other end side (for example, the left side (west side)) of the club 220 in the transverse direction. It is attached via the support portion 312b. The

cameras

310a and 310b have, for example, a viewing angle (angle of view) θ. In FIG. 4, the fields of view of the

cameras

310a, 310b are indicated by dashed lines. Although the

cameras

310a and 310b have the same viewing angle θ in the first embodiment, the

cameras

310a and 310b may have different viewing angles.

Also, the camera 310b is arranged so as to eliminate the blind spot of the camera 310a. In addition, the camera 310a may be arranged so as to eliminate the blind spot of the camera 310b. For example, as shown in FIG. 4, camera 310a and camera 310b are arranged such that their fields of view partially overlap each other. Thereby, for example, even when the worker 700 is under the hook portion 282 , the worker 700 can be detected by the detection device 300 . In addition, if the hook portion 282 does not interfere with the detection of the worker 700, the number of the cameras 310 may be one. Furthermore, three or more cameras 310 may be provided. Information of images captured by the two

cameras

310 a and 310 b (hereinafter referred to as image information) is transmitted to the image analysis section 320 .

Upon receiving an instruction to start imaging from the control unit 330, the camera 310 starts imaging within the field of view at predetermined time intervals (hereinafter referred to as predetermined intervals). Camera 310 ends imaging upon receiving an instruction to end imaging from control unit 330 . The camera 310 takes images at predetermined intervals and transmits the information of the captured images to the image analysis unit 320 .

Upon receiving image information captured by the

cameras

310a and 310b, the image analysis unit 320 analyzes the received image information by, for example, a known method. The image analysis unit 320 collects two-dimensional area information captured by the two

cameras

310a and 310b (hereinafter referred to as area information) and information regarding the position of a person detected (or extracted) in the area information (hereinafter referred to as , human information) to the control unit 330 . In addition, the area information and the person information include position information compatible with the transverse direction and the traveling direction of the crane device 200, that is, the x coordinate and the y coordinate. The human information also includes information indicating that no human was detected (no human). It is assumed that the image analysis unit 320 analyzes the image information in a time period shorter than the above-described predetermined interval. Further, as for the method of obtaining region information and human information by the image analysis unit 320 analyzing the image information captured by the

cameras

310a and 310b, a known image analysis method including, for example, a method using artificial intelligence is used. and the explanation is omitted. Note that the detection device 300 is not limited to having an imaging unit for capturing an image, and may be capable of detecting the presence or absence of a person in the detection area. Just do it.

The control unit 330 can transmit and receive information to and from the control device 240 of the crane device 200 via a wired or wireless communication network (not shown), and performs various operations of the detection device 300 according to the control of the control device 240. Control. For example, upon receiving information from the control device 240 of the crane device 200 to start moving the crane device 200, the control unit 330 controls the camera 310 to start capturing images at predetermined intervals. Further, for example, upon receiving information indicating that the movement of the crane device 200 is to end from the control device 240 of the crane device 200, the control unit 330 controls the camera 310 to end the imaging. The predetermined interval is the time from when the detection device 300 detects that a person is present in the predetermined area until the crane device 200 is stopped by control described later, the moving speed of the crane device 200, and the detection device 300 detecting the person. It is determined based on the position of the crane device 200, the position of the person, and the like.

The control unit 330 has, for example, a CPU, a ROM, a RAM, a timer, and the like. The control unit 330 controls the detection device 300 by performing various calculations with the CPU while using the RAM as a temporary work area according to various programs stored in the ROM and monitoring various timings with a timer.

Although the image analysis unit 320 and the control unit 330 are separated in the first embodiment, the present invention is not limited to this. The image analysis unit 320 and the control unit 330 may be integrated into one unit to perform all image analysis and control, or one of them may perform a part of the function of the other. Furthermore, although the image analysis unit 320 of the detection device 300 analyzed the image information captured by the camera 310, the present invention is not limited to this. For example, image information captured by the camera 310 may be transmitted to the control device 240 of the crane device 200, and the control device 240 may analyze the image information.

<Block diagram of crane device control system>
FIG. 5 is a block diagram of the crane device control system 100. As shown in FIG. The control device 240 of the crane device 200 controls the saddle 210, the club 220 and/or the hoisting drum 232 via the driving portion 290 when any button of the operating portion 295 is pressed.

The control device 240 causes the hoisting drum 232 to raise the hook unit 280 and the suspended load 800 based on the signal input from the operation section 295 . The control device 240 controls the drive section 290 based on a signal input from the operation section 295 to cause the saddle 210 and the club 220 to carry the suspended load 800 .

The control unit 330 of the detection device 300 controls the

cameras

310a and 310b according to instructions from the control device 240 of the crane device 200. The control unit 330 transmits the area information and the human information received from the image analysis unit 320 to the control device 240 . The image analysis unit 320 analyzes image information captured by the

cameras

310 a and 310 b and transmits area information and person information to the control unit 330 .

It should be noted that both the control device 240 and the control unit 330 have known communication ports, communication interfaces, etc., and transmit and receive information. In addition, a control device that controls the entire crane device control system 100 may be provided separately from the control device 240 of the crane device 200 and the control unit 330 of the detection device 300, and a separately provided control device analyzes the image information. you can go

<Control of crane device control system>
The control device 240 of the crane device control system 100 of the first embodiment performs the following control when the detection device 300 determines that a person is present in a predetermined area within the detection area while the crane device 200 is moving. I do. That is, after stopping the movement of the crane device 200, the control device 240 controls the movement of the crane device 200 according to the positional relationship between the crane device 200 and the predetermined area. Note that the image analysis unit 320 of the detection device 300 divides the regions captured by the

cameras

310a and 310b into a plurality of predetermined regions.

(For each area)
FIG. 6A is a schematic diagram illustrating an imaging region described later in Embodiment 1. FIG. A frame indicated by a dashed line indicates an area (hereinafter referred to as an imaging area) 510a imaged by the camera 310a. The imaging area 510a is an area included in the viewing angle θ of the camera 310a. The camera 310 a transmits image information of the imaging region 510 a to the image analysis section 320 . A frame indicated by a two-dot chain line indicates an imaging region 510b imaged by the camera 310b. The imaging area 510b is an area included in the viewing angle θ of the camera 310b. A black circle 710 indicates an image of a person. Camera 310 b transmits image information of imaging region 510 b to image analysis section 320 .

The image analysis unit 320 of the detection device 300 synthesizes the image information of the imaging region 510a transmitted from the camera 310a and the image information of the imaging region 510b transmitted from the camera 310b. The image analysis unit 320 divides an area centered on the hook unit 280 (hereinafter referred to as a detection area 520) within the synthesized imaging area (hereinafter referred to as a synthesized area 510c) into area 1, area 2, area 3, Divide into region 4. In FIG. 6(a), area 1 has a circled number 1, area 2 has a circled number 2, area 3 has a circled number 3, and area 4 has a circled number 4. A transverse direction is also shown. The image analysis unit 320 analyzes the presence/absence of a person in areas 1 to 4, respectively. It is assumed that where the hook unit 280 of the crane device 200 is positioned in the combined area 510c is adjusted in advance.

The divided multiple areas 1 to 4 are the following areas. Area 1, which is the first area, is an area located in one direction in the running direction and in one direction in the transverse direction with the hook unit 280 as a reference. A region 2, which is the second region, is a region located in one direction in the running direction and in the other direction in the transverse direction with the hook unit 280 as a reference. A region 3, which is the third region, is a region located in the other direction in the running direction and in one direction in the transverse direction with the hook unit 280 as a reference. Region 4, which is the fourth region, is a region positioned in the other direction in the running direction and in the other direction in the transverse direction with hook unit 280 as a reference.

Here, as described above, when the operator faces north and operates the crane device 200, the area 1 is a rectangular area in the northwest direction with the hook unit 280 as a reference. Area 2 is a rectangular area in the northeast direction with hook unit 280 as a reference. A region 3 is a rectangular region in the southwest direction with the hook unit 280 as a reference. A region 4 is a rectangular region in the southeast direction with the hook unit 280 as a reference. That is, the detection area 520 is the area from the area 1 to the area 4. FIG. Information on the areas 1 to 4 is included in the area information and transmitted to the control device 240 . Each area corresponds to, for example, a 3 m×3 m area on the floor 914 of the work site 900 . Note that the size of the rectangle on the floor 914 corresponding to the area 1 and the like is not limited to 3m x 3m, and is determined according to the installation position and height of the camera 310 or the moving speed of the crane device. be.

When the operator starts to operate the operation unit 295, the control device 240 starts moving the crane device 200, and the camera 310 via the control unit 330 starts capturing images at predetermined intervals. The camera 310 transmits captured image information to the image analysis section 320 . The image analysis unit 320 analyzes image information transmitted from the camera 310 . Here, for example, when the state shown in FIG. Also, the image analysis unit 320 detects that there are no people in the

areas

2, 3, and 4. FIG. The image analysis unit 320 transmits to the control device 240 the area information and the information on the presence/absence of people in areas 1 to 4 (human information described above).

The control device 240 controls the crane device 200 based on the presence/absence information about the areas 1 to 4 transmitted from the detection device 300 . The control device 240 moves the crane device 200 in the direction instructed via the operation unit 295 when there is no person in any area. The control device 240 stops the crane device 200 according to the positional relationship between the crane device and the predetermined region when there is a person in at least one region.

Here, the directions in which the crane device 200 can move in the detection area 520 can be divided into four directions. FIGS. 6B and 6C are schematic diagrams showing the relationship between the detection area 520 and a movement area (hatched portion) of the crane device 200, which will be described later. Hereinafter, an area corresponding to the detection area 520 and in which the crane device 200 can be moved in a predetermined direction is referred to as a movement area. In FIG. 6B, a movement area 530N is an area in which the crane device 200 can be moved northward, and a movement area 530S is an area in which the crane device 200 can be moved southward. . In FIG. 6(c), a movement area 530E is an area where the crane device 200 can be moved eastward, and a movement area 530W is an area where the crane device 200 can be moved westward. .

When there is a person in the predetermined area, the control device 240 performs control as follows according to each area. The control device 240 controls the saddle 210 not to move in one direction in the running direction and the club 220 not to move in one direction in the transverse direction when there is a person in the area 1 . The control device 240 controls the saddle 210 not to move in one direction in the running direction and the club 220 not to move in the other direction in the transverse direction when there is a person in the area 2 . The control device 240 controls the saddle 210 not to move in the other running direction and the club 220 not to move in the transverse direction when there is a person in the area 3 . The control device 240 controls the saddle 210 not to move in the other direction in the running direction and the club 220 not to move in the other direction in the transverse direction when there is a person in the area 4 .

For example, when it is detected that a person is in area 1 as indicated by a black circle 710 in FIG. . The control device 240 controls the crane device 200 so that it cannot move to the

movement areas

530N and 530W even if the operation unit 295 is operated (the button is pressed) after the crane apparatus 200 stops. Hereinafter, controlling the crane device 200 so that it cannot move to a predetermined movement area is also referred to as prohibiting movement. In other words, control device 240 controls to allow movement to movement area 530S or movement area 530E. Hereinafter, controlling the crane device 200 to move to a predetermined movement area is also referred to as permitting movement.

In this way, areas 1 to 4 are associated with prohibition or permission of movement of the crane device 200 to a predetermined movement area when it is detected that a person is in the area. Area 1 can be said to be an area in which movement of the crane apparatus 200 to the

movement areas

530N and 530W is prohibited and movement of the crane apparatus 200 to the

movement areas

530S and 530E is permitted. Area 2 can be said to be an area in which movement of the crane apparatus 200 to the

movement areas

530N and 530E is prohibited and movement of the crane apparatus 200 to the

movement areas

530S and 530W is permitted. Area 3 can be said to be an area in which movement of the crane apparatus 200 to the

movement areas

530S and 530W is prohibited and movement of the crane apparatus 200 to the

movement areas

530N and 530E is permitted. Area 4 can be said to be an area in which movement of the crane apparatus 200 to the

movement areas

530S and 530E is prohibited and movement of the crane apparatus 200 to the

movement areas

530N and 530W is permitted. That is, after detecting that a person is in the predetermined area, the control device 240 can be said to control the movement of the crane apparatus 200 according to the positional relationship between the crane apparatus 200 and the predetermined area. Hereinafter, restrictions on the movement of the crane device 200 associated with each area are also referred to as prohibition rules.

If a person is detected in multiple areas, the sum of the above prohibition rules should be taken. For example, when a person is detected in both area 1 and area 2, movement to movement area 530N, movement area 530W, and movement area 530E is prohibited. For example, when a person is detected in each of area 1 and area 4, movement to movement area 530N, movement area 530S, movement area 530W, and movement area 530E, that is, movement to all movement areas is prohibited. For example, even if a person is detected in each of area 1, area 2, and area 3, movement to all movement areas is prohibited.

In this way, the control device 240 controls the crane device 200 based on the image information captured by the camera 310 at predetermined intervals according to the presence or absence of people in each area. The control device 240 continues to stop the crane device 200 if the movement of the crane device 200 instructed by the operation unit 295 is to a movement area where the movement of the crane device 200 is prohibited. The control device 240 moves the crane device 200 to the permitted movement area if the movement of the crane device 200 instructed by the operation unit 295 is to the permitted movement area. Further, even in an area where the movement of the crane device 200 is prohibited, if a person disappears from the area (hereinafter referred to as evacuation) based on the detection result by the detection device 300 after that, the person can move to the area. Movement of the crane device 200 is permitted.

<Crane device control method>
FIG. 7 is a flow chart showing a crane device control method using the crane device control system 100 of the first embodiment. The crane device control method includes a detection process, a stop process, and a movement process. The detection process is a process for detecting whether or not a person is present in a predetermined area within the detection area using the detection device 300 . The stopping step is a step of stopping the movement of the crane device 200 by the control device 240 according to the positional relationship between the crane device 200 and the predetermined area when it is determined that there is a person in the detecting step. The moving step is a step of moving the crane device 200 by the control device 240 according to the positional relationship between the crane device 200 and the predetermined area. In the following description, movement of the crane device 200 to the prohibited movement area is also expressed as movement in the prohibited direction.

For example, when the crane device 200 is powered on, the control device 240 starts processing from step 800 (hereinafter referred to as S). In S<b>800 , the control device 240 starts imaging with the camera 310 via the control unit 330 of the detection device 300 . Also, the image analysis unit 320 analyzes the image captured by the camera 310 and transmits region information and person information to the control device 240 . In S810, the control device 240 starts controlling the crane device 200 when the operator starts to operate the operation unit 295 (operation start). Here, the control device 240 may determine to start controlling the crane device 200 when receiving an instruction to start controlling the crane device 200 via the operation unit 295, for example. It should be noted that the state of the crane device 200 when the operation is started includes both a state of being stopped and a state of being moving.

At S<b>820 , the control device 240 determines whether or not there is a person in a predetermined area within the detection area captured by the camera 310 based on the analysis result of the image analysis unit 320 of the detection device 300 . If the control device 240 determines in S820 that there is a person in the predetermined area, the process proceeds to S830, and if it determines that there is no person in any area, the process proceeds to S850.

At S830, the control device 240 determines whether or not the moving direction of the crane device 200 operated by the operating section 295 is a prohibited direction. If the control device 240 determines in S830 that the movement direction of the crane device 200 is the prohibited direction, the process proceeds to S840, and if it is determined that the direction is not the prohibited direction, the process proceeds to S850.

At S840, the control device 240 limits the movement of the crane device 200 or stops the crane device 200, and advances the process to S860. Here, restricting the movement of the crane device 200 means not only restricting the destination of the crane device 200 during movement, but also restricting the destination when the stopped crane device 200 is operated. including cases where Also, stopping the crane device 200 means stopping the crane device 200 during movement.

At S850, the control device 240 moves the crane device 200 in the operated direction. In S860, control device 240 determines whether or not the operation by operation unit 295 has ended. If the control device 240 determines in S860 that the operation by the operation unit 295 has ended, the process proceeds to S870, and if it determines that the operation has not ended, the process returns to S820. In S870, the control device 240 stops the crane device 200, ends the imaging by the camera 310, and ends the processing. Even after the crane device 200 is stopped, if the use of the crane device 200 is expected, the imaging by the camera 310 may be continued without ending.

In this way, in the crane device control system 100, the control device 240 determines whether or not there is a person in the predetermined area within the detection area 520 using the detection device 300 while the crane device 200 is moving. When the control device 240 determines that there is a person in the predetermined area, the movement of the crane apparatus 200 is stopped according to the positional relationship between the crane apparatus 200 and the predetermined area. After that, the control device 240 controls the movement of the crane device 200 according to the positional relationship between the crane device 200 and the predetermined area. In other words, when the crane device control system 100 determines that a person is in the operation direction region of the predetermined region, the crane device control system 100 stops the movement of the crane device 200 and then prevents the crane device 200 from moving in the direction of the person. to control.

As described above, according to the first embodiment, it is possible to provide a crane device control system and a crane device control method that can prevent accidents, disasters, etc. caused by crane devices.

[Embodiment 2]
In the second embodiment, the detection area 520 is divided into five areas. Note that regions 1 to 4 have the same configuration as in the first embodiment, and description thereof will be omitted. However, areas 1 to 4 that overlap area 5, which will be described later, are subject to the prohibition or permission of area 5. FIG. Further, since the configuration of the crane device control system 100 is also the same as that of the first embodiment, the same reference numerals are used for the same configurations, and the description thereof is omitted.

FIG. 8(a) is a schematic diagram for explaining the detection area 520a of the second embodiment. A region 5 indicated by a circled number 5 is a region substantially directly below the hook unit 280. For example, as shown in FIG. . Note that the region 5 is not limited to a circular shape, and may have another shape such as a rectangle.

When the detection device 300 detects that there is a person almost directly below the hook unit 280, in other words, in the area 5, the control device 240 performs the following control. The controller 240 controls the saddle 210 so as not to move in one or the other direction in the running direction and the club 220 not to move in the one or the other direction in the transverse direction. That is, the control device 240 prohibits movement of the crane device 200 in all horizontal directions.

That is, when the detection device 300 detects that a person is in the area 5, the control device 240 prohibits movement to the movement area 530E, movement area 530W, movement area 530N, and movement area 530S, that is, movement in all directions. do. As a result, the crane device 200 maintains a stopped state as long as the person does not withdraw from the area 5 regardless of how the operator operates the operation unit 295 .

As described above, according to the second embodiment, it is possible to provide a crane device control system and a crane device control method that can prevent accidents, disasters, etc. caused by crane devices.

[Embodiment 3]
In Embodiment 3, the crane device control system 100 includes a warning device that is notification means for notifying that the crane device 200 is approaching. FIG. 8(b) is a schematic diagram showing the warning device 400 of Embodiment 3, showing the same state as in FIG. 6(a). When the detection device 300 detects that a person is in the predetermined area, the control device 240 warns the person to leave the predetermined area using the warning device 400 . A specific example of the warning device 400 will be described below. Note that the control device 240 may perform control so that the warning device 400 issues a warning at the timing when it is determined in the determination processing of S820 in FIG. 7 that a person is present. Further, the control device 240 may perform control so as to terminate the warning by the warning device 400 at the timing when it is determined that the person has evacuated while the warning by the warning device 400 is being maintained.

<Warning device>
(illumination)
The warning device 400 is, for example, an illumination unit 410 that illuminates a predetermined area. Control device 240 causes illumination unit 410 to illuminate a predetermined area to notify that a person should leave the predetermined area. The illumination unit 410 has a first illumination unit 410a that illuminates the area 1, a second illumination unit 410b that illuminates the area 2, a third illumination unit 410c that illuminates the area 3, and a fourth illumination unit 410d that illuminates the area 4. The color of the illumination of the illumination unit 410 is not particularly limited, and may be, for example, a color that attracts the attention of the worker 700, such as red. Also, the illumination by the illumination unit 410 may be blinked. Furthermore, the number of lighting units 410 may be different, for example, one may be sufficient as long as it can illuminate a predetermined area. The control device 240 turns on the illumination unit 410 corresponding to the area in which the detection device 300 detects that a person exists, and urges the person in that area to evacuate.

(sound or voice)
The warning device 400 is, for example, a speaker 420 that is a sound output unit that outputs sound or voice. The control device 240 outputs a sound or voice from the speaker 420 to notify the person to evacuate from the predetermined area. The sound output from the speaker 420 may be a sound such as a siren that warns people of danger. The voice output from the speaker 420 may be voice that urges the person to leave the area, such as "A crane is approaching. Please move away from that area." Note that warning device 400 may have both illumination unit 410 and speaker 420 .

Note that the warning device 400 is not limited to light or sound, and may be any device that notifies the worker 700 of danger. For example, if the worker 700 always carries a mobile terminal or the like, the mobile terminal may be vibrated to notify.

As described above, according to the third embodiment, it is possible to provide a crane device control system and a crane device control method that can prevent accidents, disasters, etc. caused by crane devices. The control device 240 can use light, sound, or the like to encourage people in the predetermined area to evacuate.

Although the preferred embodiments of the present invention have been described above, the present invention is not limited to these, and various modifications and changes are possible within the scope of the gist. For example, the present invention includes the following gists.

[Purpose 1]
a crane device;
a detection device that detects the presence or absence of a person in a detection area below the crane device;
a control device that controls the crane device and the detection device;
with
After the control device stops the movement of the crane device according to the positional relationship between the crane device and the predetermined region when the detection device determines that a person is present in the predetermined region within the detection region. , a crane device control system that controls movement of the crane device according to a positional relationship between the crane device and the predetermined area.

[Purpose 2]
The crane device is
Suspension means for suspending a load;
a first moving means capable of moving the suspending means in a first horizontal direction;
a second moving means capable of moving the suspending means in the horizontal direction in a second direction substantially orthogonal to the first direction;
a third moving means capable of moving the suspending means in a third direction substantially perpendicular to the first direction and the second direction;
has
The detection device is arranged on the second moving means and has an imaging unit that captures an image of the detection area below the second moving means. The predetermined regions may be divided, and the presence or absence of the person may be detected in each of the plurality of divided predetermined regions.

[Purpose 3]
The imaging section includes a first imaging section arranged on one end side of the second moving means in the second direction, and a second imaging section arranged on the other end side of the second moving means in the second direction. and including
The second imaging unit is arranged so as to eliminate a blind spot of the first imaging unit,
The detection device may divide the detection area included in the areas captured by the first imaging section and the second imaging section into a plurality of predetermined areas.

[Purpose 4]
The plurality of divided predetermined regions are
a first region located in one direction in the first direction and in one direction in the second direction with respect to the hanging means;
a second region located in one direction in the first direction and in the other direction in the second direction with respect to the hanging means;
a third region located in the other direction in the first direction and in one direction in the second direction with respect to the hanging means;
A fourth region located in the other direction in the first direction and in the other direction in the second direction with respect to the hanging means;
and
The control device is
When there is a person in the first area, the first moving means is prevented from moving in one of the first directions and the second moving means is prevented from moving in one of the second directions. control to
When there is a person in the second area, the first movement means is prevented from moving in one direction in the first direction and the second movement means is prevented from moving in the other direction in the second direction. control to
When there is a person in the third area, the first movement means is prevented from moving in the other direction in the first direction, and the second movement means is prevented from moving in one direction in the second direction. control to
When there is a person in the fourth area, the first moving means is prevented from moving in the other direction in the first direction, and the second moving means is prevented from moving in the other direction in the second direction. can be controlled to

[Purpose 5]
The control device prevents the first moving means from moving in one direction and the other direction in the first direction when the detection device detects that a person is present substantially directly below the suspension means. and the second moving means may be controlled so as not to move in one or the other of the second directions.

[Purpose 6]
A notification means may be provided for notifying when the detection device detects that a person is present in the predetermined area.

[Purpose 7]
The notification means is an illumination unit that illuminates the predetermined area,
The control device may control to notify by illuminating the predetermined area with the illumination unit.

[Purpose 8]
The notification means is a sound output unit that outputs sound or voice,
The control device may control the notification by outputting the sound or the voice from the sound output unit.

[Purpose 9]
A crane device control method using the crane device control system described above,
a detection step of detecting whether or not a person is present in a predetermined area within the detection area by the detection device;
a stopping step of stopping the movement of the crane device by the control device according to the positional relationship between the crane device and the predetermined area when it is determined that a person is present in the detecting step;
a moving step of moving the crane device according to the positional relationship between the crane device and the predetermined area by the control device;
A crane device control method comprising:

100 Crane device control system 200 Crane device 210 Saddle 220 Crab 230 Hoisting part 232 Hoisting drum 240 Control device 250 Running rail 260a Girder 260b Traversing rail 270 Wire rope 280 Hook unit 282 Hook part 284 Sheave 290 Drive part 295 Operation part

295a Upper button

295b Down button

295c East button 295d West button 295e South button 295f North button 300 Detecting device 310 Camera 310a Camera 310b Camera 312 Supporting part

312a Supporting part

312b Supporting part 320 Image analysis part 330 Control part 400 Warning device 410 Lighting part 420 Speaker 510a Imaging Area

510b Imaging area

510c Synthesis area 520 Detection area 520a Detection area

530E Movement area

530N Movement area

530S Movement area

530W Movement area 700 Worker 800 Suspended load 900 Work site 914 Floor θ Visual field

Claims

a crane device;
a detection device that detects the presence or absence of a person in a detection area below the crane device;
a control device that controls the crane device and the detection device;
with
After the control device stops the movement of the crane device according to the positional relationship between the crane device and the predetermined region when the detection device determines that a person is present in the predetermined region within the detection region. , a crane device control system that controls movement of the crane device according to a positional relationship between the crane device and the predetermined area.
The crane device is
Suspension means for suspending a load;
a first moving means capable of moving the suspending means in a first horizontal direction;
a second moving means capable of moving the suspending means in the horizontal direction in a second direction substantially orthogonal to the first direction;
a third moving means capable of moving the suspending means in a third direction substantially perpendicular to the first direction and the second direction;
has
The detection device is arranged on the second moving means and has an imaging unit that captures an image of the detection area below the second moving means. 2. The crane apparatus control system according to claim 1, wherein said predetermined areas are divided, and presence or absence of said person is detected in each of said plurality of divided predetermined areas.
The imaging section includes a first imaging section arranged on one end side of the second moving means in the second direction, and a second imaging section arranged on the other end side of the second moving means in the second direction. and including
The second imaging unit is arranged so as to eliminate a blind spot of the first imaging unit,
3. The crane device control system according to claim 2, wherein the detection device divides the detection area included in the areas imaged by the first imaging unit and the second imaging unit into a plurality of predetermined areas.
The plurality of divided predetermined regions are
a first region located in one direction in the first direction and in one direction in the second direction with respect to the hanging means;
a second region located in one direction in the first direction and in the other direction in the second direction with respect to the hanging means;
a third region located in the other direction in the first direction and in one direction in the second direction with respect to the hanging means;
A fourth region located in the other direction in the first direction and in the other direction in the second direction with respect to the hanging means;
and
The control device is
When there is a person in the first area, the first moving means is prevented from moving in one of the first directions and the second moving means is prevented from moving in one of the second directions. control to
When there is a person in the second area, the first movement means is prevented from moving in one direction in the first direction and the second movement means is prevented from moving in the other direction in the second direction. control to
When there is a person in the third area, the first movement means is prevented from moving in the other direction in the first direction, and the second movement means is prevented from moving in one direction in the second direction. control to
When there is a person in the fourth area, the first moving means is prevented from moving in the other direction in the first direction, and the second moving means is prevented from moving in the other direction in the second direction. 4. The crane equipment control system according to claim 3, wherein the control system controls
The control device prevents the first moving means from moving in one direction and the other direction in the first direction when the detection device detects that a person is present substantially directly below the suspension means. 5. The crane device control system according to claim 4, wherein said second moving means is controlled so as not to move in said second direction.
The crane device control system according to any one of claims 1 to 5, further comprising a notification means for notifying when the detection device detects that a person is present in the predetermined area.
The notification means is an illumination unit that illuminates the predetermined area,
7. The crane device control system according to claim 6, wherein said control device performs control to notify by illuminating said predetermined area with said illumination unit.
The notification means is a sound output unit that outputs sound or voice,
7. The crane device control system according to claim 6, wherein said control device performs control to notify by outputting said sound or said voice from said sound output unit.
A crane device control method using the crane device control system according to any one of claims 1 to 8,
a detection step of detecting whether or not a person is present in a predetermined area within the detection area by the detection device;
a stopping step of stopping the movement of the crane device by the control device according to the positional relationship between the crane device and the predetermined area when it is determined that a person is present in the detecting step;
a moving step of moving the crane device according to the positional relationship between the crane device and the predetermined area by the control device;
A crane device control method comprising: