阅读说明：本技术 起重机 (Crane with a movable crane ) 是由 小田井正树 家重孝二 及川裕吾 井上智博 高桥弘树 于 2018-01-19 设计创作，主要内容包括：本发明包括：由自行驶机构输送的吊运车；搭载于吊运车的提升电动机；安装于提升电动机的提升卷筒；安装于提升卷筒的绳；安装于绳的挂钩；和用于确定吊运车的输送速度的控制部,控制部基于规定位置与吊挂于挂钩的悬挂负荷的重心位置之间的重心距离来确定吊运车的输送速度。(The invention comprises the following steps: a trolley transported by the self-propelled mechanism; a lifting motor mounted on the trolley; a hoist drum mounted to the hoist motor; a rope mounted to the hoist drum; a hook mounted on the rope; and a control unit for determining a transport speed of the trolley, wherein the control unit determines the transport speed of the trolley based on a barycentric distance between the predetermined position and a barycentric position of a suspension load suspended from the hook.)

1. A crane, comprising:

a trolley transported by the self-propelled mechanism; a lifting motor mounted on the trolley; a hoist drum mounted to the hoist motor; a rope mounted to the hoist drum; a hook mounted to the rope; and a control section for determining a transport speed of the trolley,

The control unit determines the transport speed of the trolley based on a barycentric distance between a predetermined position and a barycentric position of a suspension load suspended from the hook.

2. A crane as claimed in claim 1, wherein:

The prescribed position is a lower portion of the hook,

The center of gravity distance is an estimate of the center of gravity distance between the lower portion of the hook and the center of gravity position of the suspended load.

3. A crane as claimed in claim 1, wherein:

The prescribed position is a reference position separated from the lower portion of the hook by a prescribed distance,

The center of gravity distance is an estimate of the center of gravity distance between the reference position and the center of gravity position of the suspended load.

4. A crane as claimed in claim 1, wherein:

The prescribed location is a ground location,

The center of gravity distance is an estimate of the center of gravity distance between the ground position and the center of gravity position of the suspended load.

5. A crane as claimed in claim 1, wherein:

the prescribed position being a fulcrum position of the lifting drum

The center of gravity distance is taken as an estimate of the center of gravity distance between the fulcrum position and the center of gravity position of the suspended load.

6. A crane as claimed in claim 1, wherein:

The prescribed position is an upper portion of the hook,

the center of gravity distance is an estimate of the center of gravity distance between the upper portion of the hook and the center of gravity position of the suspended load.

7. A crane as claimed in claim 1, wherein:

The control part is used for controlling the operation of the motor,

Determining an estimated value of a vibrator length between a fulcrum position of the hoist drum and a gravity center position of the suspended load using the length of the rope and the gravity center distance,

Determining an estimated value of the weight oscillation frequency of the suspended load as a weight oscillation frequency using the determined estimated value of the vibrator length,

Removing a component of the frequency of oscillation of the weight from the transport speed of the trolley.

8. A crane as claimed in claim 1, wherein:

The estimated value of the center of gravity distance is settable.

9. A crane as claimed in claim 1, wherein:

The center of gravity distance input unit is used for inputting the center of gravity distance.

10. A crane as claimed in claim 9, wherein:

The estimated value of the center of gravity distance may be set, and the predetermined value is used when the center of gravity distance is not input.

11. A crane as claimed in claim 9, wherein:

The center of gravity distance input unit is provided in an operation terminal having: a transport operation unit that provides an instruction of the transport speed of the trolley; and a communication unit that transmits the center of gravity distance and the conveyance speed to the control unit.

12. a crane as claimed in claim 9, wherein:

The cords have markings at regular intervals.

13. a crane as claimed in claim 12, wherein:

The indicia is a different color or shape than the cord.

14. A crane as claimed in claim 12, wherein:

The center of gravity distance input unit includes an imaging device and a calculation unit,

The photographing means photographs the rope having the plurality of marks, the hook, and the hanging load hung from the hook,

The calculation unit determines the center of gravity distance based on an image captured by the imaging device,

the communication unit transmits the determined center of gravity distance to the control unit.

15. A crane as claimed in claim 9, wherein:

The center-of-gravity distance input section includes:

A suspension load ID input unit for inputting an ID of the suspension load;

An input unit for inputting the center of gravity distance; and

A storage unit for storing the ID of the suspended load in association with the gravity center distance,

the center of gravity distance corresponding to the ID of the suspension load input from the suspension load ID input unit is read from the storage unit, and the read center of gravity distance is transmitted to the control unit via the communication unit.

16. A crane as claimed in claim 15, wherein:

The suspended load is suspended from the rope by a holding mechanism,

The center of gravity distance is stored in the storage unit in accordance with a combination of the suspension load and the type of the holding mechanism,

The center of gravity distance corresponding to the combination of the suspension load and the holder is read from the storage unit, and the read center of gravity distance is transmitted to the control unit via the communication unit.

17. A crane as claimed in claim 16, wherein:

The storage unit stores a kind of a hook wire provided between the hook and the suspension load as a kind of the holding mechanism.

Technical Field

The invention relates to a crane.

background

In a crane, in order to safely and efficiently carry a suspended load, it is required to reduce the oscillation of a heavy object during carrying. As a technique for reducing the heavy object oscillation, there is known a heavy object oscillation suppression control technique in which a suspended load suspended by a rope is regarded as a vibrator, and the conveying speed is controlled based on a model of the vibration of the vibrator, that is, the heavy object oscillation.

The weight oscillation suppression control is divided into feedforward control and feedback control. The feed-forward control is a method of suppressing the oscillation of the weight by determining a conveyance speed command based on a model of the oscillation of the weight.

the feedback control is a method of detecting or estimating the weight oscillation in real time and feeding back to determine a conveying speed command, thereby suppressing the weight oscillation. In addition, in the 2-degree-of-freedom weight oscillation suppression control, the feedforward control and the feedback control are performed together.

The feedback control can generally cope with an error of the weight oscillation model, but is slow in response compared to the feedforward control. The feedforward control generally responds faster than the feedback control, but cannot cope with the error of the weight oscillation model. That is, if a highly accurate weight oscillation model can be obtained, it is possible to suppress weight oscillation with high response speed and high accuracy, and the effect of suppressing weight oscillation can be improved even in the 2-degree-of-freedom control.

Here, in the weight oscillation model, in order to estimate the oscillation cycle of the oscillator, the length from the fulcrum of oscillation to the center of gravity of the oscillator, that is, the oscillator length, is required. Generally, the length of the rope from the hoist drum to the hook is used as the length of the vibrator. However, the hanging load is suspended under the hook, and therefore the vibrator length is different from the string length. Patent documents 1 and 2 are known as techniques for accurately determining the length of the transducer.

Patent document 1 describes the following technique: the distance from the lower end of the suspended load to the hook is determined based on the height of the trolley from the ground and the length of the rope when the suspended load is separated from the ground.

patent document 2 describes the following technique: the length of the vibrator is defined as a string length when there is no suspension load, and the length of the vibrator is determined from a correction value and the string length determined in advance when there is a suspension load.

Disclosure of Invention

Technical problem to be solved by the invention

According to the technique described in patent document 1, the distance from the hoist drum to the lower end of the suspended load can be defined as the length of the vibrator. Thus, the weight oscillation can be suppressed with higher accuracy than in the case where the length of the string is set to the length of the vibrator. However, the center of gravity of the suspended load is different from the position of the lower end of the suspended load, and therefore the weight oscillation model has an error, and there is a possibility that the remaining weight oscillates.

According to the technique described in patent document 2, the oscillator length is corrected using the position of the center of gravity of the suspension load obtained in advance. Thus, the weight oscillation can be suppressed with higher accuracy than in the case where the length of the string is set to the length of the vibrator. However, since the correction value is changed only in accordance with the presence or absence of the suspension load, it is not possible to cope with various suspension loads.

The object of the invention is to reduce weight oscillations in a crane.

means for solving the problems

A crane according to an aspect of the present invention includes: a trolley transported by the self-propelled mechanism; a lifting motor mounted on the trolley; a hoist drum mounted to the hoist motor; a rope mounted to the hoist drum; a hook mounted to the rope; and a control unit for determining a transport speed of the trolley, wherein the control unit determines the transport speed of the trolley based on a barycentric distance between a predetermined position and a barycentric position of a suspended load suspended from the hook.

Effects of the invention

According to an aspect of the present invention, it is possible to reduce weight oscillation in a crane.

drawings

Fig. 1 is an example of a schematic diagram of a crane.

Fig. 2 is an example of a schematic diagram showing parameters of the transducer.

Fig. 3 is a schematic diagram showing an example of parameters that can be input.

Fig. 4 is an example of a schematic view of a crane having markers.

fig. 5 is an example of a schematic diagram showing the center-of-gravity distance input unit.

Fig. 6 is another example of a schematic diagram showing the center-of-gravity distance input unit.

Fig. 7 is a schematic diagram showing an example of the relationship between the length of the transducer, the length of the string, and the center of gravity distance.

Fig. 8 is a schematic view showing another example of the crane.

Detailed Description

Hereinafter, embodiments will be described with reference to the drawings.

[ example 1 ]

The present invention relates generally to a crane for transporting a heavy object suspended by a rope, and more particularly to a crane for determining a transport speed based on a model of heavy object oscillation to suppress the heavy object oscillation during transportation. The present invention can be applied to a crane for transporting a suspended load.

Fig. 1 is a diagram schematically showing an example of the structure of a crane in the embodiment.

In fig. 1, a suspension load 30 to be conveyed is suspended by a hook rope 20 (hook rope) from a hook 131. The hook 131 is suspended from the hoist drum 1122 by a rope 13. Here, the suspension load 30 may be directly suspended from the hook 131 without using the hook wire 20.

The lift drum 1122 is connected to the lift motor 112 and the lift encoder 1121 by a lift shaft 1123, and is disposed on the trolley 11. Thus, the hoisting motor 112 rotates to pull up or down the rope 13, and the suspended load 30 can be conveyed in the z direction in the drawing. This z-direction transport is called lifting.

The traverse wheel 1111 is connected to the traverse motor 111 via a traverse shaft 1112 and disposed on the trolley 11. Further, the traverse wheels 1111 are arranged to be able to generate a driving force by rotating the traverse motor 111 to rotate on the beam 15. Thereby, the trolley 11 and the suspended load 30 can be transported in the x direction in the figure along the beam by the rotation of the traverse motor 111.

This x-direction transport is called a row.

the conveyance operation unit 141 is provided in the operation terminal 14, and can be used by an operator to input a conveyance operation signal, which is a command for horizontal movement, vertical movement, or both. The inputted conveyance operation signal is transmitted to the control unit 12 by communication through the communication unit 143.

the center of gravity distance input unit 142 is provided on the operation terminal 14, and enables the operator to input a deemed center of gravity distance h (み な し with a certain distance of gravity) described later. The inputted recognized center of gravity distance h is transmitted to the control unit 12 through communication by the communication unit 143. It is assumed that the center-of-gravity distance h is a prescribed center-of-gravity distance input by the operator.

Here, the center-of-gravity distance input unit 142 does not need to be provided on the same operation terminal 14 as the conveyance operation unit 141, and may be provided on different operation terminals 14.

The control unit 12 generates a conveyance speed command based on the conveyance operation signal and the recognized center-of-gravity distance h, and drives the traverse motor 111, the lift motor 112, or both. Thus, the suspension load 30 can be lifted up in a lateral direction in accordance with the transport operation by the operator. Likewise, the suspended load 30 can be transverse after lifting, or can be lifted in transverse rows, transverse in lifting.

The suspension load 30 and the hook rope 20 are objects to be transported, and are not components of the crane 10. The holder (jig) used for suspending the suspension load 30 is not limited to the hook wire 20, and may be absent.

Fig. 8 is a schematic diagram showing another example of the crane 10.

In fig. 8, the beam 15 is connected to a running beam 18 via a running gear 16. The traveling device 16 moves the beam 15 in the y direction in the figure along the traveling beam 18 by the rotation of the traveling motor 161. Thereby, the trolley 11 connected to the beam 15 and the suspension load 30 (see fig. 1) suspended by the hook 131 can be transported in the y direction in the figure. This y-direction transport is called travel.

The conveyance operation signal input to the conveyance operation unit 141 (see fig. 1) included in the operation terminal 14 includes a command signal for traveling in addition to a command signal for horizontal traveling and lifting. At least the travel command signal of the input transport operation signals is transmitted to the travel control unit 17 through communication by the communication unit 143 (see fig. 1).

The recognized center of gravity distance h input to the center of gravity distance input unit 142 (see fig. 1) is transmitted to the control unit 12 and the travel control unit 17 via the communication unit 143. The travel control unit 17 generates at least the conveyance speed command for travel based on the conveyance operation signal and the recognized center-of-gravity distance h, and drives the travel motor 161. This enables the suspension load 30 (see fig. 1) to be laterally moved, lifted, and run in accordance with the transport operation by the operator.

Here, the above-described conveyance speed command for lateral movement and lifting is generated by the control unit 12, and the conveyance speed command for traveling is generated by the travel control unit 17.

For example, the control unit 12 may generate a conveyance speed command for lateral movement, traveling, and lifting, and at least a command related to traveling among the generated conveyance speed commands may be transmitted from the control unit 12 to the traveling control unit 17, and the traveling control unit 17 may drive the traveling motor 161 based on the received conveyance speed command. In this case, the conveyance operation signal and the recognized center of gravity distance h may be transmitted to at least the control unit 12, and need not be transmitted to the travel control unit 17.

Fig. 2 is a diagram schematically showing an example of parameters of the transducer in the example.

in fig. 2, the suspended load 30, the hook wire 20, the hook 131, and the rope 13 constitute a vibrator in the crane 10.

The suspension load 30 is oscillated with the hoist drum 1122 as a fulcrum due to acceleration applied to the trolley 11 during traversing or traveling. In this case, the weight oscillation frequency Fr, which is the resonance frequency of the vibrator, is expressed by formula 1. In fig. 1, g is the gravitational acceleration, and the transducer length L is the distance from the fulcrum shown in fig. 2(a) to the center of gravity 301 of the suspended load.

Formula 1

When the weight oscillation frequency Fr component is not present in the conveyance speed command, the weight oscillation is not excited. Therefore, for example, the conveyance speed command composed of only frequencies smaller than the weight oscillation frequency Fr is shaped by a band-cut filter that cuts out a frequency band including the weight oscillation frequency Fr. Thus, by suppressing the component of the weight oscillation frequency Fr from the conveyance speed command, the weight oscillation can be suppressed.

Therefore, in order to generate a conveying speed command capable of suppressing the oscillation of the weight in the control unit 12, it is necessary to determine the weight oscillation frequency Fr with high accuracy. When the gravitational acceleration g is constant in the use environment of the crane 10, the vibrator length L needs to be determined with high accuracy in order to determine the weight oscillation frequency with high accuracy.

Here, as shown in fig. 2(a), the transducer length L is a value obtained by adding a string length L0 to a gravity center distance H. The rope length L0 is a distance from a position away from the pulley, i.e., a fulcrum, to a lower portion of the hook 131 in the case where the rope 13 has the drum 1122 or the pulley. I.e. the distance from the upper part of the string 13 to the lower part of the hook 131. The cord length L0 is referred to as a first distance.

The rope length L0 can be determined from the length of the rope 13 drawn from the hoist drum 1122 and the length of the hook 131 as viewed by the hoist encoder 1121.

the gravity center distance H is a distance from the lower portion of the hook 131 to the suspension load gravity center 301, and it is difficult to determine the gravity center distance H when the suspension load 30 and the hook rope 20 are various, and therefore an example of the determination method will be described with another embodiment.

Here, an example of the lower portion of the hook 131 will be described. Which is a contact surface between the hook 131 and the hook cord 20 hung from the hook 131. I.e. the process is repeated. Instead of the bottom surface of the hook 131, the fulcrum of the lanyard 20 means the lower portion of the hook 131. This is because the center-of-gravity distance H is a distance from the fulcrum of the hook wire 20 to the center of gravity of the suspended load. The center of gravity distance H is referred to as a second distance. Depending on the thickness of the hook cord 20, the lower portion of the hook 131 may not be a contact surface between the hook 131 and the hook cord 20. This is because the center-of-gravity distance H is a distance from the fulcrum of the hook wire 20 to the center of gravity of the suspended load, and therefore the contact surface is not the fulcrum.

The rope length L0 is a unique value if it can be accurately measured, but an error in the value measured by the encoder 1121 or a value measured by an operator may be input as the rope length L0 and subjected to the calculation described below. That is, the rope length L0 may be a value including the offset (オ フ セ ッ ト) in the actually measured value. Not limited to this, the assumed oscillator length L is determined as a value obtained by adding the elimination of the portion where the string length L0 overlaps the assumed center-of-gravity distance h.

Here, the center of gravity distance H is a unique value if it can be accurately measured. Therefore, a value measured or estimated by the operator is input as the deemed barycentric distance h. It is assumed that the accuracy of the weight oscillation can be improved as the center-of-gravity distance H is closer to the center-of-gravity distance H.

the value obtained by adding the rope length L0 and the gravity center distance h is the determined vibrator length L (み な し vibrator length さ). The identified transducer length L may be a value obtained by including compensation for the actually measured value of the string length L0 and the gravity center distance h.

Here, the difference in the center of gravity distance H due to the suspension load 30 and the hook wire 20 will be described with reference to fig. 7.

Fig. 7 is an example of a schematic diagram showing a relationship between the suspension load 30 and the hook wire 20 and the center-of-gravity distance H. When comparing fig. 7(a) and 7(b), the center of gravity distance H varies depending on the hook wire 20 used even with the same suspension load 30.

When fig. 7(b) and 7(c) are compared, the center-of-gravity distance H changes depending on the posture of the weight of the suspended load 30. Thus, the center-of-gravity distance H varies depending on the posture of the weight suspending the load 30 or the hook wire 20 used. Therefore, the length L of the vibrator cannot be determined only by the rope length L0 determinable by the crane 10.

Here, in fig. 2, a method for estimating the position of the suspension load center of gravity 301 by the operator of the crane 10 will be described. That is, the distance between the lower portion of the hook 131 shown in fig. 2(b) and the center of gravity of the suspended load 30 estimated by the operator, that is, the assumed center of gravity distance h, can be determined or actually measured by the operator. Therefore, the center of gravity distance input section 142 capable of inputting the assumed center of gravity distance h is provided.

the estimated value of the transducer length L, i.e., the estimated transducer length L, is determined by equation 2 using the estimated center-of-gravity distance h and the string length L0 input from the center-of-gravity distance input unit 142. That is, even when the suspended load 30 is lifted in accordance with the conveyance operation command, the assumed oscillator length l can be determined.

Formula 2

1＝L0+h

Using the determined recognized oscillator length l, the estimated value of the weight oscillation frequency Fr, that is, the recognized weight oscillation frequency Fr can be estimated from equation 3.

Formula 3

When the assumed weight oscillation frequency Fr is estimated from the weight oscillation frequency Fr with high accuracy, as described above, for example, the weight oscillation can be suppressed by suppressing and removing the component of the assumed weight oscillation frequency Fr from the conveyance speed command.

Here, the assumed transducer length L is estimated based on the estimated center of gravity position of the suspension load 30, that is, the assumed suspension load center of gravity 302, and therefore has an error compared with the transducer length L. However, it is clear that: the center of gravity 302 of the suspended load is determined to be within the range of the suspended load 30, as compared with the case where the string length L0 is used as the determined vibrator length L or the case where the length from the fulcrum to the lower end of the suspended load 30 is used as the determined vibrator length L. Therefore, the oscillator length L can be accurately determined by determining the oscillator length L, and the effect of suppressing the oscillation of the weight is improved.

Here, the crane 10 may have a function of judging the appropriateness of the input recognized center-of-gravity distance h and notifying the operator. For example, when a negative distance is input to the assumed center of gravity distance h, or when the calculated assumed transducer length l is a distance greater than the fulcrum height (K in fig. 3) that is the height of the hoist drum 1122 from the ground (40 in fig. 3) that is input in advance, it is possible to determine that the assumed center of gravity 302 is not within the range of the suspension load 30 and notify the operator.

Fig. 3 is a diagram showing an example of parameters that can be input by another barycentric distance input unit 142.

the input to the center of gravity distance input unit 142 is not limited to the assumed center of gravity distance h, and for example, the assumed oscillator length l may be input as the assumed center of gravity distance. In this case, the assumed center-of-gravity distance h can be obtained from the inputted assumed transducer length L and the string length L0.

for example, the height of the center of gravity 302 from the ground 40, i.e., the height i of the center of gravity may be input to the center of gravity distance input unit 142 as a determined center of gravity distance. In this case, the assumed center of gravity distance h is obtained from equation 4 using the inputted height i of the assumed center of gravity 302 and the fulcrum height K.

Formula 4

h＝K-L0-i

The input to the center-of-gravity distance input unit 142 may be a ratio of the assumed center-of-gravity distance h and a distance (for example, assumed transducer length and assumed center-of-gravity height i) from which the assumed center-of-gravity distance h can be calculated, to a predetermined distance. The predetermined distance may be a distance that can be accurately determined, for example, the string length L0, the fulcrum height K, the height of the lower portion of the hook 131 from the ground surface 40 (K-L0), and the like. The assumed center of gravity distance h can be calculated using the inputted ratio and the predetermined distance.

In addition, for example, in the embodiment, the rope length L0 and the assumed gravity center distance h are separated with the lower portion of the hook 131 as a reference, but not limited thereto. For example, when the reference position is located at a position spaced apart from the hook lower portion by a predetermined distance, the assumed oscillator length L and the assumed center of gravity distance h can be calculated from the distance between the reference position and the assumed suspended load center of gravity 302 and the string length L0. For example, when the reference position is the upper portion of the hook 131, the assumed oscillator length L can be calculated from the length of the hook 131, the string length L0, and the assumed center of gravity distance h.

Fig. 4 is a diagram schematically showing an example of a marker for assisting an operator in inputting.

The crane 10 may also have a marker 132 for assisting input to the gravity center distance input 142. For example, the centroid distance input unit 142 is configured to input the assumed centroid distance h based on the distance between the marks 132 or the number of the marks 132. This reduces the variation in accuracy of the determined center of gravity distance h due to individual differences among operators.

in addition, when the number and positions of the marks are set as the deemed barycentric distance H, the operator can easily input values as compared with the case of measuring the barycentric distance H, and the operation efficiency of the elevator can be improved. On the other hand, when the actually measured barycentric distance H is input as the deemed barycentric distance H, the weight oscillation is more likely to be reduced than when the number and positions of the marks are determined as the deemed barycentric distance H.

The mark 132 can be realized by, for example, coloring the string 13 and the hook 131 at regular intervals. I.e. a different colour than the cord 13. The entire string 13 may be colored in its natural color (ground color), and the mark 131 may be colored in a color different from the natural color of the string 13. The entire string 13 may be colored, and a part may be a natural color as the mark 132. Further, the shape may be different from the coloring.

The input unit 142 may be provided with a display unit for displaying the inputted center of gravity distance. In addition, the input device of the input section 142 may be a touch panel, a key, or a potentiometer (potentiometer).

the keys can be provided with an addition button and a subtraction button, so that the number which can be seen by an operator can be set and input, and the gravity center distance h can be easily determined and input by using the marks of the operator.

The potentiometer (potentiometer) may be a device whose value changes stepwise. In this case, if the number of marks and the level of the potentiometer are in a corresponding relationship, the input is easy. By indicating the number of marks around the potentiometer, the number of marks can be easily input.

Here, the crane is not limited to the above-described embodiment. For example, the communication section 143 may communicate not wirelessly but by wire. For example, the center-of-gravity distance input unit 142 may be provided in another operation terminal 14 different from the conveyance operation unit 141. For example, the input to the center distance input unit 142 may be performed by an input person different from the operator.

Here, the assumed center-of-gravity distance h is a value input to the input means by the operator for measurement or determination, or an estimated value of the center-of-gravity distance determined by calculation or correction of the input value. Therefore, identifying the barycentric distance does not mean a strict value unique to the barycentric distance H, but means an estimated value of the barycentric distance H. The same applies to other assumed transducer length l, assumed center of gravity height i, assumed suspended load center of gravity, and the like. The predetermined value of the deemed center-of-gravity distance h may be set to be usable when the operator does not input the deemed center-of-gravity distance h. Thus, the predetermined value of the center of gravity distance h is set based on the suspension load condition which is used more, so that even when the operator does not input the assumed center of gravity distance h, the accuracy of estimating the transducer length L can be improved, and the heavy object oscillation can be reduced.

[ example 2 ]

Fig. 5 is a diagram showing another example of the configuration of the center-of-gravity distance input unit 142.

In fig. 5, the center-of-gravity distance input unit 142 includes a camera 1421, a display input unit 1422, and a calculation unit 1423. The display input unit 1422 displays an image obtained by the operator using the camera 1421. The calculation unit 1423 calculates the assumed center-of-gravity distance h based on the image. The calculated recognized center of gravity distance h is transmitted to the control unit 12 via the communication unit 143, and is used to determine the conveyance speed command.

In fig. 5, the string (captured image) 13a, the hook (captured image) 131a, the marker (hook, captured image) 132a, the marker (captured image) 132b, the lanyard (captured image) 20a, and the hanging load (captured image) 30a are the images displayed on the display input section 1422.

For example, the calculation unit 1423 specifies the suspension load (captured image) 30a by image processing, and thereby can estimate the center of gravity (calculation result) 302a of the assumed suspension load in the image. When the image from only one direction is used, for example, the density and depth of the suspension load 30 are made uniform, and the assumed suspension load center of gravity (calculation result) 302a can be estimated. When the image from multiple directions is used, the estimated assumed suspension load center of gravity (calculation result) 302a has high accuracy.

further, the center of gravity distance input unit 142 may have a function of assisting the arithmetic processing performed by the arithmetic unit 1423. For example, the operator can assist the image processing and recognize the suspension load center of gravity (calculation result) 302a by selecting the closest candidate having a schematic shape of the suspension load 30.

Here, it is assumed that the suspension load center of gravity (calculation result) 302a may be displayed on the display input unit 1422. This enables the operator to confirm the position of the center of gravity (calculation result) 302a of the assumed suspension load in the image. The operator may be configured to be able to adjust the position of the center of gravity (calculation result) 302a of the assumed suspension load displayed on the display input unit 1422. This can be achieved by the display input portion 1422 being a touch panel or the like.

Further, the operator may input the recognized suspension load center of gravity 302a estimated by the operator in the image to the display input unit 1422 without using image processing for the recognized suspension load center of gravity (calculation result) 302 a. This can be achieved by the display input portion 1422 being a touch panel or the like. Using the determined recognized suspension load center of gravity (calculation result) 302a, the recognized center of gravity distance h in the real space is obtained by the following calculation by the calculation unit 1423, for example.

The distance between the determined center of gravity (calculation result) 302a of the assumed suspended load and the mark (hook image) 132a can be obtained as the distance in pixel units in the image. In addition, the distance between the marks (captured images) 132b can be determined as a distance in pixel units in the image. Here, the distance between the marks 132 in the real space and the distance between the part of the hook disposed in the mark 132 (corresponding to the mark (hook-captured image) 132a in the image) and the lower part of the hook 131 can be input in advance.

The distance between the center of gravity (calculation result) 302a of the assumed suspended load and the mark (hook captured image) 132a can be converted into the distance between the center of gravity 302 of the assumed suspended load and the mark 132 (the portion disposed on the hook) in the real space, using the interval between the marks (captured images) 132b in pixel units and the interval between the marks 132 in the real space. The assumed center of gravity distance h in the real space can be calculated using the distance between the mark 132 (the portion disposed on the hook) and the lower portion of the hook 131, which is input in advance.

As described above, the calculation unit 1423 calculates the distance h of the assumed center of gravity in the real space using the assumed suspension load center of gravity (calculation result) 302a identified in the image.

[ example 3 ]

fig. 6 is a diagram showing another example of the configuration of the center-of-gravity distance input unit 142.

In fig. 6, the operator inputs the ID of the suspended load 30 to be conveyed or already conveyed to the suspended load ID input section 1425. The estimated center of gravity distance h determined by the method described in embodiment 1 or embodiment 2 is input to the center of gravity distance display input unit 1426 for the suspension load 30. The operator provides a recording instruction of the suspended load 30 by pressing the recording button 1427 or the like. Thus, the center of gravity distance input unit 142 can store the suspension load ID and the recognized center of gravity distance h in the memory 1424. Then, the recognized center of gravity distance h read out from the memory 1424 is transmitted to the control unit 12 via the communication unit 143.

The operator inputs the ID of the suspended load 30 to be conveyed to the suspended load ID input unit 1425, and presses the read button 1428 or the like to provide a read instruction of the suspended load 30. Thus, the center of gravity distance input unit 142 reads out the assumed center of gravity distance h corresponding to the input suspension load ID from the memory 1424, and transmits it to the control unit 12 via the communication unit 143. At this time, the assumed center of gravity distance h read from the memory 1424 may be displayed on the center of gravity distance display input unit 1426.

Here, the operation of transmitting the recorded or read identified barycentric distance h to the control unit 12 via the communication unit 143 may be performed by an instruction from an operator by providing a transmission instruction or the like.

The suspension load ID input unit 1425 is not limited to input of an ID number, as long as the suspension load 30 can be specified. For example, the name of the suspension load 30 may be used. For example, when a barcode or the like for managing the suspended load 30 is attached, the suspended load ID input unit 1425 may be in the form of a barcode reader. In the case where the center-of-gravity distance input unit 142 has the configuration shown in fig. 5, the suspension load ID may not include an image, or the image using the suspension load 30 may be displayed to the operator in a manner of performing an image search for the same suspension load 30 based on the suspension load ID stored in the memory 1424 and selecting the same.

Further, other information than the hanging load ID and the recognized center of gravity distance h may be stored in the memory 1424. For example, by storing the type of the hook wire 20 used as the other information, the assumed center of gravity distance h can be stored for each combination of the suspension load 30 and the hook wire 20. Thus, when a plurality of types of the hook wires 20 are used for the same suspension load 20, the higher-accuracy nominal transducer length l can be determined.

When the suspension load 30 is specified from the suspension load ID by the read command, the operator can specify the type of the hook wire 20 to be used by displaying the stored type of the hook wire 20.

Description of the reference numerals

10 crane

11 trolley

111 transverse motor

1111 transverse wheel

1112 horizontal axis

112 lifting motor

1121 hoisting encoder

1122 hoisting drum

1123 lifting shaft

12 control part

13 rope

131 hook

132 mark

14 operating terminal

141 conveying operation part

142 center of gravity distance input unit

1421 Camera

1422 display input unit

1423 arithmetic unit

1424 memory

1425 hanging load ID input unit

1426 center-of-gravity distance display input unit

1427 record button

1428 readout button

143 communication unit

15 Beam

16 travel device

161 running motor

17 running control unit

18 travelling beam

20 hook rope

30 hanging load

301 suspended load center of gravity

302 identifies the center of gravity of the suspended load

40, the ground.