Crane device control system and crane device control method

Abstract

To provide a crane device control system and a crane device control method capable of preventing accidents and disasters, etc. due to a crane device.SOLUTION: A camera 310SW is installed on the west side of the center in the transverse direction of a surface 260cS facing a floor surface 914 of a girder 260aS. A camera 310SE is installed on the east side of the center in the transverse direction of the surface 260cS facing the floor surface 914 of the girder 260aS. The part of each field of view of the camera 310SW and of the camera 310SE overlaps in the transverse direction. On the basis of the position of a crab 220 detected by a position detection part 245, a control device 240 switches a state between a first state for detecting people based on the captured result by the camera 310SW and a second state for detecting people based on the captured result by the camera 310SE.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a crane apparatus control system and a crane apparatus control method. [Background technology]

[0002] Conventionally, crane equipment is used to hoist loads such as heavy objects at work sites such as factories and warehouses. In order to prevent accidents and disasters (hereinafter referred to as "accidents") caused by crane equipment at work sites, an accident prevention device that issues a warning, for example, has been proposed (see, for example, Patent Document 1).

[0003] In addition, workers at the work site and workers operating the crane equipment (hereinafter referred to as operators) follow safety rules, such as not going under the suspended load or standing in the direction of the crane equipment's movement. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 04-298497 Summary of the Invention [Problem to be solved by the invention]

[0005] However, accidents caused by crane equipment still occur. For example, when an operator operates a crane equipment using a controller device, the operator may erroneously operate the controller device. If the operator erroneously operates the controller device, the crane equipment may advance toward the operator, and the operator may be pinched between the crane equipment and a wall. In addition, there may be other workers in a position that is not visible to the operator (blind spot), and the operator may advance the crane equipment without noticing the worker in the blind spot, which may result in an accident such as contact or collision between the crane equipment and the worker. For this reason, there is a demand for controlling the crane equipment so that accidents caused by the crane equipment do not occur even when the operator makes an operation error or when there is another worker in the blind spot of the operator.

[0006] The present invention has been made in consideration of the above circumstances, and an exemplified object of the present invention is to provide a crane apparatus control system and a crane apparatus control method that can prevent accidents, disasters, and the like caused by a crane apparatus. [Means for solving the problem]

[0007] In order to solve the above problems, a crane apparatus control system as an exemplary aspect of the present invention has the following configuration.

[0008] a crane apparatus including a first moving means that moves in a first direction in a horizontal plane, a second moving means that moves in a second direction perpendicular to the first direction in the horizontal plane, and a support portion that supports the second moving means; A first detection device having at least a first imaging unit and a second imaging unit that capture an image and detects the presence or absence of a person below the crane apparatus; a second detection device that detects a position of the second moving means in the second direction; A control device that controls the crane apparatus based on detection results of the first detection device and the second detection device; and Equipped with the first imaging unit is attached to one end side of a surface of the support unit facing a floor surface, the one end side being closer to a center in the second direction; the second imaging unit is attached to a surface of the support unit facing the floor surface on the other end side of the center in the second direction, The first imaging unit and the second imaging unit have respective fields of view that partially overlap in the second direction, The control device switches between a first state in which the person is detected based on the results of imaging by the first imaging unit and a second state in which the person is detected based on the results of imaging by the second imaging unit, based on the position of the second moving means detected by the second detection device.

[0009] In order to solve the above problems, a crane apparatus control method as an exemplary aspect of the present invention has the following configuration.

[0010] A crane control method for the above crane device control system, a position detection step of detecting a position of the second moving means by the second detection device; a switching step of switching between the first state and the second state based on the position of the second moving means detected in the position detection step; a human detection step of detecting the presence or absence of a human by the first detection device; a control process for controlling the crane apparatus based on a detection result in the human detection process; A crane apparatus control method comprising:

[0011] Further objects and other features of the present invention will become apparent from the following description of preferred embodiments with reference to the accompanying drawings. Effect of the Invention

[0012] According to the present invention, it is possible to provide a crane control system and a crane control method that can prevent accidents, disasters, and the like caused by a crane apparatus. [Brief description of the drawings]

[0013] [Figure 1]FIG. 1 is a schematic diagram showing an overall configuration of a crane device control system according to first to third embodiments. [Diagram 2] FIG. 1 is a perspective view showing a crane device according to first to third embodiments; [Diagram 3] FIG. 3 is a schematic diagram showing a controller device of the crane apparatus according to the first to third embodiments; [Figure 4] (a) is a schematic front view showing a crane device and a detection device according to the first to third embodiments, and (b) is a side view seen from the east side of (a). [Diagram 5] Block diagram of a crane device control system according to embodiments 1 to 3 [Figure 6] FIG. 1A is a diagram for explaining the viewing angle and area of ​​the camera in the lateral direction, FIG. 1B is a diagram for explaining the viewing angle of the camera in the running direction, and FIG. 1C is a diagram for explaining the installation position of the camera in the first to third embodiments. [Figure 7] FIG. 1 is a schematic diagram illustrating the monitoring range of each camera in the first to third embodiments. [Figure 8] Schematic diagrams illustrating switching control of cameras in the lateral direction (east-west) in embodiments 1 to 3 (a) to (c). [Figure 9] FIG. 13 is a diagram showing a screen displayed on the display unit of the crane apparatus according to the first to third embodiments. [Figure 10] 1A to 1D are diagrams for explaining the position and movement direction of a crane device and a set I / L range in accordance with embodiments 1 to 3. [Figure 11] Flowchart showing a crane device control method according to the first to third embodiments [Figure 12] 10 is a flowchart showing a process at the start of the crane device control system according to the second embodiment. [Figure 13] FIG. 13 is a schematic diagram showing a warning device according to a third embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In the following description, the work site includes, for example, a factory, a warehouse, a construction work site, a container terminal, etc., and also includes a place where a suspended load is stored for a certain period of time and an intermediate warehouse where a suspended load is temporarily stored. The suspended load also includes heavy objects such as coils that are lifted and moved by a crane apparatus. The storage place of the suspended load may be indoors or outdoors, as long as there is a facility that can automatically control the crane apparatus.

[0015] In addition, when the crane device moves in the horizontal direction, a predetermined position in the work site is represented by, for example, two-dimensional coordinates (hereinafter referred to as two-dimensional coordinates) and is controlled by a known method. In this case, the two-dimensional coordinates are described as, for example, an orthogonal coordinate system, but other coordinate systems such as a polar coordinate system may be used as long as they can identify a predetermined position in two-dimensional space. As the orthogonal coordinate system, a running direction (x direction) is defined as a first direction in a horizontal plane, and a traverse direction (y direction) is defined as a second direction substantially perpendicular to the first direction in the horizontal plane. In addition, a lifting direction (z direction) is also used as a third direction substantially perpendicular to the running direction and the traverse direction (i.e., the horizontal direction). The direction of the running rail of the crane device described later is defined as the running direction, and the direction of the traverse rail is defined as the traverse direction.

[0016] [Embodiment 1] <Crane control system> The crane control system of the first embodiment is a system that controls the crane so as not to move in the direction where the person is present when the crane is moving in a predetermined direction and detects the presence of a person in a predetermined area. FIG. 1 is a schematic diagram for explaining the crane control system 100 of the first embodiment. FIG. 1 is a schematic plan view of a work site 900 viewed from the ceiling (not shown) side, and shows the crane control system 100 of the first embodiment, a suspended load 800 placed on a floor surface 914, and a worker 700 at the work site 900. Note that the suspended load 800 is represented by a black rectangle, but only a part of it is marked with a reference number. The worker 700 is drawn as a front view and a side view for ease of understanding. In the following description, the worker who operates the crane among the workers 700 is particularly referred to as an operator.

[0017] FIG. 1 also shows a direction symbol, a traveling direction (x direction), and a traverse direction (y direction). The work site 900 of the first embodiment is a facility in which the traveling direction is a north-south direction and the traverse direction is an east-west direction, but there is no limitation on how the traveling direction and the traverse direction are arranged in the north-south-east-west direction. The size ratios and relative distances of each component shown in FIG. 1 do not necessarily represent the actual size ratios and relative distances. Furthermore, the arrangement of each component is not limited to the state shown in FIG. 1. The crane control system 100 of the first embodiment includes a crane 200 and a detection device 300. The work site 900 has a floor surface 914.

[0018] <Crane equipment> Fig. 2 is a schematic perspective view showing the overall configuration of the crane apparatus 200 of the first embodiment. Fig. 2 also shows the travel direction, lateral direction, lifting direction, and north-south-east-west directions. The crane apparatus 200 is an apparatus for lifting and transporting a load 800 at a work site 900, and is, for example, an overhead crane. Note that the crane apparatus 200 is not limited to an overhead crane, and may be a crane of another configuration.

[0019] The crane apparatus 200 has a saddle 210 as a first moving means, a crab 220 as a second moving means, and a hoisting section (hoisting device) 230 as a third moving means. The crane apparatus 200 has a control device 240, a drive section 290, an operation section 295, a position detection section 245, a display section 600, and a setting section 650 (partially see FIG. 5). At the installation location of the crane apparatus 200, a traveling rail 250 for the saddle 210 to travel along the traveling direction, and a girder (beam) 260a and a traverse rail 260b as support sections for the crab 220 to travel (traverse) along the traverse direction are also installed. More specifically, the saddle 210 has two sets of girders 260a and traverse rails 260b. That is, the saddle 210 has a south girder 260aS and a north girder 260aN, and has a south lateral rail 260bS and a north lateral rail 260bN. In addition, a wire rope 270 and a hook unit 280 are also used to lift the load 800.

[0020] The saddle 210 is a movable body that is configured to be movable linearly along the running direction in a horizontal plane (indicated by the 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 moved back and forth on the running rail 250 by a drive unit 290 based on a control command from a control device 240.

[0021] A girder 260a is installed on the saddle 210. The girder 260a extends along the lateral direction in a horizontal plane, and a lateral rail 260b is installed on the upper part of the girder 260a and extends in the same direction as the girder 260a. Therefore, the lateral rail 260b can also move back and forth linearly along the traveling direction together with the saddle 210. The crab 220 is a moving body configured to be able to move on the lateral rail 260b (white arrow in the figure). The crab 220 can move back and forth on the lateral rail 260b along the lateral direction by a drive unit 290 based on a control signal from the control device 240.

[0022] The position detection unit 245 detects the position of the saddle 210 in the traveling direction and the position of the club 220 in the lateral direction. The position of the saddle 210 in the traveling direction may be detected by the position detection unit 245, for example, in the following manner. For example, a light emitting unit (not shown) that emits light (e.g., laser light) and a light receiving unit (not shown) that receives the reflected light are fixed to one end of the crane apparatus 200 within a range that can be moved in the traveling direction. In addition, a reflecting unit that reflects the light emitted from the light emitting unit is provided on the saddle 210 so as to be movable together with the saddle 210. The position detection unit 245 detects the position of the saddle 210 in the traveling direction based on the result of the light emitted from the light emitting unit being reflected by the reflecting unit and received by the light receiving unit. The method of position detection is not limited to the above-mentioned method, and for example, the position detection unit 245 may detect the position of the saddle 210 based on the detection result of an encoder or the like provided in the drive unit 290 that drives the saddle 210. In this manner, the position detection unit 245 may detect the position of the saddle 210 by various known position detection methods.

[0023] The position of the club 220 in the lateral direction may be detected by the position detection unit 245, for example, by the following method. For example, a light emitting unit (not shown) that emits light (e.g., laser light) and a light receiving unit (not shown) that receives the reflected light are fixedly provided at one end of the saddle 210. In addition, a reflecting unit that reflects the light emitted from the light emitting unit is provided at the club 220 so as to be movable together with the club 220. The position detection unit 245 detects the position of the club 220 in the lateral direction based on the result of the light emitted from the light emitting unit being reflected by the reflecting unit and received by the light receiving unit. Note that the method of position detection is not limited to the above-mentioned method. For example, the position detection unit 245 may detect the position of the club 220 based on the detection result by the encoder provided at the driving unit 290 that drives the club 220. In this way, the position detection unit 245 may detect the position of the club 220, as well as the position of the saddle 210, by various known position detection methods.

[0024] In the first embodiment, the saddle 210 is described as the first moving means, and the club 220 is described as the second moving means, but this is not limited thereto. For example, the club 220 may be the first moving means that moves along a first direction (running direction), and the saddle 210 may be the second moving means that moves along a second direction (traverse direction). Which of the saddle 210 and the club 220 is the first moving means and which is the second moving means is a matter of definition and a matter of design. Similarly, which of the first direction and the second direction is the x direction and which is the y direction is also a matter of definition and a matter of design.

[0025] A hoisting unit 230 is installed on the crab 220. The hoisting unit 230 is freely movable together with the crab 220 in the running direction and the lateral direction in a horizontal plane. As shown in Fig. 2, the hoisting unit 230 has a hoisting drum 232. The hoisting drum 232 is a rotating body capable of hoisting and lowering (white arrow in the figure) the wire rope 270 for hoisting the load 800, and is connected to a motor possessed by the drive unit 290, and can rotate forward and backward based on a control command from the control device 240.

[0026] A hook unit 280, which is a suspending means for suspending a load 800 or a sling wire (not shown) attached to the load 800, is moored to the wire rope 270. The hook unit 280 has a hook portion 282 for suspending the load 800 or the sling wire, and a sheave 284 for mooring the hook unit 280 to the wire rope 270. In the first embodiment, 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 may be any device capable of hoisting and lowering the load 800, and may be replaced with, for example, a coil lifter.

[0027] The control device 240 controls the crane apparatus 200 based on the detection results of the detection device 300 and the position detection unit 245. The control device 240 also controls the switching of the detection device 300, specifically the camera 310 (see FIG. 4, etc.). Furthermore, the control device 240 acquires the position of the crane apparatus 200 from the position detection unit 245, specifically the position of the saddle 210 in the traveling direction and the position of the club 220 in the lateral direction. The control device 240 can transmit and receive information to and from a control unit 330 (see FIG. 5) of the detection device 300, which will be described later, via a wired or wireless communication network (not shown), and controls various operations of the crane apparatus 200. The control device 240 controls the vertical movement, horizontal movement, stoppage, etc. of the crane apparatus 200 according to instructions input from the operation unit 295. The control device 240 has, for example, a central processing unit (CPU), a read only memory (ROM), a random-access memory (RAM), a timer, etc. The control device 240 controls the crane device 200 by using the RAM as a temporary work area in accordance with various programs stored in the ROM, monitoring various timings with a timer, and performing various calculations with the CPU.

[0028] (Operation unit) The operation unit 295 is, for example, a controller device operated by an operator, and is used when operating the crane apparatus 200. The operation unit 295 is, for example, a wireless (for example, a telecontroller) or wired (for example, a pendant) controller device. Fig. 3 is a diagram showing the operation unit 295. Fig. 3(a) shows a case where the operation unit 295 is a controller device for operating the crane apparatus 200 wirelessly, such as a telecontroller, and Fig. 3(b) shows a case where the operation unit 295 is a controller device for operating the crane apparatus 200 wired, such as a pendant.

[0029] Each of the operation units 295 has an up button 295a, a down button 295b, an east button 295c, a west button 295d, a south button 295e, and a north button 295f. When the up button 295a is pressed, the control device 240 causes the hoisting drum 232 to wind up the wire rope 270 and move the hook unit 280 upward. The up button 295a is used, for example, when hoisting (raising) the load 800. When the down button 295b is pressed, the control device 240 causes the hoisting drum 232 to wind down the wire rope 270 and move the hook unit 280 downward. The down button 295b is used, for example, when lowering the load 800.

[0030] When the east button 295c is pressed, the control device 240 moves the club 220 in the east direction in the east-west direction (traverse direction). When the west button 295d is pressed, the control device 240 moves the club 220 in the west direction in the east-west direction (traverse direction). In the first embodiment, the east button 295c and the west button 295d are used when it is desired to move the hook unit 280 (or the load 800) in the east-west direction. When the south button 295e is pressed, the control device 240 moves the saddle 210 in the south direction in the north-south direction (travel direction). When the north button 295f is pressed, the control device 240 moves the saddle 210 in the north direction in the north-south direction (travel direction). In the first embodiment, the south button 295e and the north button 295f are used when it is desired to move the hook unit 280 (or the load 800) in the north-south direction. In the following description, it is assumed that the operator operates the crane apparatus 200 while facing south.

[0031] The operation unit 295 is also capable of pressing a plurality of buttons, for example, two buttons, approximately simultaneously. For example, when the east button 295c and the north button 295f are pressed approximately simultaneously, the crane apparatus 200 moves in a northeasterly direction. That is, the crane apparatus 200 advances diagonally backward and left with the hook unit 280 as a reference as seen by the operator. Also, for example, when the west button 295d and the south button 295e are pressed approximately simultaneously, the crane apparatus 200 moves in a southwesterly direction. That is, the crane apparatus 200 advances diagonally forward and right with the hook unit 280 as a reference as seen by the operator.

[0032] The operation unit 295 has a configuration having buttons corresponding to up and down, east and west, north and south, as shown in FIG. 3, but is not limited thereto. For example, left and right, front and back, instead of east and west, north and south, may be used. The operation unit 295 may further have a start button for transmitting to the control device 240 a command to start control of the crane apparatus 200, an end button for transmitting to the control device 240 a command to end control of the crane apparatus 200, a lock button for prohibiting operation of buttons, and the like. The operation unit 295 may be a known input means (not shown), such as a keyboard or a mouse. The operation unit 295 may be a unit that controls an object (the crane apparatus 200 in this case) by voice recognition such as a microphone, or a unit that controls an object by an eye tracking device, and the like.

[0033] Next, the display unit 600 displays the status of the crane apparatus 200 and the detection device 300, and includes a display such as a liquid crystal screen. The setting unit 650 is an input device such as a keyboard or a mouse. The display unit 600 and the setting unit 650 may be integrated into one such as a touch panel. The display unit 600 and the setting unit 650 will be described later.

[0034] The drive unit 290 has known drive means and transmission means (not shown) such as a motor, a cylinder, a clutch, and a gear for driving the saddle 210, the crab 220, and the hoist drum 232.

[0035] <Detection device> The detection device 300 detects the presence or absence of a worker 700 (person) below the crane apparatus 200. FIG. 4(a) is a schematic front view of the crane apparatus 200 and the detection device 300 as seen from the south, showing the lateral direction (east, west). The reference numerals for the members on the north side are given in parentheses. FIG. 4(b) is a side view of the crane apparatus 200 and the detection device 300 as seen from the east (right side) of FIG. 4(a), showing the travel direction (north, south). The reference numerals for the members on the west side are given in parentheses.

[0036] As described above, the crane apparatus 200 has the south girder 260aS and the north girder 260aN. The girder 260a is a general term for the girder 260aS and the girder 260aN. The girder 260aS has a surface 260cS facing the floor surface 914, and the girder 260aN has a surface 260cN facing the floor surface 914.

[0037] Detection device 300, which is a first detection device, has a camera 310, which is an imaging unit, an image analysis unit 320 (see FIG. 5), and a control unit 330 (see FIG. 5). Camera 310 is disposed on girder 260a of crane apparatus 200, and captures an image of the area below saddle 210. As described later, the range in which club 220 can move in the lateral direction is divided into a plurality of areas, and the image captured by camera 310 is used to detect the presence or absence of a person in each of the divided areas.

[0038] (About camera installation) In the first embodiment, two cameras 310 are attached to one girder 260a with their fields of view facing the floor surface 914. A camera 310SW, which is a first imaging unit, is attached to the surface 260cS of the girder 260aS, which is a supporting part (first supporting part) on the south side (one side in the first direction), on the west side (one end side in the second direction) of the center in the lateral direction. A camera 310SE, which is a second imaging unit, is attached to the surface 260cS of the girder 260aS, on the east side (the other end side in the second direction) of the center in the lateral direction. A camera 310NW, which is a third imaging unit, is attached to the surface 260cN of the girder 260aN, which is a second supporting part on the north side (the other side in the first direction), on the west side of the center in the lateral direction, and a camera 310NE, which is a fourth imaging unit, is attached to the east side of the center in the lateral direction. Moreover, the cameras 310SW and 310NW attached to the west side are disposed at approximately the same position in the lateral direction. Similarly, the cameras 310SE and 310NE attached to the east side are disposed at approximately the same position in the lateral direction. The camera 310 is a general term for the cameras 310SW, 310SE, 310NW, and 310NE.

[0039] In this way, since the cameras 310 in the first embodiment are attached to the girder 260a, the field of view does not change even if the crab 220 moves in the lateral direction. On the other hand, when the girder 260 moves in the traveling direction, the cameras 310 move together with the girder 260. Information on the images captured by the four cameras 310 (hereinafter referred to as image information) is transmitted to the image analysis unit 320.

[0040] When camera 310 receives an instruction to start capturing images from control unit 330, it starts capturing images within the field of view at predetermined time intervals (hereinafter referred to as "predetermined intervals"). When camera 310 receives an instruction to end capturing images from control unit 330, it ends capturing images. Camera 310 transmits captured image information to image analysis unit 320 while capturing images at predetermined intervals.

[0041] When the image analysis unit 320 receives the image information captured by the camera 310, it analyzes the received image information by, for example, a known method. The image analysis unit 320 transmits information on the position of a person (hereinafter, referred to as person information) to the control unit 330 based on the image information captured by the camera 310. The person information also includes information that a person was not detected (no person). The image analysis unit 320 analyzes the image information in a time shorter than the above-mentioned predetermined interval. In addition, the method by which the image analysis unit 320 analyzes the image information captured by the camera 310 to obtain the person information is assumed to use a known image analysis method, including, for example, a method using artificial intelligence, and the description will be omitted. In addition, the detection device 300 is not limited to one having an imaging unit that captures an image, and it is sufficient if it can detect the presence or absence of a person in the detection area, and it is sufficient if it can sense a person, such as a human sensor.

[0042] The control unit 330 can transmit and receive information to and from the control device 240 of the crane apparatus 200 via a wired or wireless communication network (not shown), and controls various operations of the detection device 300 according to the control of the control device 240. For example, when the control unit 330 receives information from the control device 240 of the crane apparatus 200 indicating that the movement of the crane apparatus 200 is to be started, the control unit 330 controls the camera 310 to start capturing images at a predetermined interval. Also, for example, when the control unit 330 receives information from the control device 240 of the crane apparatus 200 indicating that the movement of the crane apparatus 200 is to be ended, the control unit 330 controls the camera 310 to end capturing images. The predetermined interval is determined based on the time from when the detection device 300 detects that a person is in a predetermined area until the crane apparatus 200 is stopped by a control to be described later, the movement speed of the crane apparatus 200, the position of the crane apparatus 200 when the detection device 300 detects a person, the position of the person, and the like.

[0043] The control unit 330 includes, for example, a CPU, a ROM, a RAM, a timer, etc. The control unit 330 controls the detection device 300 by using the RAM as a temporary working area in accordance with various programs stored in the ROM, monitoring various timings with a timer, and performing various calculations with the CPU.

[0044] In the first embodiment, the image analysis unit 320 and the control unit 330 are configured separately, but the present invention is not limited to this. The image analysis unit 320 and the control unit 330 may be configured as one unit to perform all image analysis and control, or one of them may perform part of the function of the other. Furthermore, the image analysis unit 320 of the detection device 300 analyzes the image information captured by the camera 310, but the present invention is not limited to this. For example, the 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.

[0045] <Block diagram of the crane control system> 5 is a block diagram of the crane apparatus control system 100. When any button of the operation unit 295 is pressed, the control device 240 of the crane apparatus 200 controls the saddle 210, the crab 220 and / or the hoist drum 232 via the drive unit 290.

[0046] Based on a signal input from the operation unit 295, the control device 240 causes the hoist drum 232 to raise the hook unit 280 and the load 800. Based on a signal input from the operation unit 295, the control device 240 controls the drive unit 290 to transport the load 800 by the saddle 210 and the crab 220.

[0047] The position detector 245, which is a second detector, detects the position of the saddle 210 in the traveling direction and the position of the crab 220 in the lateral direction, and transmits information on the position (hereinafter referred to as position information) to the control device 240. The control device 240 controls the crane device 200 and the detection device 300 based on the position information received from the position detector 245. The display unit 600 and the setting unit 650 will be described later.

[0048] The control unit 330 of the detection device 300 controls the cameras 310 (310SW, 310SE, 310NW, 310NE) according to instructions from the control device 240 of the crane device 200. The control unit 330 transmits the image information received from the image analysis unit 320 to the control device 240. The image analysis unit 320 analyzes the image information captured by the camera 310 and transmits human information to the control unit 330.

[0049] It is assumed that both the control device 240 and the control unit 330 have known communication ports, communication interfaces, etc., and transmit and receive information. Also, a control device that controls the entire crane 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 further, the separately provided control device may analyze the image information.

[0050] <Camera viewing angle (angle of view)> FIG. 6(a) is a diagram for explaining the viewing angle and area of ​​the camera 310 in the lateral direction, and FIG. 6(b) is a diagram for explaining the viewing angle of the camera 310 in the running direction, and also shows the running direction, lateral direction, east-west, north-south. Note that FIG. 6 shows only the main parts. The camera 310 has a viewing angle (angle of view) θ1 in the lateral direction when viewed in the running direction, for example, from the south side, and has a viewing angle θ2 in the running direction when viewed in the lateral direction, for example, from the east side. In FIG. 6, the range of the viewing field of the camera 310 is shown by a two-dot chain line. Note that in the first embodiment, the four cameras 310 have the same viewing angles θ1 and θ2, but each camera 310 may have a different viewing angle.

[0051] As shown in FIG. 6(a), the cameras 310SW and 310SE arranged in the east and west directions are arranged so as to compensate for (eliminate) each other's blind spots, and the cameras 310NW and 310NE are arranged so as to compensate for (eliminate) each other's blind spots. As shown in FIG. 6(b), the cameras 310SE and 310NE arranged in the north and south directions are arranged so as to compensate for (eliminate) each other's blind spots, and the cameras 310SW and 310NW are arranged so as to compensate for (eliminate) each other's blind spots. For example, as shown in FIG. 6(a), the cameras 310SW (310NW) and 310SE (310NE) are arranged so that their fields of view partially overlap. As shown in FIG. 6(b), the cameras 310SE (310SW) and 310NE (310NW) are arranged so that their fields of view partially overlap.

[0052] As shown in Fig. 6(b), the camera 310SE (310SW) is attached to the surface 260cS of the south girder 260aS so that the optical axis shown by the dashed line is inclined at an angle θ3 to the south with respect to the vertical direction (gravity direction) shown by the dashed line. The camera 310NE (310NW) is attached to the surface 260cN of the north girder 260aN so that the optical axis shown by the dashed line is inclined at an angle θ3 to the north with respect to the vertical direction (gravity direction) shown by the dashed line. The angle θ3 is set so that there is always a part where the field of view of the camera 310SE (310SW) and the field of view of the camera 310NE (310NW) overlap.

[0053] Moreover, angle θ3 is determined based on viewing angle θ2 in the traveling direction of camera 310, and the traveling speed and acceleration in the traveling direction of crane apparatus 200. In other words, angle θ3 is determined taking into consideration a braking distance from when the movement of crane apparatus 200 in the traveling direction is stopped until crane apparatus 200 actually stops, and so that camera 310 can detect operator 700 who is further away.

[0054] For example, the camera 310SE may be set as follows to detect the presence of the worker 700 in the range Ar on the floor surface 914 corresponding to the distance L3 from directly below the hook portion 282 to the south. If the distance L3 is, for example, 7 m, the angle θ2 may be set to 55° and the angle θ3 may be set to 10°. In addition, the movable distance of the club 220 in the girders 260aS and 260aN (range L1 described later) is, for example, 22 m. Assume that the camera 310SW (310NW) is disposed at a position 5.5 mm from one end side (west end) of the girder 260aS, and the camera 310SE (310NE) is disposed at a position 5.5 mm from the other end side (east end) of the girder 260aS. In this case, the angle θ1 may be set to, for example, 102°. Note that the above-mentioned numerical values ​​are merely examples and are not limited to these values.

[0055] FIG. 6(c) is a diagram for explaining the mounting position of the camera 310SE (310SW) on the surface 260cS of the girder 260aS. The surface 260cS of the girder 260aS has a length L2 in the traveling direction. Therefore, the mounting position of the camera 310SE (310SW) has a degree of freedom in the traveling direction. The camera 310SE (310SW) can be mounted at any position within the range of the length L2, but if it is desired to detect a worker 700 at a greater distance, it is preferable to install it on the outside of the crane apparatus 200. That is, as shown in FIG. 6(c), when the camera 310SE (310SW) is mounted on the surface 260cS of the girder 260aS on the south side, it is preferable to mount it further south. Similarly, when the camera 310NE (310NW) is mounted on the surface 260cN of the girder 260aN on the north side, it is preferable to mount it further north. Even in this case, the fields of view of the south camera 310SE (310SW) and the north camera 310NE (310NW) are always partially overlapped.

[0056] As a result, even if the worker 700 is under the hook portion 282, the detection device 300 can detect the worker 700. Note that, if the viewing angle θ1 of one camera can cover a plurality of areas (areas 1 to 20) described below, one camera 310 may be provided on one girder 260a. Also, three or more cameras 310 may be provided on one girder 260a and arranged so that the viewing angles of two adjacent cameras partially overlap.

[0057] <Regarding areas for detecting club and person positions> A description will be given of the multiple regions in the first embodiment with reference to FIG. 6(a). When the crane device 200 and the detection device 300 are viewed in the travel direction, for example, from the south side, the range L1 in which the crab 220 can move in the lateral direction is divided into multiple regions in the lateral direction. For example, the range L1 in which the crab 220 can move in the lateral direction, in other words, the length of the girder 260a in the lateral direction, is divided into regions (hereinafter, referred to as divided regions) having lengths corresponding to the width of the worker 700. In the first embodiment, as shown in FIG. 6(a), the length of the girder 260aS (260aN) in the lateral direction is divided into 20 divided regions, and the divided regions are numbered from the east, as region 1, region 2, . . . , region 19, and region 20. The range L1 is the range in which the crab 220 can move, and is the range in which interference (such as a collision) between the crane device 200 and the worker 700 may occur.

[0058] Since two girders 260a are installed on the north and south sides, the divided areas can be set on the south side and the north side, respectively. Therefore, the divided areas on the south side are also called south area 1, south area 2, ..., south area 20, and the divided areas on the north side are also called north area 1, north area 2, ..., north area 20.

[0059] 6(a), camera 310SE can capture an image in the range from south region 1 to south region 16. Camera 310SW can capture an image in the range from south region 5 to south region 20. Therefore, the range from south region 5 to south region 16 is an overlapping range that can be captured by camera 310SE and camera 310SW.

[0060] The same is true for the girder 260aN side, with, from the east, north area 1, north area 2, ..., north area 19, and north area 20. On the north side as well, camera 310NE can image the range from north area 1 to north area 16. Camera 310NW can image the range from north area 5 to north area 20. For this reason, the range from north area 5 to north area 16 is an overlapping range that can be imaged by camera 310NE and camera 310NW.

[0061] The control device 240 can detect in which area, from area 1 to area 20, the club 220 is located, based on the detection result by the position detection unit 245. Also, the control device 240 can detect in which area, from south area 1 to south area 20, the worker 700 is or is not located, based on the imaging results by the cameras 310SW and 310SE. Also, the control device 240 can detect in which area, from north area 1 to north area 20, the worker 700 is or is not located, based on the imaging results by the cameras 310NW and 310NE.

[0062] From the above, the relationship between the divided areas, the ranges that can be imaged by the four cameras 310 (hereinafter referred to as imageable ranges (also monitoring ranges)), and the south area 1 to south area 20 and the north area 1 to north area 20 is shown as in FIG. 7. FIG. 7 is a schematic diagram for explaining the monitoring ranges of the cameras 310 in the first embodiment. The camera 310NE monitors the north area 1 to north area 16, and this range is also referred to as the northeast camera monitoring range. The camera 310NW monitors the north area 5 to north area 20, and this range is also referred to as the northwest camera monitoring range. The camera 310SE monitors the south area 1 to south area 16, and this range is also referred to as the southeast camera monitoring range. The camera 310SW monitors the south area 5 to south area 20, and this range is also referred to as the southwest camera monitoring range. The overlapping area shown in the center of FIG. 7 represents the areas that can be imaged by the four cameras 310.

[0063] <Control of the crane control system> When the control device 240 of the crane control system 100 of the first embodiment determines that an operator 700 is within an interlock range described below when attempting to move the crane apparatus 200, it prevents the crane apparatus 200 from moving in that direction. Here, preventing the crane apparatus 200 from moving in that direction includes prohibiting the stopped crane apparatus 200 from starting to move in that direction, and stopping the crane apparatus 200 moving in that direction.

[0064] <Switching between East and West cameras according to the club's position> The control device 240 of the first embodiment switches between the east and west cameras 310 based on the detection result by the position detection unit 245, based on information on the position of the club 220 in the lateral direction, in other words, on the area from area 1 to area 20 in which the club 220 is located. Here, for example, switching from camera 310SW to camera 310SE means switching the camera 310 to be monitored from camera 310SW to camera 310SE. This switching may be realized by turning on or off the power of the camera 310, or may be realized by switching the acquisition of image information to be analyzed by the image analysis unit 320 while keeping the power of the camera 310 on. In other words, it is sufficient that the worker 700 is detected based on the image captured by either one of the two cameras 310 on the east and west.

[0065] For example, when the club 220 is located west of the center in the traverse direction, the control device 240 switches the camera 310 capturing an image of the area to the camera 310SW and the camera 310NW. Also, when the club 220 is located east of the center in the traverse direction, the control device 240 switches the camera 310 capturing an image of the area to the camera 310SE and the camera 310NE.

[0066] Furthermore, the control device 240 can determine whether the club 220 is moving east or west based on information from the operation unit 295. When the club 220 is moving from west to east, the control device 240 switches the cameras 310 that monitor the club 220 when it passes through a predetermined area from cameras 310SW and 310NW to cameras 310SE and 310NE. When the club 220 is moving from east to west, the control device 240 switches the cameras 310 that monitor the club 220 when it passes through a predetermined area from cameras 310SE and 310NE to cameras 310SW and 310NW.

[0067] 8(a) to 8(c) are schematic diagrams for explaining switching control of the east and west cameras 310 in the first embodiment. The area that can be captured by the west cameras 310SW and 310NW is defined as an imaging area 510W indicated by a solid line, and the area that can be captured by the east cameras 310SE and 310NE is defined as an imaging area 510E indicated by a dashed line. The imaging areas 510W and 510E are also collectively referred to as imaging area 510.

[0068] In Fig. 8(a), the club 220 is located on the west side and is moving from west to east while the cameras 310SW and 310NW are monitoring. At this time, the worker 700 is at position Pa, which is the eastern end of the imaging area 510W of the western cameras 310SW and 310NW. Position Pa corresponds to the southern area 5 and the northern area 5 in Fig. 7.

[0069] Here, assume that the control device 240 switches from the cameras 310SW and 310NW to the cameras 310SE and 310NE when the crab 220 reaches the very edge of the imaging area 510W, that is, the position Pa (south area 5 and north area 5). In this case, the control device 240 detects the worker 700 by the cameras 310SE and 310NE at the switching timing. However, even if the control device 240 controls the crab 220 to stop at that timing, the crab 220 cannot be stopped at the position Pa because there is a braking distance until the crab 220 actually stops. In other words, the position where the crab 220 actually stops is on the east side of the position Pa, and there is a risk that the crane device 200 will come into contact with the worker 700. Therefore, a sufficient distance including the braking distance (hereinafter referred to as the stopping distance L4) is required from when the control device 240 detects the worker 700 by the camera 310 and controls the crab 220 to stop until the crab 220 actually stops.

[0070] In the first embodiment, in order to secure this stopping distance L4, the camera 310 is switched not at the position Pa but at the position Pb (first position) west of the position Pa. The position Pb is set at a position where the stopping distance L4 of the club 220 can be secured at a minimum from the position Pc, which is the western end of the imaging area 510E of the cameras 310SE and 310NE on the east side. The same applies when the club 220 moves from the east to the west, and the switching position of the camera 310 in this case is set to the position Pd (second position) (see FIG. 8(c)). The position Pd is set at a position where the stopping distance L4 of the club 220 can be secured at a minimum from the position Pa, which is the eastern end of the imaging area 510W of the cameras 310SW and 310NW on the west side. In the first embodiment, the position Pb is set to the south area 13 and the north area 13, and the position Pd is set to the south area 8 and the north area 8. The position Pb may be set to the area 11, 12, etc. according to the stopping distance L4, and the position Pd may be set to the area 9, 10, etc. according to the stopping distance L4.

[0071] For example, as shown in FIG. 8(b), when the crab 220 is moving from west to east, the control device 240 switches from the cameras 310SW and 310NW to the cameras 310SE and 310NE when the crab 220 passes position Pb. The control device 240 detects the worker 700 by the cameras 310SE and 310NE, and controls the crab 220 to stop at this timing. The crab 220 moves a stopping distance L4 and stops. In other words, the crab 220 can stop before the position Pa where the worker 700 is located.

[0072] FIG. 8(c) shows a case where the traveling direction of the crab 220 is switched from east to west from the state of FIG. 8(b). As described above, in FIG. 8(b), the camera 310 is switched from 310SW and 310NW to the camera 310SE and 310NE at the timing when the crab 220 moves from west to east and passes the position Pb. At this time, even if the crab 220 switches to move from east to west, the worker 700 at the position of FIG. 8(c) has already been detected by the camera 310SE and 310NE. Therefore, even if the camera is subsequently switched to 310SW and 310NW, the control device 240 can detect the worker 700 without interruption, regardless of the switching of the camera 310. In this case, the control device 240 prohibits the crab 220 from moving westward ("X" in FIG. 8(c)).

[0073] In addition, a state where a person is detected based on the result of imaging by the cameras 310SW and 310NW based on the position of the club 220 detected by the position detection unit 245 is also referred to as a first state. A state where a person is detected based on the result of imaging by the cameras 310SE and 310NE is also referred to as a second state. The control device 240 switches between the first state and the second state based on the position of the club 220 in the lateral direction. This allows the camera 310 to be switched early, and even if the worker 700 is at the end of the imaging area 510 of each camera 310, the worker 700 can be detected early. In addition, even if the club 220 changes direction near the switching position (Pb, Pd) of the camera 310, the worker 700 can be detected without interruption. Therefore, the hook part 282 can safely stop the club 220 without interfering with the worker 700.

[0074] <Interlock range> Fig. 9 is a diagram showing a screen displayed on the display unit 600 of the crane apparatus 200. The information displayed on the display unit 600 is not limited to the information and arrangement shown in Fig. 9, and may be determined according to the specifications of the crane apparatus control system 100 and the needs of the user. It is not always necessary to display this information on the display unit 600. The range of interlock (hereinafter referred to as I / L range), which is a prohibited area, will be described with reference to Fig. 9.

[0075] The display unit 600 shows, from the top, whether or not the worker 700 is present based on the detection results of the south side cameras 310SW and 310SE (person detection (south)), a south side I / L range described later, and the position of the crab 220 (crane position) based on the detection results of the position detection unit 245. It also shows a north side I / L range described later, whether or not the worker 700 is present based on the detection results of the north side cameras 310NW and 310NE (person detection (north)), and numbers from 1 (01) to 20 corresponding to the area. Person detection (south), south side I / L range, crane position, north side I / L range, and person detection (north) are represented by squares or circles with numbers corresponding to 1 to 20. In addition, the lower left shows east-west, north-south, arrows indicating the movement direction of the crane apparatus 200 based on the information input to the operation unit 295, and a mark (x mark) indicating whether movement in that direction is prohibited or not. Furthermore, at the bottom right, there are displayed the I / L area settings for the traverse direction and the running direction, the position of the crab 220 (current traverse position), and a button indicating whether interlock due to human detection is enabled or disabled (human detection I / L enabled). For the sake of explanation, the interlock is always enabled. Also, based on the detection result by the position detection unit 245, it is assumed that the crab 220 is located in the area 15.

[0076] Here, the I / L range is a range that is set so that the movement of the crane apparatus 200 is prohibited if the presence of the worker 700 is detected within the I / L range when the crane apparatus 200 is about to move in a certain direction. The certain direction includes, in addition to east, west, south, and north, directions such as southeast, northeast, southwest, and southeast. The I / L range includes a traveling direction I / L range that prohibits the movement of the crane apparatus 200 in the traveling direction, and a traverse direction I / L range that prohibits the movement in the traverse direction. When prohibiting the movement of the crane apparatus 200 in a direction such as southeast or northeast, both the traveling direction I / L range and the traverse direction I / L range are set.

[0077] The operator uses the setting unit 650 to set the width of the I / L range in advance. The width of the I / L range set here is hereinafter referred to as the I / L area setting. There are I / L area settings for the travel direction and I / L area settings for the lateral direction. For example, the operator uses the setting unit 650 to set the I / L area setting for the lateral direction to "3" and the I / L area setting for the travel direction to "5." Note that the larger the numerical value of the I / L area setting, the wider the range in which the movement of the crane apparatus 200 is restricted, i.e., the stricter the setting. The I / L area setting may be determined depending on the situation in which the crane apparatus 200 is used, the performance of the crane apparatus 200, and the like.

[0078] The control device 240 uses the position of the crab 220 as a reference, for example, sets five areas corresponding to the value "5" of the I / L area setting for the traveling direction as the I / L range for the traveling direction, with the position of the crab 220 as the center. For example, in FIG. 9, the control device 240 detects that the crab 220 is located in area 15, and therefore sets five areas with area 15 as the center, that is, the south area 13 to south area 17 and the north area 13 to north area 17, as the I / L range for the traveling direction (first prohibited area).

[0079] The control device 240 sets three areas corresponding to the I / L area setting value "3" in the lateral direction as the I / L range in the lateral direction, for example, by positioning the crab 220 at the most upstream position in the traveling direction based on the position of the crab 220. For example, in FIG. 9, the control device 240 detects that the crab 220 is located in area 15, and therefore sets three areas with area 15 as the most upstream, that is, areas 15 to 17, as the I / L range (second prohibited area) when the crab 220 moves in the lateral direction, for example, westward. Note that both the south side I / L range and the north side I / L range are set as the I / L range in the lateral direction.

[0080] Based on the above, the I / L range will be explained using Fig. 10. Fig. 10 is a diagram for explaining the movement of the crane apparatus 200 and the set I / L range. The position of the crab 220, the I / L area setting in the lateral direction, and the I / L range in the travel direction are the same as those in Fig. 9.

[0081] FIG. 10(a) shows a state in which the crane apparatus 200 is about to move south, and the south area 13 to south area 17, which is the south side I / L range, are displayed in red, for example (indicated by a diagonal line pattern in FIG. 10). At this time, if the operator 700 is detected in the range 601 shown by the dashed line in the person detection (south), the crane apparatus 200 is prohibited from moving south. When the movement of the crane apparatus 200 is prohibited, the "x" part of the display unit 600 turns into red, for example, to alert the operator (the same applies in the following explanation). Note that if the operator 700 is not in the range 601, the movement to the south is not prohibited (it is permitted). Also, even if the operator 700 is in the range 601, the crane apparatus 200 is not prohibited from moving east, west, or north.

[0082] FIG. 10(b) shows a state in which crane apparatus 200 is about to move north, and north area 13 to north area 17, which is the north I / L range, are displayed in red, for example (shown by a diagonal line pattern in FIG. 10). At this time, if operator 700 is detected in range 602 shown by a dashed line in human detection (north), crane apparatus 200 is prohibited from moving north. Note that if operator 700 is not in range 602, movement north is not prohibited. Also, even if operator 700 is in range 602, crane apparatus 200 is not prohibited from moving east, west, or south.

[0083] FIG. 10(c) shows a state in which the crane apparatus 200 is about to move eastward. In this case, the south area 15 to south area 17, which is the south side I / L range, and the north area 15 to north area 17, which is the north side I / L range, are displayed in yellow, for example (indicated by a grid pattern in FIG. 10). At this time, if the presence of the worker 700 is detected in the range 603 shown by the dashed lines in the person detection (south) and person detection (north), the crane apparatus 200 is prohibited from moving eastward. If the worker 700 is not present in the range 603, the movement eastward is not prohibited. Here, if the worker 700 is present in the range 603, even if the crane apparatus 200 stops moving eastward and tries to move south or north, the state shown in FIG. 10(a) or FIG. 10(b) is reached, and therefore the movement in the traveling direction in which the worker 700 is present is prohibited. In other words, when the operator 700 is in the range 603, the movement of the crane apparatus 200 to the west and in a traveling direction in which the operator 700 is not present is not prohibited.

[0084] FIG. 10(d) shows a state in which the crane apparatus 200 is about to move westward. In this case, the south area 13 to south area 15, which is the south side I / L range, and the north area 13 to north area 15, which is the north side I / L range, are displayed in yellow, for example (indicated by a grid pattern in FIG. 10). At this time, if the worker 700 is detected to be in the range 604 shown by the dashed lines in the person detection (south) and person detection (north), the crane apparatus 200 is prohibited from moving westward. Note that if the worker 700 is not in the range 604, movement to the west is not prohibited. Here, if the worker 700 is in the range 604, even if the crane apparatus 200 stops moving westward and tries to move south or north, the state becomes as shown in FIG. 10(a) or FIG. 10(b), and movement in the traveling direction in which the worker 700 is present is prohibited. In other words, when the operator 700 is in the range 604, the crane apparatus 200 is not prohibited from moving to the east or in a traveling direction in which the operator 700 is not present.

[0085] Finally, a state in which the crane device 200 is about to be moved southeast will be described with reference to FIG. 9. In the I / L range in the travel direction, the south area 13 to south area 17, which is the south side I / L range, is displayed in red (shown by a diagonal line pattern in FIG. 9). In addition, in the I / L range in the lateral direction, the south area 15 to south area 17, which is the south side I / L range, and the north area 15 to north area 17, which is the north side I / L range, are displayed in yellow (shown by a grid pattern in FIG. 9). Here, for the south side I / L range, the I / L range in the travel direction and the I / L range in the lateral direction overlap, and in FIG. 10, the I / L range in the lateral direction is included in the I / L range in the travel direction. Note that the overlapping portion may be displayed in yellow (shown by a grid pattern in FIG. 9), and the non-overlapping portion may be displayed in red (shown by a diagonal line pattern in FIG. 9). That is, FIG. 9 is a state in which FIG. 10(a) and FIG. 10(c) are combined. For this reason, when the presence of worker 700 is detected within range 601 in Fig. 10(a) or range 602 in Fig. 10(c), movement of crane apparatus 200 to the southeast is prohibited. In Fig. 9, the presence of worker 700 is detected in south area 17 as shown in person detection (south) and in north area 13 as shown in person detection (north). In Fig. 9, since worker 700 is in south area 17, movement of crane apparatus 200 to the southeast is prohibited. When movement of crane apparatus 200 is prohibited, the "x" portion turns red, for example (shown in black in Fig. 10), to alert the operator.

[0086] <Crane device control method> FIG. 11 is a flowchart showing a crane control method using the crane control system 100 of the first embodiment. The crane control method includes a position detection step, a switching step, a setting step, a human detection step, and a stopping step. The position detection step is a step of detecting in which area the crab 220 is located. The switching step is a step of switching the east-west camera 310, if necessary, according to the position of the crab 220 detected in the position detection step. The setting step is a step of setting the I / L range based on the value of the I / L area setting that is set in advance and the position of the crab 220 detected in the position detection step. The human detection step is a step of detecting whether or not the worker 700 is present within the I / L range based on the detection result of the detection device 300. The stopping step is a step of stopping the movement of the crane 200 by the control device 240 when the presence of a human in the I / L range is detected in the human detection step. In the following description, the movement of the crane 200 into the prohibited area (I / L range) is also expressed as movement in a prohibited direction.

[0087] When the control device 240 receives an instruction to start controlling the crane device 200 via the operation unit 295, for example, the control device 240 starts controlling the crane device 200 and executes the processing from step (hereinafter referred to as S) 800 onwards. It is assumed that the I / L area setting described in FIG. 9 has been performed in advance. In S800, the control device 240 starts capturing images with the camera 310 via the control unit 330 of the detection device 300. In addition, the image analysis unit 320 analyzes the image captured by the camera 310 and transmits human information to the control device 240. In S810, the control device 240 controls the crane device 200 based on the information input from the operation unit 295, and starts operating the crane device 200.

[0088] In S820, the control device 240 detects the position of the club 220 in the lateral direction based on the detection result by the position detection unit 245 (position detection process). The detection result by the position detection unit 245 is displayed in "lateral current position" in FIG. 9, for example. Furthermore, the control device 240 switches the camera 310 as described with reference to FIG. 8 and the like based on the position of the club 220 detected by the position detection unit 245 (switching process). For example, when the club 220 is moving from west to east, the camera 310SW, 310NW is switched to the camera 310SE, 310NE at the timing when the club 220 passes through the position Pb (area 13) in FIG. 8(a). Conversely, when the club 220 is moving from east to west, the camera 310SE, 310NE is switched to the camera 310SW, 310NW at the timing when the club 220 passes through the position Pd (area 8) in FIG. 8(c). At other times, since the appropriate camera 310 has been selected, there is no need to switch the camera 310.

[0089] In S830, the control device 240 sets the I / L range described in FIG. 9 and FIG. 10 based on the position of the crab 220 detected in S820, the preset I / L area setting value, and the movement direction of the crane apparatus 200 input from the operation unit 295 (setting step). In S840, the control device 240 judges whether or not the worker 700 is present within the I / L range set in S830 based on the detection result of the camera 310 (human detection step). If the control device 240 judges in S840 that the worker 700 is present within the I / L range, it advances the process to S850, and if it judges that the worker 700 is not present, it advances the process to S860. In S850, the control device 240 prohibits the movement of the crane apparatus 200 and stops the crane apparatus 200 (control step (including the stop step)).

[0090] In S860, the control device 240 moves the crane device 200 in the operated direction. In S870, the control device 240 judges whether the operation of the operation unit 295 by the operator has been completed. If the control device 240 judges in S870 that the operation has not been completed, the process returns to S810, and if the control device 240 judges that the operation has been completed, the process proceeds to S880. Here, the control device 240 may judge to end the operation of the crane device 200 when, for example, an instruction to end the control of the crane device 200 is received via the operation unit 295. In addition, the control device 240 may judge to end the operation of the crane device 200 when a signal input from the operation unit 295 is not received even after a certain period of time has elapsed. In S880, the control device 240 stops the crane device 200, ends the image capture by the camera 310, and ends the process. Note that, in the flowchart of FIG. 11, the image capture by the camera 310 is completed after the crane device 200 is stopped in S880, but this is not limited thereto. Imaging by the camera 310 may be terminated before the crane apparatus 200 is stopped.

[0091] In the above-mentioned embodiment 1, the camera 310SW and the camera 310NW attached to the west side are arranged at approximately the same position in the lateral direction, and the camera 310SE and the camera 310NE attached to the east side are arranged at approximately the same position in the lateral direction. However, this is not limited to this. If the overlapping area shown in FIG. 7 can be realized, the positions of the cameras 310 arranged in the north and south in the lateral direction may be shifted.

[0092] In the above-described first embodiment, the club 220 is supported by two girders 260aS and 260aN, but the club 220 may be supported by one girder 260a. In this case, one camera 310 may be attached to one girder 260a, or at least two cameras 310 may be attached to one girder 260a.

[0093] In the above-mentioned first embodiment, the lateral direction is divided into a plurality of regions (1 to 20), but the travel direction may also be divided into a plurality of regions. In this case, for each of the east and west regions, the interlock range may be set based on the region where the club 220 is located. Furthermore, the east and west cameras may be switched.

[0094] Furthermore, in the above-described first embodiment, when the I / L range in the traveling direction is set, it is set so as to be symmetrical in the east-west direction with the position of the crab 220 as the center, but this is not limited thereto. The I / L range in the traveling direction may be set in other ways, such as being asymmetrical in the east-west direction with the position of the crab 220 as the reference. Furthermore, when the I / L range in the lateral direction is set, it is set so that the position of the crab 220 is located at the most upstream position in the traveling direction, but this is not limited thereto. For example, the I / L range in the lateral direction may also be set so as to be symmetrical in the east-west direction with the position of the crab 220 as the center, like the I / L range in the traveling direction.

[0095] As described above, according to the first embodiment, it is possible to provide a crane control system and a crane control method that can prevent accidents, disasters, and the like caused by a crane apparatus.

[0096] [Embodiment 2] In the second embodiment, the process at the time of startup of the crane control system 100 will be described. That is, the process of S800 described in Fig. 11 of the first embodiment will be described. Fig. 12 is a flowchart showing the process at the time of startup of the crane control system 100 of the second embodiment. When the crane control system 100 is started, the control device 240 executes the processes from S802 onwards.

[0097] In S802, the control device 240 switches to the preset (default) camera 310 and starts capturing images. For example, if the east side cameras 310SE and 310NE are preset as the default, the control device 240 switches to the cameras 310SE and 310NE and detects the presence or absence of the worker 700 based on the information from these cameras 310.

[0098] At this time, it is uncertain where the club 220 is located in the lateral direction. That is, even though the camera 310 has been switched to the east side, the club 220 may be located on the west side. For this reason, in S804, the control device 240 detects the position of the club 220 by the position detection unit 245. In S806, the control device 240 determines whether or not the club 220 is located on the default (east) side based on the detection result by the position detection unit 245 in S804.

[0099] If the control device 240 determines in S806 that the club 220 is located on the default (east) side, the process ends. If the control device 240 determines in S806 that the club 220 is not located on the default (east) side, that is, that the club 220 is located on the opposite side (west) from the default, the process proceeds to S808. In S808, the control device 240 switches the camera 310 to the camera 310 on the opposite side (west) from the default (east), and the process ends.

[0100] For example, when the club 220 is located in the west, the control device 240 switches from the east camera to the west camera. When the club 220 moves to a position east of position Pb, the camera is immediately switched to the east camera 310 by the process of S820 in Fig. 11. Therefore, even when the crane control system 100 is started up, the camera 310 can continuously detect the presence or absence of the worker 700. The same process can be performed when the default setting of the camera 310 is the west camera.

[0101] In the second embodiment, the process of FIG. 12 is performed assuming that the position of the crab 220 is indefinite when the crane control system 100 is started, but this is not limiting. The crane apparatus 200 may have a non-volatile memory, and the position of the crab 220 may be stored in the non-volatile memory when the crane control system 100 is terminated. The control device 240 may read the position of the crab 220 from the memory when the crane control system 100 is started, and switch the camera 310 based on the read information. Furthermore, the information stored in the memory does not have to be the position of the crab 220, and may be information on the camera 310 on the side where the crab 220 is located when the crane control system 100 is terminated.

[0102] As described above, according to the second embodiment, it is possible to provide a crane control system and a crane control method that can prevent accidents, disasters, and the like caused by a crane apparatus.

[0103] [Embodiment 3] In the third embodiment, the crane control system 100 includes a warning device which is a warning means for notifying that a worker 700 has been detected in the moving direction of the crane apparatus 200. As described in Figs. 9 and 10 in the first embodiment, when the control device 240 determines that the worker 700 is within a set I / L range, the control device 240 issues a warning by the warning device 400 to request the worker 700 to evacuate. A specific example of the warning device 400 will be described below. Fig. 13 is a schematic diagram showing the warning device 400 of the third embodiment.

[0104] The control device 240 may control the warning device 400 to issue a warning when it is determined in the determination process of S840 in Fig. 11 that a person is present. The control device 240 may also control the warning device 400 to end the warning when it is determined that the worker 700 has evacuated while the warning by the warning device 400 is being maintained.

[0105] <Warning device> (illumination) The warning device 400 is, for example, a lighting unit 410 that illuminates the side of the worker 700 detected by the detection device 300 so that the worker 700 can see the lighting unit 410. The lighting unit 410 is attached to, for example, the club 220. The control device 240 warns the worker 700 to evacuate by illuminating the side of the worker 700 with the lighting unit 410. Although only one lighting unit 410 is depicted in FIG. 13, lighting units 410 may be attached to the north, south, east and west of the club 220. The lighting units 410 may also be attached to other positions on the crane apparatus 200, such as the girder 260a or the camera 310.

[0106] The color of the illumination of the illumination unit 410 is not particularly limited, and may be, for example, a color such as red that attracts the attention of the worker 700. Furthermore, the illumination by the illumination unit 410 may be blinked. The control device 240 turns on the illumination unit 410, which can illuminate an area where the detection device 300 detects that the worker 700 is present, and prompts the worker 700 in that area to evacuate.

[0107] (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 notifies the worker 700 to evacuate by outputting sound or voice from the speaker 420. The sound output from the speaker 420 may be, for example, a siren that alerts the worker 700 to danger. The voice output from the speaker 420 may be, for example, "A crane is approaching. Please leave the area," or other voice that urges the worker 700 to leave the area. The warning device 400 may have both the lighting unit 410 and the speaker 420.

[0108] The warning device 400 is not limited to light or sound, and may be any device that notifies the worker 700 of a danger. For example, if the worker 700 always carries a mobile terminal or the like, the warning device may vibrate to notify the worker 700 of a danger.

[0109] As described above, according to the third embodiment, it is possible to provide a crane control system and a crane control method that can prevent accidents and disasters caused by a crane. The control device 240 can prompt the worker 700 within the I / L range to evacuate by using light, sound, etc.

[0110] 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 of the present invention. For example, the present invention includes the following gist.

[0111] [Objective 1] a crane apparatus including a first moving means that moves in a first direction in a horizontal plane, a second moving means that moves in a second direction perpendicular to the first direction in the horizontal plane, and a support portion that supports the second moving means; A first detection device having at least a first imaging unit and a second imaging unit that capture an image and detects the presence or absence of a person below the crane apparatus; a second detection device that detects a position of the second moving means in the second direction; A control device that controls the crane apparatus based on detection results of the first detection device and the second detection device; and Equipped with the first imaging unit is attached to one end side of a surface of the support unit facing a floor surface, the one end side being closer to a center in the second direction; the second imaging unit is attached to a surface of the support unit facing the floor surface on the other end side of the center in the second direction, The first imaging unit and the second imaging unit have respective fields of view that partially overlap in the second direction, The control device switches between a first state in which the person is detected based on the results of imaging by the first imaging unit, and a second state in which the person is detected based on the results of imaging by the second imaging unit, based on the position of the second moving means detected by the second detection device.

[0112] [Objective 2] When the support portion is a first support portion that supports the second moving means in one of the first directions, the crane apparatus has a second support portion that supports the second moving means on the other side in the first direction, the first detection device has a third imaging unit attached to one end side of a surface of the second support part facing the floor surface relative to a center in the second direction, and a fourth imaging unit attached to the other end side of a surface of the second support part facing the floor surface relative to the center in the second direction, The third imaging unit and the fourth imaging unit have respective fields of view that partially overlap in the second direction, The first imaging unit and the third imaging unit have respective fields of view that partially overlap in the first direction, The second imaging unit and the fourth imaging unit have respective fields of view that partially overlap in the first direction, The control device may detect the person based on the results of imaging by the first imaging unit and the third imaging unit in the first state, and may detect the person based on the results of imaging by the second imaging unit and the fourth imaging unit in the second state.

[0113] [Objective 3] the first imaging unit and the third imaging unit are attached with their optical axes inclined with respect to the vertical direction so that their fields of view are directed toward the one side in the first direction, The second imaging section and the fourth imaging section may be attached with their optical axes inclined with respect to the vertical direction so that their fields of view face the other side in the first direction.

[0114] [Objective 4] The control device may switch to the first state when the second detection device detects that the second moving means is located toward the one end rather than the center, and may switch to the second state when the second detection device detects that the second moving means is located toward the other end rather than the center.

[0115] [Objective 5] The control device may switch to the second state when the second detection device detects that the second moving means has reached a first position that is closer to the one end than the center when the second moving means is moving from one side to the other in the second direction, and may switch to the first state when the second detection device detects that the second moving means has reached a second position that is closer to the other end than the center when the second moving means is moving from the other side to one side in the second direction.

[0116] [Objective 6] The control device may divide a range in which the second moving means can move in the second direction into a plurality of areas, detect which of the plurality of areas the second moving means is located in using the second detection device, and based on the detection result, set a prohibited area within the plurality of areas that prohibits movement in the first direction, and if the first detection device detects the presence of the person in the prohibited area, prohibit movement of the crane apparatus into the prohibited area.

[0117] [Objective 7] The control device may set, as the prohibited areas, a plurality of areas that are symmetrical in the second direction with respect to the area in which the second moving means is located.

[0118] [Objective 8] The control device may divide a range in which the second moving means can move in the second direction into a plurality of areas, detect which of the plurality of areas the second moving means is located in using the second detection device, and based on the detection result, set a prohibited area within the plurality of areas that prohibits movement in the second direction, and if the first detection device detects the presence of the person in the prohibited area, prohibit movement of the crane apparatus into the prohibited area.

[0119] [Objective 9] The control device may set a plurality of the areas downstream in a traveling direction of the second moving means from an area in which the second moving means is located as the prohibited areas.

[0120] [Objective 10] The control device may set, as the prohibited areas, a plurality of areas that are symmetrical in the second direction with respect to the area in which the second moving means is located.

[0121] [Objective 11] The control device may divide a range in which the second moving means can move in the second direction into a plurality of areas, detect which of the plurality of areas the second moving means is located in using the second detection device, and based on the detection result, set a first prohibited area among the plurality of areas that prohibits movement in the first direction, and set a second prohibited area among the plurality of areas that prohibits movement in the second direction, and when the first detection device detects the presence of the person in the first prohibited area or the second prohibited area, prohibit movement of the crane apparatus into the first prohibited area and the second prohibited area.

[0122] [Objective 12] The control device may set a plurality of the areas symmetrical in the second direction based on the area in which the second moving means is located as the first prohibited areas, and set a plurality of the areas downstream from the area in which the second moving means is located in the direction of travel of the second moving means as the second prohibited areas.

[0123] [Objective 13] The control device may set a plurality of the areas that are symmetrical in the second direction with respect to the area in which the second moving means is located as the first prohibited areas, and may set a plurality of the areas that are symmetrical in the second direction with respect to the area in which the second moving means is located as the second prohibited areas.

[0124] [Objective 14] A crane control method for the above crane device control system, a position detection step of detecting a position of the second moving means by the second detection device; a switching step of switching between the first state and the second state based on the position of the second moving means detected in the position detection step; a human detection step of detecting the presence or absence of a human by the first detection device; a control process for controlling the crane apparatus based on a detection result in the human detection process; A crane apparatus control method comprising: [Explanation of symbols]

[0125] 100 Crane equipment control system 200 Crane equipment 210 Saddle 220 Club 230 Top of Volume 232 Winding drum 240 Control device 245 Position detection unit 250 Running rail 260, 260a, 260aS, 260aN Girder 260b, 260bN, 260bS Traverse rail 260cS, 260cN surface 270 Wire Rope 280 Hook unit 282 Hook part 284 Sheaves 290 Drive Unit 295 Operation section 295a Up button 295b Down button 295c East Button 295d West button 295e South Button 295f North Button 300 Detection Device 310, 310SW, 310NW, 310SE, 310NE Camera 320 Image Analysis Unit 330 Control Unit 400 Warning device 410 Lighting Department 420 Speaker 510, 510W, 510E Imaging area 600 Display 601, 602, 603, 604 I / L range 650 Setting Department 700 workers 800 Hanging load 900 Work Site 914 Floor

Claims

1. a crane apparatus including: a first moving means that moves in a first direction in a horizontal plane; a second moving means that moves in a second direction perpendicular to the first direction in the horizontal plane; and a support portion that supports the second moving means; A first detection device having at least a first imaging unit and a second imaging unit that capture an image and detects the presence or absence of a person below the crane apparatus; a second detection device that detects a position of the second moving means in the second direction; a control device that controls the crane apparatus based on detection results of the first detection device and the second detection device; Equipped with the first imaging unit is attached to one end side of a surface of the support unit facing a floor surface, the one end side being closer to a center in the second direction; the second imaging unit is attached to a surface of the support unit facing the floor surface on the other end side of the center in the second direction, The first imaging unit and the second imaging unit have respective fields of view that partially overlap in the second direction, The control device switches between a first state in which the person is detected based on the results of imaging by the first imaging unit, and a second state in which the person is detected based on the results of imaging by the second imaging unit, based on the position of the second moving means detected by the second detection device.

2. When the support portion is a first support portion that supports the second moving means in one of the first directions, the crane apparatus has a second support portion that supports the second moving means on the other side of the first direction, the first detection device has a third imaging unit attached to one end side of a surface of the second support part facing the floor surface relative to a center in the second direction, and a fourth imaging unit attached to the other end side of a surface of the second support part facing the floor surface relative to the center in the second direction, The third imaging unit and the fourth imaging unit have respective fields of view that partially overlap each other in the second direction, The first imaging unit and the third imaging unit have respective fields of view that partially overlap each other in the first direction, The second imaging unit and the fourth imaging unit have respective fields of view that partially overlap in the first direction, 2. The crane equipment control system according to claim 1, wherein the control device detects the person based on the results of imaging by the first imaging unit and the third imaging unit in the first state, and detects the person based on the results of imaging by the second imaging unit and the fourth imaging unit in the second state.

3. the first imaging unit and the third imaging unit are attached with their optical axes inclined with respect to a vertical direction so that their fields of view are directed toward the one side in the first direction, The crane apparatus control system according to claim 2 , wherein the second imaging unit and the fourth imaging unit are attached with optical axes inclined with respect to the vertical direction so that a field of view faces the other side in the first direction.

4. 4. The crane equipment control system according to claim 1, wherein the control device switches to the first state when the second detection device detects that the second moving means is located on the one end side of the center, and switches to the second state when the second detection device detects that the second moving means is located on the other end side of the center.

5. 4. The crane equipment control system according to claim 1, wherein the control device switches to the second state when the second detection device detects that the second movement means has reached a first position on the one end side of the center when the second movement means is moving from one side to the other side in the second direction, and switches to the first state when the second detection device detects that the second movement means has reached a second position on the other end side of the center when the second movement means is moving from the other side to one side in the second direction.

6. 4. The crane equipment control system according to claim 1, wherein the control device divides a range in which the second moving means can move in the second direction into a plurality of areas, detects which of the plurality of areas the second moving means is located in using the second detection device, and based on the detection result, sets a prohibited area among the plurality of areas that prohibits movement in the first direction, and prohibits movement of the crane equipment into the prohibited area when the first detection device detects that the person is in the prohibited area.

7. 7. The crane apparatus control system according to claim 6, wherein the control device sets a plurality of the areas symmetrical in the second direction with respect to an area in which the second moving means is located as the prohibited areas.

8. 4. The crane equipment control system according to claim 1, wherein the control device divides a range in which the second moving means can move in the second direction into a plurality of areas, detects which of the plurality of areas the second moving means is located in using the second detection device, and based on the detection result, sets a prohibited area among the plurality of areas that prohibits movement in the second direction, and prohibits movement of the crane equipment into the prohibited area when the first detection device detects that the person is in the prohibited area.

9. 9. The crane device control system according to claim 8, wherein the control device sets a plurality of the areas extending downstream in a traveling direction of the second moving means from an area in which the second moving means is located as the prohibited areas.

10. 9. The crane device control system according to claim 8, wherein the control device sets a plurality of the areas symmetrical in the second direction with respect to an area in which the second moving means is located as the prohibited areas.

11. 4. The crane equipment control system according to claim 1, wherein the control device divides a range in which the second moving means can move in the second direction into a plurality of areas, detects which of the plurality of areas the second moving means is located in using the second detection device, and based on the detection result, sets a first prohibited area that prohibits movement in the first direction among the plurality of areas and sets a second prohibited area that prohibits movement in the second direction among the plurality of areas, and when the first detection device detects that the person is in the first prohibited area or the second prohibited area, prohibits movement of the crane equipment to the first prohibited area and the second prohibited area.

12. 12. The crane equipment control system according to claim 11, wherein the control device sets a plurality of the areas symmetrical in the second direction with respect to an area in which the second moving means is located as the first prohibited areas, and sets a plurality of the areas extending downstream from the area in which the second moving means is located in the traveling direction of the second moving means as the second prohibited areas.

13. The crane equipment control system according to claim 11, wherein the control device sets a plurality of the areas symmetrical in the second direction with respect to the area in which the second moving means is located as the first prohibited areas, and sets a plurality of the areas symmetrical in the second direction with respect to the area in which the second moving means is located as the second prohibited areas.

14. A crane control method for the crane device control system according to any one of claims 1 to 3, comprising: a position detection step of detecting a position of the second moving means by the second detection device; a switching step of switching between the first state and the second state based on the position of the second moving means detected in the position detection step; a human detection step of detecting the presence or absence of a human by the first detection device; a control process for controlling the crane apparatus based on a detection result in the human detection process; A crane apparatus control method comprising:

Images