Winch monitoring device and crane

Abstract

To provide a winch monitoring device capable of monitoring the state of a drum of a winch with higher accuracy, and a crane.SOLUTION: The winch monitoring device for monitoring the state of a drum (161 on which a rope (W1) is wound comprises a detection unit that acquires detection data indicating the state of a two-dimensional region (B1) in the rope wound on the drum. When a part of the rope (W1) wound on the drum is referred to as a rope wound part (P1) and a part extending from the rope wound part to the outside of the drum is referred to as a rope delivery part (P2), the two-dimensional region (B1) is set in a region not including the rope delivery part (P2).SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to a winch monitoring device and a crane.

Background Art

[0002] Patent Document 1 discloses a winch monitoring device that determines whether the winding state of a rope is good or bad with respect to a winch of a crane. In this device, the rope wound around the drum of the winch is photographed by a camera, and a determination of good or bad is made based on the photographed image.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In a configuration that determines good or bad based on a photographed image of a rope wound around a drum, as in the above-described winch monitoring device, sufficient high determination accuracy may not be obtained. The rope wound around the drum includes a portion wound around the drum and a portion paid out from the drum. The portion paid out from the drum is likely to change its state, such as its position not being constant and vibration or slack occurring. The inventors have found that the inclusion of the portion paid out from the drum in the photographed image is the cause of the decrease in determination accuracy.

[0005] An object of the present invention is to provide a winch monitoring device and a crane that can monitor the state of a winch drum with higher accuracy.

Means for Solving the Problems

[0006] A winch monitoring device according to one aspect of the present invention is A winch monitoring device for monitoring the state of a drum that winds a rope around the drum, comprising a detection unit that acquires detection data indicating the state of a two-dimensional region in the rope wound around the drum, Of the rope, when a portion wound around the drum is called a rope winding portion and a portion that is separated from the rope winding portion and extends outward from the drum is called a rope payout portion, the two-dimensional region is set in a region that does not include the rope payout portion.

[0007] Another aspect of the winch monitoring device according to the present invention is, A winch monitoring device for monitoring the state of a drum that winds a rope around the drum, a detection unit that acquires detection data obtained by detecting the state of the rope wound around the drum, and Of the rope, when a portion wound around the drum is called a rope winding portion and a portion that is separated from the rope winding portion and extends outward from the drum is called a rope payout portion, a control device that determines the state of the drum based on the detection data excluding a portion indicating the state of the rope payout portion in the detection data, and is provided.

[0008] A crane according to the present invention is, equipped with the above-described winch monitoring device.

Advantages of the Invention

[0009] According to the present invention, an effect is obtained that the state of the drum of the winch can be monitored with higher accuracy.

Brief Description of the Drawings

[0010]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Modes for Carrying Out the Invention

[0011] Hereinafter, each embodiment of the present invention will be described in detail with reference to the drawings. In this embodiment, when the boom 13 is laid down in the horizontal direction, the direction from the base end to the tip of the boom 13 is defined as "front", and the directions of front, rear, left, and right are represented. Also, when the crane 1 is installed on a horizontal plane, the vertically upward and vertically downward directions are denoted as "upward" and "downward", respectively.

[0012] (Embodiment 1) FIG. 1 shows a side view (A) and a plan view (B) of a crane according to Embodiment 1 of the present invention. In FIG. 1(A), the drum part is shown by virtually breaking the machine room. Also, the laid-down boom 13 is shown by a virtual line. FIG. 1(B) omits the illustration of the boom 13 and the ropes W1 to W3. FIGS. 2 and 3 are block diagrams showing the configuration of the monitoring device according to Embodiment 1 of the present invention.

[0013] The crane 1 of Embodiment 1 is a self-propelled crawler crane. As shown in FIG. 1, it includes a lower traveling body 11 capable of traveling, an upper slewing body 12 rotatably supported by the lower traveling body 11, a boom 13 supported by the upper slewing body 12 so as to be able to rise and fall, a mast 15 connected to the boom 13 via a pendant member 14, a plurality of winches 16A to 16C for respectively winding and unwinding a plurality of ropes W1 to W3, a driver's cab 17 in which driving operations are performed by a driver, a lifting tool 18 for lifting a suspended load, and a counterweight 19 which is a weight for balancing the weight of the suspended load. The crane 1 further includes a monitoring device 30 shown in FIG. 3.

[0014] The plurality of ropes W1 to W3 are, for example, wire ropes. The plurality of ropes W1 to W3 include a rope W1 for raising and lowering the lifting tool 18 (changing the lifting position), a rope W3 connected to the mast 15 for raising and lowering the boom 13, and a rope W2 for raising and lowering an auxiliary lifting tool (not shown). Note that a form in which the auxiliary lifting tool and the rope W2 are not used is applied to the crane 1 in FIG. 1.

[0015] As shown in FIG. 2, the winch 16A has a drum 161 and a drive unit 162 for rotationally driving the drum 161. The drum 161 has a body portion 161a for winding the rope W1 and a pair of flange portions 161b provided on both sides of the body portion 161a. The winch 16A winds and unwinds the rope W1 by rotationally driving the drum 161.

[0016] The other two winches 16B and 16C are configured in the same manner as the winch 16A.

[0017] By operating the driver's cab 17 or by remote operation, the drive units 162 of the respective winches 16A to 16C operate, and the drums 161 of the respective winches 16A to 16C are rotationally driven, whereby the ropes W1 to W3 are wound or unwound, thereby causing the boom 13 to rise and fall and the lifting tool 18 or the auxiliary lifting tool to rise and fall.

[0018] <Explanation of the names of each part of the rope> Here, the names of each part of the rope W1 wound around the drum 161 will be explained. The rope W1 wound around the drum 161 includes a rope winding part P1 wound around the drum 161 and a rope payout part P2 that is separated from the rope winding part P1 (or the body part 161a of the drum 161 when there is no rope winding part P1) and extends outward from the drum 161. Further, the rope winding part P1 includes a ridge line part P1a corresponding to the edge of the rope winding part P1 in the radial direction of the drum 161 when viewed from the direction facing the rotation axis A1 of the drum 161, and a belly part P1b that is a part of the rope winding part P1 other than the ridge line part P1a. The rope payout part P2 includes a rope payout base part P2a (see also Fig. 7(A)) where the distance (minimum distance) from the rope winding part P1 or the body part 161a is within the diameter φ1 of the rope W1.

[0019] <Winch monitoring device> The monitoring device 30 monitors the states of the winches 16A to 16C. Hereinafter, the configuration for monitoring one of the three winches 16A to 16C, i.e., the winch 16A, will be described. The configurations for monitoring the other winches 16B and 16C are the same as the configuration for monitoring the winch 16A.

[0020] As shown in Fig. 3, the monitoring device 30 includes a detection unit 31 that detects the state of a two-dimensional region (referred to as a detection region B1) of the rope W1 wound around the drum 161, and a control device 33 that determines the state of the drum 161 based on the detection data acquired by the detection unit 31. The two-dimensional region means a region having an area when projected onto a two-dimensional coordinate system. The detection data indicating the state of the two-dimensional region includes two-dimensional camera images, point clouds in the X - Y directions of scanners such as LiDAR (Light Detection And Ranging), etc. Note that the three-dimensional information that can be acquired by a stereo camera, etc. also includes information for the two-dimensional region, and thus corresponds to the information including the detection data indicating the state of the two-dimensional region.

[0021] The detection unit 31 is a camera that acquires the video data of the detection area B1 as the above-described detection data. The detection unit 31 includes a detection port (specifically, a camera lens unit) 31a that receives light from the detection area B1, and an imaging unit 31b that converts the video imaged through the detection port 31a into data. Note that the detection unit 31 is not limited to a camera, and can be changed to various configurations that can detect the state of the detection area B1 to be detected by receiving light or sound waves through a detection port, such as a LiDAR scanner or an ultrasonic scanner. When the detection unit directly receives light or sound waves without a lens or the like, the detection unit itself also serves as a detection port. Hereinafter, the detection data acquired by the detection unit 31 will be described as video data. However, when the detection unit 31 has another configuration such as a two-dimensional scanner, the following video data may be read as detection data.

[0022] As shown in FIG. 1(A), the detection unit 31 is attached to, for example, the frame 12f of the upper revolving body 12. Note that the detection unit 31 may be attached to the frame 12f via a stay or the like. Further, the position of the detection unit 31 is not limited to the example of FIG. 1(A). For example, it may be arranged at a position higher than the rotation center axis of the drum 161, or may be attached to the mast 15 or other locations via a stay.

[0023] The control device 33 is a computer that performs data processing and signal processing according to a program. The control device 33 determines the state of the drum 161 based on the video data of the detection unit 31. The state of the drum 161 refers to the number of layers, the number of rows, the degree of disorder, etc. of the rope W1 wound around the drum 161. From such a state, it is possible to determine whether the rope W1 has reached the payout limit (for example, 1 layer and 3 rows), and whether an abnormality (abnormal disorder beyond the threshold) has occurred in the winding of the rope W1. The number of layers means the number of stages where the rope W1 overlaps in the radial direction of the drum 161, and the number of rows means the number of ropes W1 arranged in the axial direction of the drum 161 in the same layer.

[0024] The control device 33 determines the state of the drum 161 by performing pattern recognition processing based on the video data of the detection unit 31 and the teaching data. The control device 33 may have a machine learning model pre-learned based on the teaching data, and the determination result may be output by inputting the video data into the machine learning model.

[0025] The control device 33 may output the determination result to the display 171 in the cab 17 or to the terminal carried by the administrator or the worker, and convey the state of the drum 161 to the driver, the administrator or the worker. Further, the control device 33 may send the determination result to the server device 800 in the management room or the cloud separated from the crane 1. Then, the control device 33 or the above server device may record the determination result as log data d1 in the storage device 34, or may use the determination result for various controls such as determining whether to issue a warning based on the determination result.

[0026] <Detection area B1 by the detection unit> FIG. 4 is a diagram showing the detection area B1 by the detection unit (camera) 31 of the first embodiment. In the first embodiment, the detection area B1 detected by the detection unit 31 is set to an area including the rope winding part P1 and not including the part excluding the rope feeding base part P2a from the rope feeding part P2. As a more preferable form, the detection area B1 of the first embodiment is set to an area where the ridge line part P1a where the rope feeding part P2 does not intersect is located. Preferably, the detection area B1 may be set to an area that does not further include the rope feeding base part P2a. The detection area B1 may be set to the side of the rope winding part P1 opposite to the rope feeding base part P2a, that is, an area where the rope feeding base part P2a cannot be detected by the detection unit 31.

[0027] The detection area B1 of the detection unit 31 can be specified from the viewing angle of the detection unit 31 and the arrangement of the detection unit 31. When the detection unit 31 is a two-dimensional scanner, the detection area B1 can be specified from the scanning direction of the detection unit 31 and the arrangement of the detection unit 31.

[0028] As described above, according to the monitoring device 30 of Embodiment 1, the detection unit 31 acquires video data indicating the state of the two-dimensional detection area B1 of the rope W1 wound around the drum 161. As shown by the rope W1 in the two cases of the solid line and the virtual line in FIG. 1(A), if the undulation angle of the boom 13 is different, the direction in which the rope W1 extends is different, and the position away from the rope winding portion P1 is different in the circumferential direction of the drum 161. Further, the rope pay-out portion P2 may sway due to the vibration of the rope W1, and its state is likely to change. Also, the position of the rope pay-out portion P2 changes due to the undulation change of the boom 13. Therefore, in Embodiment 1, the detection area B1 of the detection unit 31 is set to an area that does not include the rope pay-out portion P2. With such a configuration, the video data acquired by the detection unit 31 does not include the rope pay-out portion P2 whose state is likely to change due to disturbance, and as a result, the variation due to disturbance can be excluded from the video data. Therefore, the determination accuracy of the state of the drum 161 based on the video data is improved, and the state of the drum 161 can be monitored with high accuracy. Note that the state change of the rope pay-out root portion P2a of the rope pay-out portion P2 is very small. Therefore, the detection area B1 may include the rope pay-out root portion P2a, and even in that case, the determination accuracy of the state of the drum 161 based on the video data is improved, and the state of the drum 161 can be monitored with high accuracy.

[0029] Furthermore, according to the monitoring device 30 of Embodiment 1, the detection area B1 of the detection unit 31 is set to an area that includes the ridge line portion P1a where the rope pay-out portion P2 is not located. The difference in the number of layers and the number of rows of the rope W1 wound around the drum 161 appears more clearly in the video data of the ridge line portion P1a. Therefore, with the above setting, the determination accuracy of the state of the drum 161 is further improved, and the state of the drum 161 can be monitored with higher accuracy.

[0030] (Embodiment 2) The monitoring device 30 of Embodiment 2 is the same as that of Embodiment 1 in other configurations, except that the detection area B2 detected by the detection unit 31 and a part of the processing in the control device 33 are different. Hereinafter, the different points will be described in detail.

[0031] FIG. 5 is a diagram showing a detection area B2 by the detection unit (camera) 31 of Embodiment 2. The two-dimensional area detected by the detection unit 31 of Embodiment 2 (hereinafter referred to as the detection area B2) is set in an area including the rope winding part P1 and the rope feeding part P2 as shown in FIG. 5. As a more preferable form, the detection area B2 is set in an area including the ridge line part P1a on the side where the rope feeding part P2 is not located.

[0032] FIG. 6 is a flowchart showing the procedure of the monitoring process executed by the control device 33 of Embodiment 2. The control device 33 executes the monitoring process according to the procedure of FIG. 7. That is, when receiving video data from the detection unit 31 (step S1), the control device 33 extracts the video data of the area B3 (see FIG. 5) excluding the part showing the state of the rope feeding part P2 (that is, the part where the rope feeding part P2 appears) from the video data (step S2).

[0033] In step S2, preferably, the control device 33 extracts the video data of the area B3 excluding the range where the rope feeding part P2 may appear not only at that time but also during the period when the rope W1 is being wound up. More preferably, the area B3 to be extracted is set in an area including the ridge line part P1a on the side where the rope feeding part P2 is not located.

[0034] Then, the control device 33 performs the same pattern recognition process as in Embodiment 1 based on the video data extracted in step S2 (step S3). And the control device 33 determines the state of the drum 161 based on the recognition result of step S3 (step S4). In the monitoring process, the control device 33 repeatedly executes the processes of steps S1 to S4.

[0035] As described above, according to the monitoring device 30 of the second embodiment, the control device 33 determines the state of the drum 161 based on the video data of the rope W1 wound around the drum 161, excluding the portion showing the state of the rope payout portion P2. Therefore, the video data used for the state determination does not include the rope payout portion P2 whose state is likely to change due to disturbances, and as a result, variations due to disturbances can be eliminated from the above video data. Therefore, the determination accuracy of the state of the drum 161 based on the video data is improved, and the state of the drum 161 can be monitored with high accuracy.

[0036] Furthermore, according to the monitoring device 30 of the second embodiment, the area B3 of the video data extracted by the control device 33 is set in an area including the ridge line portion P1a on the side where the rope payout portion P2 is not located. The difference in the number of layers of the rope W1 wound around the drum 161 and the difference in the number of columns are more clearly shown in the video data of the ridge line portion P1a. Therefore, with the above setting, the determination accuracy of the state of the drum 161 is further improved, and the state of the drum 161 can be monitored with higher accuracy.

[0037] (Embodiment 3) In the crane 1 and the monitoring device 30 of the third embodiment, the arrangement of the detection unit 31 is different, and the other configurations are the same as those in the first and second embodiments.

[0038] FIG. 7(A) is a diagram showing an example of the arrangement and orientation of the detection unit 31 in the third embodiment. In the third embodiment, the detection port (for example, the camera lens) 31a of the detection unit 31 is arranged behind the center of the drum 161 and below the center of the drum 161 (that is, the horizontal plane H0 passing through the center), as shown in FIG. 7(A). Here, the direction in which the end of the rope payout portion P2 (the end on the side where the rope W1 is paid out) is fixed in the horizontal direction (for example, fixed to the pulley at the tip of the boom) is defined as the front.

[0039] In the left - right direction, the detection port 31a is arranged at a position overlapping the drum 161 when viewed from a direction orthogonal to the rotation axis A1 of the drum 161.

[0040] The direction of the detection port 31a is set as follows. The direction of the detection port 31a means the direction from the detection port 31a toward the center of the detection target area, such as the center of the camera's angle of view. As shown in FIG. 7(A), the elevation angle direction J1 toward which the detection port 31a faces is a direction substantially toward the rotation axis A1 of the drum 161. The elevation angle direction J1 toward which the detection port 31a faces may be a direction closer to the lower ridge line portion P1a than the rotation axis A1.

[0041] The horizontal direction toward which the detection port 31a faces may be set so that the entire width of the rope winding portion P1, such as the direction toward the center of the drum 161, is included in the detection area.

[0042] According to such an arrangement and direction, the detection unit 31 can easily acquire video data of the two-dimensional area of the drum 161 that does not include the rope pay-out portion P2. Further, the video data acquired by the detection unit 31 includes the ridge line portion P1a located below the drum 161. Therefore, the detection unit 31 can acquire video data of the ridge line portion P1a with few external disturbance elements such as the intrusion of external light such as sunlight or shadows. Thus, variations due to disturbances can be reduced from the video data of the ridge line portion P1a. Therefore, according to the monitoring device 30 of the third embodiment, the determination accuracy of the state of the drum 161 based on the video data is further improved, and the state of the drum 161 can be monitored with high accuracy.

[0043] As shown in FIG. 7(A), the detection port 31a may be arranged at a position higher than the lower end of the flange portion 161b. Such an arrangement facilitates securing the space for arranging the detection unit 31. The detection port 31a may be arranged at a position lower than the lower end of the flange portion 161b.

[0044] (Embodiment 4) The crane 1 and the monitoring device 30 of the fourth embodiment differ in the arrangement of the detection unit 31, and the other configurations are the same as those of the second embodiment. Hereinafter, the different parts will be described in detail.

[0045] FIG. 7(B) is a diagram showing an example of the arrangement and orientation of the detection unit 31 in Embodiment 4. The monitoring device 30 of Embodiment 4 monitors the winch 16A from which the rope W1 is paid out from below the drum 161.

[0046] In Embodiment 4, as shown in FIG. 7(B), the detection port 31a of the detection unit 31 is arranged in front of the drum 161 and below the horizontal plane H0 passing through the center of the drum 161. Further, the detection port 31a is arranged at a position lower than the lower end of the flange portion 161b. In the left-right direction, the detection port 31a of the detection unit 31 is arranged at a position overlapping the drum 161 when viewed in a direction orthogonal to the axial direction of the drum 161.

[0047] As shown in FIG. 7(B), the elevation angle direction J2 in which the detection port 31a faces is substantially a direction toward the rotation axis A1 of the drum 161. The elevation angle direction J2 in which the detection port 31a faces may be a direction closer to the lower ridge line portion P1a of the drum 161 than the rotation axis A1. The horizontal direction in which the detection port 31a faces is preferably set so that the entire width of the rope winding portion P1, such as a direction toward the center of the drum 161, is included in the detection area.

[0048] According to such an arrangement and orientation, the video data acquired by the detection unit 31 includes the video data of the rope winding portion P1 included in the lower half of the drum 161. Further, the video data includes the video data of the ridge line portion P1a included in the lower half of the drum 161. These video data are video data with few disturbing factors such as external light or shadows. Therefore, according to the monitoring device 30 of Embodiment 4, the determination accuracy of the state of the drum 161 based on the video data is further improved, and the state of the drum 161 can be monitored with high accuracy.

[0049] (Embodiment 5) The crane 1 and the monitoring device 30 of Embodiment 5 are different in that they have a background wall 32, and the other configurations are the same as those of Embodiments 1 to 4. Hereinafter, the different parts will be described in detail.

[0050] FIG. 8 is an enlarged view of a partial breakage of the crane 1 equipped with the monitoring device 30 of the fifth embodiment. FIG. 8 shows the periphery of the winch 16A by virtual breakage. FIG. 9 is a diagram showing the arrangement of the detection unit and the background wall of the fifth embodiment, (A) is a perspective view, (B) is a rear view of the drum seen from the rear, and (C) shows an example of a detection image (video) of the detection unit (camera). The monitoring device 30 of the fifth embodiment further has a background wall 32.

[0051] The background wall 32 is a wall that serves as the background of the ridge line portion P1a when viewed from the direction in which the detection port 31a of the detection unit 31 faces. The background wall 32 is arranged on the opposite side of the detection port 31a across the ridge line portion P1a that does not have the rope payout portion P2, facing the detection port 31a of the detection unit 31. That is, the ridge line portion P1a where the rope payout portion P2 is not located is positioned between the background wall 32 and the detection port 31a.

[0052] The background wall 32 has reflection characteristics that are easy to distinguish from the rope W1. As the reflection characteristics, if the detection unit 31 is a camera and the detection data is video data, colors that are easy to distinguish from the rope W1 and / or anti-glare characteristics that reduce reflection can be applied. If the detection unit 31 is a LiDAR scanner and the detection data is two-dimensional scan data, characteristics such as diffused reflection of light rays can be applied as the above reflection characteristics.

[0053] The background wall 32 is, for example, in a flat plate shape and is attached to the frame 12f of the upper slewing body 12 as shown in FIG. 8. The background wall 32 may be attached to the frame 12f via a stay or the like. The background wall 32 is arranged radially outward of the flange portion 161b of the drum 161. The above-mentioned radial direction means the radial direction of the drum 161.

[0054] The background wall 32 is flat and is arranged radially outward of the flange portion 161b of the drum 161, facilitating the securing of an attachment space for the background wall 32 and making it easier to attach the background wall 32. Preferably, the background wall 32 may be vertically arranged such that its wall surface is along the vertical direction. With this orientation, it becomes even easier to secure an attachment space for the background wall 32 and it is even easier to attach the background wall 32. More preferably, the background wall 32 may be located below the horizontal plane H0 passing through the center of the drum 161. With this arrangement, it becomes even easier to secure an attachment space for the background wall 32 and it is even easier to attach the background wall 32. Further, when the detection unit 31 detects (specifically, photographs) the state of the ridge line portion P1a on the lower side of the rope winding portion P1, the background wall 32 serves as the background of the ridge line portion P1a, and it is possible to reduce the confusion between the background and the ridge line portion P1a in the video data.

[0055] The background wall 32 is configured to have a width dimension L2 that is wider in the axial direction than the width dimension L1 of the body portion 161a of the drum 161. The axial direction herein means the axial direction of the drum 161.

[0056] When the background wall 32 is flat and arranged radially outward of the flange portion 161b of the drum 161, due to the effect of perspective, when viewed from the detection port 31a of the detection unit 31, the background wall 32 appears smaller than the ridge line portion P1a. Therefore, if the width of the background wall 32 is the same as that of the body portion 161a of the drum 161, the entire background of the ridge line portion P1a will not be occupied by the background wall 32. However, since the background wall 32 of the present embodiment is wider than the body portion 161a of the drum 161, as shown in FIG. 9(C), the ratio of the background of the ridge line portion P1a occupied by the background wall 32 in the video data acquired by the detection unit 31 can be increased.

[0057] As described above, according to the crane 1 and the monitoring device 30 of Embodiment 5, due to the presence of the background wall 32, the confusion between the ridge line portion P1a and its background in the video data is reduced, and video data clearly showing the state of the ridge line portion P1a can be obtained. Therefore, the control device 33 can more accurately determine the state of the drum 161 based on the video data.

[0058] (Embodiment 6) In Crane 1 and monitoring device 30 of Embodiment 6, the shape and arrangement of background wall 32A are different, and other configurations are the same as those of Embodiment 5. Hereinafter, the different parts will be described in detail.

[0059] FIG. 10 is a diagram showing the arrangement of the detection unit and the background wall in Embodiment 6, (A) is a perspective view, (B) is a rear view of the drum seen from the rear, and (C) shows an example of the detection image of the detection unit (camera).

[0060] The monitoring device 30 of Embodiment 6 has a background wall 32A that serves as the background of ridge line portion P1a when viewed from the direction in which the detection port 31a of the detection unit 31 faces. The background wall 32A is arranged on the opposite side of the detection port 31a across the ridge line portion P1a where the rope payout portion P2 is not located. That is, a ridge line portion P1a where the rope payout portion P2 is not located is positioned between the background wall 32A and the detection port 31a.

[0061] Similar to the background wall 32 of Embodiment 5, the background wall 32A has reflection characteristics that are easy to distinguish from the rope W1.

[0062] The background wall 32A is plate-shaped with a bend, and is attached to the frame 12f (see FIG. 8) of the upper rotating body 12. The background wall 32A may be attached to the frame 12f via a stay. At least a part of the background wall 32A is arranged radially inward of the outer periphery of the flange portion 161b of the drum 161. The radial direction means the radial direction of the drum 161. The bend of the background wall 32A is a bend along the outer periphery of the drum 161. The bend may be a gentle bend, a bend having an angle like a fold, or a combined bend of these.

[0063] Since the background wall 32A has a bend and at least a part thereof is located radially inward of the outer periphery of the drum 161, it is easy to secure the arrangement space for the background wall 32A. Further, the effect that the background wall 32A appears smaller than the ridge line portion P1a by perspective projection is reduced, and as shown in FIG. 10(C), the ratio of the background of the ridge line portion P1a occupied by the background wall 32A in the video data acquired by the detection unit 31 can be increased.

[0064] As described above, according to the crane 1 and the monitoring device 30 of the sixth embodiment, due to the presence of the background wall 32A, the confusion between the ridge line portion P1a and its background in the video data is reduced, and video data clearly showing the state of the ridge line portion P1a can be acquired. Therefore, the control device 33 can more accurately determine the state of the drum 161 based on the video data.

[0065] The embodiments of the present invention have been described above. However, the present invention is not limited to the above embodiments. For example, the monitoring device 30 of the above embodiment is configured to monitor the state of the drums 161 of the winches 16A to 16C mounted on the upper slewing body 12. However, the drums of the winches to be monitored in the monitoring device according to the present invention are not limited thereto. For example, the monitoring device according to the present invention may be used to similarly monitor the state of the drum of a winch provided on a boom. Further, the monitoring device according to the present invention may be configured to monitor the state of the drum of a winch mounted on a working machine other than a crane.

[0066] Furthermore, in the above-described embodiment, a crawler crane was exemplified as the crane on which the monitoring device according to the present invention is mounted. However, the present invention is applicable to all other mobile cranes such as wheel cranes, truck cranes, rough terrain cranes, all terrain cranes, etc., in addition to all cranes such as tower cranes, overhead cranes, jib cranes, retractable cranes, stacker cranes, gantry cranes, unloaders, etc. Also, the crane according to the present invention is not limited to cranes equipped with a lifting tool, and cranes that lift attachments such as magnets and earth drill buckets are also within the scope of application of the present invention. In addition, the details shown in the embodiments can be appropriately changed without departing from the gist of the invention.

Explanation of Signs

[0067] 1 Crane 11 Lower Traveling Body 12 Upper Slewing Body 12f Frame 13 Boom 16A~16C Winch 161 Drum 161a Body 161b Flange A1 Rotation Axis H0 Horizontal Plane P1 Rope Winding Part P1a Ridge Line Part P1b Abdomen P2 Rope Pay-Out Part P2a Rope Pay-Out Root W1~W3 Rope 18 Lifting Tool 30 Monitoring Device 31 Detection Part 31a Detection Port 31b Imaging Part B1, B2 Detection Area B3 Extracted Area 32, 32A Background Wall 33 Control Device 34 Storage Device

Claims

1. A winch monitoring device for monitoring the state of a drum that winds a rope around the drum, comprising: a detection unit that acquires detection data indicating the state of a two-dimensional region in the rope wound around the drum; Among the ropes, the portion wound around the drum is called the rope winding portion, the portion that is separated from the rope winding portion and extends outward from the drum is called the rope payout portion, and when a portion of the rope payout portion within the diameter of the rope from the rope winding portion is called the rope payout root portion, The two-dimensional region is set in a region that does not include the portion of the rope payout portion excluding the rope payout root portion; A winch monitoring device.

2. The two-dimensional region is set in a region that does not include the rope payout portion at all; The winch monitoring device according to Claim 1.

3. The two-dimensional region is set in a region on the opposite side of the rope winding portion from the rope payout root portion; The winch monitoring device according to Claim 2.

4. A winch monitoring device for monitoring the state of a drum that winds a rope around the drum, comprising: a detection unit that acquires detection data indicating the state of the rope wound around the drum; and Among the ropes, the portion wound around the drum is called the rope winding portion, and the portion that is separated from the rope winding portion and extends outward from the drum is called the rope payout portion. When the portion of the detection data indicating the state of the rope payout portion is excluded, a control device that determines the state of the drum based on the remaining detection data; A winch monitoring device comprising the above.

5. The two-dimensional region includes a ridge line portion of the rope wound around the drum where the rope payout portion is not located; The winch monitoring device according to Claim 1.

6. The control device makes a determination based on the detection data indicating the state of the ridge line portion of the rope wound around the drum where the rope payout portion is not located; The winch monitoring device according to Claim 4.

7. The detection unit is configured to detect the state of an object by receiving light or sound waves through a detection port, The detection port is disposed below the center of the drum; The winch monitoring device according to Claim 1 or Claim 4.

8. With the direction in which the end of the rope payout portion is fixed as the front, The detection port is disposed behind the center of the drum; The winch monitoring device according to Claim 7.

9. ​ The detection unit is configured to detect the state of the object by receiving light or sound waves through a detection port. It further includes a background wall. The ridge line portion where the rope pay-out unit is not located is located between the detection port and the background wall. The winch monitoring device according to claim 5 or claim 6.

10. The rope changes the hanging position of the crane's lifting tool. The winch monitoring device according to claim 1 or claim 4.

11. A crane comprising the winch monitoring device according to claim 1 or claim 4.

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