Crane device

Abstract

To provide a crane device capable of more accurately identifying the position of a worker and accurately detecting the approach of a suspended load or a crane hook.SOLUTION: A crane device comprises a crane hook for suspending a load, an electric motor for moving the crane hook, and a processing unit. The processing unit acquires first position information indicating the location of an operator performing work related to the load, captures an image of the work site where the work is performed to obtain a work site image, and acquires second position information indicating the operator's detailed location based on the first position information of the operator and the work site image. It determines the proximity between the operator and the load or crane hook based on the second position information of the operator, notifies the operator of the proximity to the load or crane hook based on the determination, and controls the operation of the electric motor based on the determination.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] The present invention relates to a crane apparatus. [Background technology]

[0002] Crane devices that are installed on the ceiling of a factory, etc., are known. For example, Patent Document 1 describes a proximity warning system that uses position information of a crane with a jib and position information of a worker to determine whether a load is approaching the worker and issues an alarm. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-76884 Summary of the Invention [Problem to be solved by the invention]

[0004] In the approach warning system described in Patent Document 1, the location information of the worker is received from the smartphone or mobile phone carried by the worker, but the location information obtained in this way may not be sufficiently accurate due to a large communication time lag and low positioning accuracy.

[0005] An object of the present invention is to provide a crane apparatus that can more accurately identify the position of a worker and accurately detect the worker's proximity to a suspended load or a crane hook. [Means for solving the problem]

[0006] A crane apparatus according to one aspect of the present invention comprises a crane hook on which a suspended load is attached, an electric motor for moving the crane hook, and a computing device, wherein the computing device acquires first position information indicating the position of a worker performing work related to the suspended load, photographs the work site where the work is to be performed to acquire video of the work site, acquires second position information indicating the detailed position of the worker based on the first position information of the worker and the video of the work site, determines whether the worker is approaching the suspended load or the crane hook based on the second position information of the worker, notifies the worker of the approach of the suspended load or the crane hook based on the determination, and controls the operation of the electric motor based on the determination. [Effects of the Invention]

[0007] According to the present invention, the position of a worker can be more accurately identified and the proximity of the worker to a suspended load or a crane hook can be detected with high precision. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a schematic diagram showing the overall configuration of a crane apparatus according to a first embodiment. [Figure 2] FIG. 2 is a block diagram schematically showing the hardware configuration of the control device according to the first embodiment. [Figure 3] FIG. 3 is a three-dimensional view schematically showing the periphery of the crane hook of the crane apparatus according to the first embodiment. [Figure 4] FIG. 4 is a block diagram schematically showing a drive mechanism of the crane apparatus according to the first embodiment. [Figure 5] FIG. 5 is a block diagram schematically showing the functional configuration of the control device according to the first embodiment. [Figure 6] FIG. 6 is a flowchart showing an example of a control process executed by the arithmetic device according to the first embodiment. [Figure 7] FIG. 7 is a schematic diagram illustrating the first region, the second region, the third region, and the fourth region. [Figure 8]FIG. 8 is a flowchart illustrating an example of a notification process executed by the arithmetic device. [Figure 9] FIG. 9 is a flowchart showing an example of a control process executed by the arithmetic device according to the second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] First Embodiment A crane apparatus according to an embodiment of the present invention will be described with reference to FIGS.

[0010] FIG. 1 is a schematic diagram showing the overall configuration of a crane apparatus according to a first embodiment. The crane apparatus 100 is installed, for example, in a factory or the like, and is used to transport loads. Around the crane apparatus 100, there are workers 500 performing various tasks, such as transporting loads. At the work site where the crane apparatus 100 is installed and where these tasks are performed, a camera 200 is installed whose imaging range covers the entire work site. Note that in the following description, it is described as if there is only one camera 200, but there may be multiple cameras 200. The crane apparatus 100 is equipped with a control device 40 that controls each part of the crane apparatus 100.

[0011] FIG. 2 is a block diagram illustrating a hardware configuration of a control device 40 according to the first embodiment. The control device 40 includes a computer having an arithmetic device 41, such as a central processing unit (CPU), a micro processing unit (MPU), or a digital signal processor (DSP), a non-volatile memory 42, such as a read-only memory (ROM), a flash memory, or a hard disk drive, a volatile memory 43, also known as a random access memory (RAM), an input / output interface 44, and other peripheral circuits. These hardware components work together to run software and realize multiple functions. The control device 40 may be configured with one computer or multiple computers. The arithmetic device 41 may be an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or the like.

[0012] The nonvolatile memory 42 stores programs capable of executing various calculations. In other words, the nonvolatile memory 42 is a storage medium (storage device) from which programs for realizing the functions of this embodiment can be read. The volatile memory 43 is a storage medium (storage device) that temporarily stores the results of calculations performed by the calculation device 41 and signals input from the input / output interface 44. The calculation device 41 is a device that loads the programs stored in the nonvolatile memory 42 into the volatile memory 43 and executes calculations, and performs predetermined calculations on data taken in from the input / output interface 44, the nonvolatile memory 42, and the volatile memory 43 in accordance with the programs.

[0013] A camera 200, a communication device 300, and a positioning device 400 are connected to the control device 40. The communication device 300 is connected to a cloud network (hereinafter referred to as the cloud) 24 via wireless communication. The cloud 24 is also connected to an information terminal 600 carried by a worker 500 via wireless communication. The information terminal 600 is, for example, a smartphone or a smartwatch. The information terminal 600 has a function of acquiring its own location information and transmitting the location information to the communication device 300 via the cloud 24. Note that the information terminal 600 may acquire the location information in any manner. For example, a so-called Global Navigation Satellite System (GNSS) may be used, which receives signals transmitted from multiple satellites and calculates its own position on Earth, or a mechanism may be used, which receives signals transmitted from multiple antennas installed around the crane apparatus 100 and calculates its own position. The positioning device 400 acquires the position of the crane apparatus 100. The method of acquiring the position is the same as that described for the information terminal 600, so a description thereof will be omitted.

[0014] The input section of the input / output interface 44 converts signals input from various devices (camera 200, communication device 300, positioning device 400, etc.) into data that can be calculated by the arithmetic device 41. In addition, the output section of the input / output interface 44 generates an output signal according to the calculation result in the arithmetic device 41, and outputs the signal to various devices.

[0015] 3 is a three-dimensional diagram schematically showing the periphery of the crane hook of the crane apparatus 100 according to the first embodiment. The crane apparatus 100 includes a crane hook 1, a wire rope 2, a hoisting induction motor 3, a hoisting drum 4, a traverse induction motor 5, traverse wheels 6, a traverse girder 7, a traveling induction motor 8, traveling wheels 9, a traveling girder 10a, traveling rails 10b, a hoisting / traverse inverter controller 11, an operation input device 12 suspended from a cable, and a traveling inverter controller 13.

[0016] The hoisting induction motor 3 moves the crane hook 1 up and down (the Y and -Y directions indicated by the arrows in Figure 3), thereby raising and lowering the load hung on the crane hook 1 in the direction of gravity. The traverse induction motor 5 moves the hoisting induction motor 3 left and right (the X and -X directions indicated by the arrows in Figure 3). In other words, the traverse induction motor 5 moves the crane hook 1 and the load hung on the crane hook 1 left and right. The traveling induction motor 8 moves the hoisting induction motor 3 back and forth (the Z and -Z directions indicated by the arrows in Figure 3). In other words, the traveling induction motor 8 moves the crane hook 1 and the load hung on the crane hook 1 back and forth.

[0017] The crane apparatus 100 moves a suspended load attached to a crane hook 1 in the direction of gravity, i.e., up and down, by winding up and down a wire rope 2 using a hoist drum 4 rotated by a hoist induction motor 3. The crane apparatus 100 moves the suspended load left and right along a traverse girder 7 by rotating traverse wheels 6 using a traverse induction motor 5. The crane apparatus 100 moves the suspended load back and forth along a traveling rail 10b by rotating traveling wheels 9 using a traveling induction motor 8.

[0018] FIG. 4 is a block diagram schematically showing the drive mechanism of the crane apparatus 100 according to the first embodiment. The hoisting induction motor 3, the traverse induction motor 5, and the traveling induction motor 8 each have an induction motor brake 14 built in. The hoisting / traverse inverter control device 11 has a hoisting / traverse inverter control unit 15, a hoisting inverter 16, and a traverse inverter 17 built in. The traveling inverter control device 13 has a traveling inverter control unit 18 and a traveling inverter 19 built in. The hoisting / traverse inverter control unit 15 and the traveling inverter control unit 18 are connected by a communication line 20. The hoisting / traverse inverter control unit 15 and the control device 40 are connected by a communication line 23. Note that while FIG. 4 illustrates the hoisting / traverse inverter control device 11, the traveling inverter control device 13, and the control device 40 as separate devices, several or all of these may be configured as the same device.

[0019] The hoisting induction motor 3 and the traverse induction motor 5 are controlled by a hoisting / traverse inverter control unit 15 stored in the hoisting / traverse inverter control device 11. When the operator of the crane apparatus 100 (hereinafter referred to as the operator) inputs a predetermined instruction from the operation input device 12, the hoisting / traverse inverter control unit 15 provides control information necessary for control to the hoisting inverter 16 and the traverse inverter 17 in order to control them. An encoder 21 is attached to the hoisting induction motor 3, and inputs rotation information of the hoisting induction motor 3 to the hoisting / traverse inverter control unit 15.

[0020] The hoisting inverter 16 and the traverse inverter 17 apply the required frequency, voltage, and current to the hoisting induction motor 3 and the traverse induction motor 5, and at the same time control the release of the induction motor brake 14. As a result, in the case of the hoisting drum 4, the load attached to the crane hook 1 is moved up and down without falling, and in the case of the traverse wheels 6, the traverse wheels 6 are moved left and right along the traverse girders 7.

[0021] Similarly, when an operator inputs a predetermined command from the operation input device 12, the traveling induction motor 8 attached to the traveling wheel 9 is controlled by the traveling inverter control unit 18 stored in the traveling inverter control device 13, which controls the traveling inverter 19, and the traveling inverter 19 applies the required frequency, voltage, and current to the traveling induction motor 8, and at the same time controls the release of the induction motor brake 14, thereby moving the traveling wheel 9 in the forward and backward directions along the traveling rail 10b.

[0022] 5 is a block diagram schematically illustrating the functional configuration of the control device 40 according to the first embodiment. The control device 40 includes a first position information acquisition unit 51, an image acquisition unit 52, a second position information acquisition unit 53, a suspended load information acquisition unit 54, a suspended load position acquisition unit 55, an approach determination unit 56, a notification unit 57, and an operation control unit 58. Each of these functional units is functionally realized by the calculation device 41 executing a predetermined program stored in the nonvolatile memory 42.

[0023] The first position information acquisition unit 51 acquires first position information indicating the position of the worker 500 performing work related to a suspended load. The first position information is position information transmitted from an information terminal 600 carried by the worker 500. The first position information acquisition unit 51 receives the position information transmitted from the information terminal 600 by the communication device 300 via the cloud 24, and treats the received position information as first position information.

[0024] The image acquisition unit 52 acquires an image of the work place obtained by photographing the work place where work related to the lifted load is performed by the worker 500. The image acquisition unit 52 acquires, from the camera 200, an image of the work place photographed by the camera 200.

[0025] The second position information acquisition unit 53 acquires second position information indicating the precise position of the worker 500 based on the first position information of the worker 500 acquired by the first position information acquisition unit 51 and the video of the work place acquired by the video acquisition unit 52. For example, the second position information acquisition unit 53 searches for the worker 500 in the video of the work place by a well-known object recognition process using deep learning, identifies the worker's position, and uses the result to correct the first position information to obtain a more precise position. Alternatively, the second position information acquisition unit 53 may attach a marker printed with a predetermined pattern that can be mechanically recognized to the worker 500 in advance, recognize the worker 500 from the video of the work place by recognizing the marker in the video of the work place, identify the worker's position, and use the result to correct the first position information to obtain a more precise position.

[0026] When multiple cameras 200 are installed, video of the work location is acquired from each camera 200. At this time, the shooting range of each camera 200 is known in advance, so it is possible to identify from which camera 200's video the worker 500 appears. That is, the second position information acquisition unit 53 identifies the video to be used to acquire the second position information from the multiple videos based on the first position information, and acquires the second position information using the identified video. It is also possible to sequentially search for the worker 500 from each video without identifying which camera 200's video the worker 500 appears in.

[0027] The suspended load information acquisition unit 54 acquires load information that indicates the load of the suspended load hung on the crane hook 1. For example, a load meter (not shown) is connected to the crane hook 1, and the suspended load information acquisition unit 54 is configured to acquire the load detected by this load meter. Alternatively, the load is acquired by calculation from a current value that indicates the load torque of the hoisting induction motor 3. The suspended load information acquisition unit 54 can determine the presence or absence of a suspended load based on the acquired load information.

[0028] Note that the presence or absence of a suspended load may be determined by a different method. For example, the presence or absence of a suspended load may be determined by recognizing the suspended load from the image of the work site acquired by the image acquisition unit 52 using a well-known image recognition process.

[0029] The suspended load position acquisition unit 55 acquires the position of the suspended load. The method for acquiring the position of the suspended load is as follows. First, the suspended load position acquisition unit 55 acquires the position of the crane apparatus 100 from the positioning device 400. Next, the suspended load position acquisition unit 55 calculates the position of the crane hook 1 using the position of the crane apparatus 100 and the amount of winding of the wire rope 2 on the hoisting drum 4. Because the magnitude of this winding amount is linked to the relative position of the crane hook 1 in the up and down directions (Y direction and -Y direction), the position of the crane hook 1 can be calculated by combining this with the position of the crane apparatus 100.

[0030] Next, the load position acquisition unit 55 uses the position of the crane hook 1 acquired in this manner to recognize the load hanging from the crane hook 1 from the image of the work site acquired by the image acquisition unit 52 using well-known image recognition processing. Based on the recognition results, the load position acquisition unit 55 acquires the position of the load relative to the crane hook 1 and the size of the load. The size of the load refers to, for example, the vertical height and lateral width of the load. The load position acquisition unit 55 acquires the position of the load by combining the position of the crane hook 1 and the position of the load relative to the crane hook 1. If the load information acquisition unit 54 determines that there is no load, the load position acquisition unit 45 acquires only the position of the crane hook 1, and does not acquire the position of the load.

[0031] The position of the crane hook 1 may be acquired by a different method. For example, the position of the crane hook 1 may be calculated by integrating the amount of rotation of the hoisting induction motor 3. Alternatively, the position of the crane hook 1 may be calculated by recognizing the suspended load and the crane hook 1 from the image of the work site acquired by the image acquisition unit 52 using well-known image recognition processing.

[0032] The approach determination unit 56 determines the approach of the worker 500 to the suspended load or the crane hook 1 based on the second position information of the worker 500. The approach determination unit 56 determines the approach of the worker 500 to the suspended load or the crane hook 1 using the second position information acquired by the second position information acquisition unit 53, the position of the suspended load or the crane hook 1 acquired by the suspended load position acquisition unit 55, and an operation signal input by the operator from the operation input device 12. Specific details of the determination will be described later.

[0033] The notification unit 57 notifies the worker 500 of the approach of the load or the crane hook 1 based on the determination result by the approach determination unit 56. The notification unit 57 transmits notification information to the information terminal 600 carried by the worker 500 via the communication device 300 and the cloud 24. The information terminal 600, which has received the notification information, notifies the worker 500 of the approach of the load or the crane hook 1 in accordance with the content of the notification information. For example, the information terminal 600 notifies the worker 500 of the approach of the load or the crane hook 1 by displaying a message on a display, emitting voice or sound effects from a speaker, or vibrating a vibrator.

[0034] The notification unit 57 changes the intensity of the notification to the worker 500 by switching the content of the notification information to be sent. The information terminal 600 changes the intensity of the notification according to the content of the received notification information. For example, the information terminal 600 changes the size and color of the message, the volume and interval of the voice and sound effects, or the volume and interval of the vibration. The closer the load or crane hook 1 is to the worker 500, the stronger the notification the notification unit 57 provides.

[0035] The operation control unit 58 controls the operations of the hoisting induction motor 3, the traverse induction motor 5, and the traveling induction motor 8 based on the determination result by the approach determination unit 56. For example, when the worker 500 and the suspended load or the crane hook 1 come closer than a certain distance, the operation control unit 58 slows down the moving speed of the crane hook 1 or stops the movement of the crane hook 1.

[0036] 6 is a flowchart showing an example of control processing executed by the arithmetic device 41 according to the first embodiment. In step S100, the first position information acquisition unit 51 acquires first position information. In step S110, the video acquisition unit 52 acquires video of the work site captured by the camera 200. In step S120, the second position information acquisition unit 53 acquires second position information. In step S130, the suspended load information acquisition unit 54 acquires suspended load information.

[0037] In step S140, the suspended load information acquisition unit 54 determines whether or not a suspended load is present based on the load information of the suspended load. If it is determined that a suspended load is present, the process proceeds to step S160. In step S160, the suspended load position acquisition unit 55 acquires the positions of the crane hook 1 and the suspended load, and sets a first area, a second area, a third area, and a fourth area, which will be described later, based on the acquired position of the suspended load. Thereafter, the process proceeds to step S170. In step S170, the calculation device 41 executes notification processing, which will be described later, and ends the process shown in FIG. 6.

[0038] If the load information acquisition unit 54 determines in step S140 that no load is present, the process proceeds to step S150. In step S150, the load position acquisition unit 55 acquires the position of the crane hook 1 and sets a first area, a second area, a third area, and a fourth area, which will be described later, based on the acquired position of the crane hook 1. Thereafter, the process proceeds to step S170. In step S170, the calculation device 41 executes notification processing, which will be described later, and ends the process shown in FIG. 6.

[0039] 7 is a schematic diagram illustrating the first, second, third, and fourth regions. The load position acquisition unit 55 sets a first region 61, which is a circle with a radius of the first distance, on an XZ plane centered on the position of the load or the crane hook 1. Similarly, the load position acquisition unit 55 uses a second distance shorter than the first distance, a third distance shorter than the second distance, and a fourth distance shorter than the third distance to set a second region 62, which is a circle with a radius of the second distance, a third region 63, which is a circle with a radius of the third distance, and a fourth region 64, which is a circle with a radius of the fourth distance, respectively. The approach determination unit 56 determines whether the position of each worker 500 (the position represented by the corresponding second position information) is inside or outside the first area 61, the second area 62, the third area 63, and the fourth area 64, thereby determining whether the distance between the worker 500 and the load or the crane hook 1 is less than the first distance, the second distance, the third distance, and the fourth distance, respectively.

[0040] The first distance, second distance, third distance, and fourth distance are determined based on the possibility of contact between the worker 500 and the suspended load. For example, when the suspended load information acquisition unit 54 determines that a suspended load is present, the suspended load information acquisition unit 54 adds the size of the suspended load and a predetermined margin to determine the minimum distance that must be maintained from the center position of the suspended load to prevent contact between the worker 500 and the suspended load, and sets this distance as the fourth distance. The suspended load information acquisition unit 54 determines the longer first distance, second distance, and third distance by a method such as adding a predetermined distance to the fourth distance or multiplying the fourth distance by a predetermined coefficient.

[0041] Fig. 8 is a flowchart showing an example of notification processing executed by the arithmetic device 41 according to the first embodiment. The notification processing shown in Fig. 8 is called from step S170 of the control processing shown in Fig. 6. In step S200, the approach determination unit 56 determines whether or not an operation signal has been input from the operation input device 12, i.e., whether or not the operator is operating the crane apparatus 100. If an operation signal has not been input, the notification processing shown in Fig. 8 ends. On the other hand, if an operation signal has been input, the processing proceeds to step S210.

[0042] In step S210, the approach determination unit 56 determines whether the position of the worker 500 is within the first area, i.e., whether the distance between the worker 500 and the suspended load or the crane hook 1 is equal to or shorter than the first distance. If the distance between the worker 500 and the suspended load or the crane hook 1 is greater than the first distance, the process proceeds to step S320. In step S320, the notification unit 57 stops transmitting the notification that is currently being transmitted (if no notification is being transmitted, no action is taken), and the process of FIG. 8 ends. On the other hand, if the distance between the worker 500 and the suspended load or the crane hook 1 is equal to or shorter than the first distance in step S210, the process proceeds to step S220. In step S220, the notification unit 57 starts transmitting a first notification with the content "proximity: low" to the information terminal 600 of the worker 500 and the information terminal 600 of the operator. As a result, a first alert is issued from the information terminal 600 to the worker 500 and the operator.

[0043] In step S230, the approach determination unit 56 determines whether or not an operation signal has been input from the operation input device 12. That is, the approach determination unit 56 determines whether or not crane operation is continuing after the notification was sent in step S220. If an operation signal has not been input, the process proceeds to step S210 described above. On the other hand, if an operation signal has been input, the process proceeds to step S240.

[0044] In step S240, the approach determination unit 56 determines whether the position of the worker 500 is within the second area, i.e., whether the distance between the worker 500 and the load or the crane hook 1 is equal to or less than a second distance that is shorter than the first distance. If the distance between the worker 500 and the load or the crane hook 1 is greater than the second distance, the process proceeds to the above-mentioned step S210. On the other hand, if the distance between the worker 500 and the load or the crane hook 1 is equal to or less than the second distance, the process proceeds to step S250. In step S250, the notification unit 57 starts transmitting a second notification with the content "Proximity: High" to the information terminal 600 of the worker 500 and the information terminal 600 of the operator. As a result, the information terminal 600 issues a second notification to the worker 500 and the operator that is stronger than the first notification. Furthermore, if the distance between the worker 500 and the load or crane hook 1 becomes less than the second distance and a second alert is issued, and then the distance becomes greater than the second distance, i.e., if the worker 500 moves away from the load or crane hook 1, the first alert is issued again.

[0045] In step S260, the approach determination unit 56 determines whether or not an operation signal has been input from the operation input device 12. That is, the approach determination unit 56 determines whether or not crane operation is continuing after the notification was sent in step S250. If an operation signal has not been input, the process proceeds to step S210 described above. On the other hand, if an operation signal has been input, the process proceeds to step S270.

[0046] In step S270, the approach determination unit 56 determines whether the position of the worker 500 is within the third area, i.e., whether the distance between the worker 500 and the load or the crane hook 1 is equal to or less than a third distance that is shorter than the second distance. If the distance between the worker 500 and the load or the crane hook 1 is greater than the third distance, the process proceeds to the above-mentioned step S240. On the other hand, if the distance between the worker 500 and the load or the crane hook 1 is equal to or less than the third distance, the process proceeds to step S280. In step S280, the operation control unit 58 executes deceleration operation processing to decelerate the moving speed of the crane hook 1.

[0047] In step S290, the approach determination unit 56 determines whether or not an operation signal has been input from the operation input device 12. That is, the approach determination unit 56 determines whether or not crane operation is continuing after the deceleration operation process is executed in step S280. If an operation signal has not been input, the process proceeds to step S240 described above. On the other hand, if an operation signal has been input, the process proceeds to step S300.

[0048] In step S300, the approach determination unit 56 determines whether the position of the worker 500 is within the fourth area, i.e., whether the distance between the worker 500 and the load or the crane hook 1 is equal to or less than a fourth distance that is shorter than the third distance. If the distance between the worker 500 and the load or the crane hook 1 is greater than the fourth distance, the process proceeds to the above-mentioned step S270. On the other hand, if the distance between the worker 500 and the load or the crane hook 1 is equal to or less than the fourth distance, the process proceeds to step S310. In step S310, the operation control unit 58 executes a stop operation process to stop the movement of the crane hook 1, and the process shown in FIG. 8 ends.

[0049] When there are multiple workers 500, the control process and notification process described with reference to FIGS. 6 and 8 are executed for each worker 500.

[0050] According to the above-described first embodiment, the following effects are achieved.

[0051] (1) The computing device 41 acquires first position information indicating the position of the worker 500 performing work related to the suspended load, photographs the work location with the camera 200 to obtain video of the work location, acquires second position information indicating the detailed position of the worker 500 based on the first position information of the worker 500 and the video of the work location, determines whether the worker 500 is approaching the suspended load or the crane hook 1 based on the second position information of the worker 500, and based on that determination, notifies the worker 500 of the approach of the suspended load or the crane hook 1 and controls the operation of the hoisting induction motor 3, the traverse induction motor 5, and the travel induction motor 8. In this way, the computing device 41 uses not only the first position information detected by the information terminal 600 but also the second position information acquired by combining the video from the camera 200, thereby more accurately identifying the position of the worker 500 and accurately detecting the approach of the worker 500 to the suspended load or the crane hook 1.

[0052] (2) The computing device 41 acquires the second position information by searching for the worker 500 from the video of the work place based on the first position information of the worker 500. This allows for more accurate approach detection than when only the first position information detected by the information terminal 600 is used.

[0053] (3) When the computing device 41 determines that the distance between the worker 500 and the suspended load or the crane hook 1 is equal to or shorter than the first distance, it issues a first notification to the worker 500 and the operator (operator) of the crane apparatus 100. This allows the worker 500 and the operator to quickly become aware of the approach of the suspended load or the crane hook 1.

[0054] (4) When the computing device 41 determines that the distance between the worker 500 and the load or the crane hook 1 has become equal to or shorter than a second distance that is shorter than the first distance, it issues a second notification to the worker 500 and the operator of the crane apparatus 100. This allows the worker 500 and the operator to quickly learn that the load or the crane hook 1 is closer than when the first notification was issued.

[0055] (5) When the computing device 41 determines that the distance between the worker 500 and the load or the crane hook 1 is equal to or shorter than a third distance that is shorter than the second distance, it slows down the moving speed of the crane hook 1. By doing so, even if the operator is unable to react in time to the approach of the load or the crane hook 1, appropriate measures can be taken automatically.

[0056] (6) When the computing device 41 determines that the distance between the worker 500 and the load or the crane hook 1 is equal to or shorter than a fourth distance that is shorter than the third distance, it stops the movement of the crane hook 1. In this way, even if the operator is unable to respond in time to the approach of the load or the crane hook 1, appropriate measures can be taken automatically.

[0057] (7) After the distance between the worker 500 and the load or the crane hook 1 becomes equal to or shorter than the second distance, the computing device 41, when determining that the worker 500 is moving away from the load or the crane hook 1, issues a first notification to the worker 500 and the operator (operator) of the crane apparatus 100. This makes it possible to quickly recognize that the load or the crane hook 1 is moving away after they have once come close to each other.

[0058] (8) When the computing device 41 determines that the distance between the worker 500 and the load or the crane hook 1 has become greater than the first distance, it stops the first notification. This makes it possible to quickly recognize that the load or the crane hook 1 has become no longer close to each other after they had once become close to each other.

[0059] Second Embodiment A crane apparatus according to a second embodiment of the present invention will be described with reference to Fig. 9. Note that the same reference symbols are used for components that are the same as or equivalent to those described in the first embodiment, and differences will be mainly described.

[0060] Fig. 9 is a flowchart similar to Fig. 6, showing an example of control processing executed by a calculation device according to the second embodiment. In the flowchart of Fig. 9, processing of step S400 is executed immediately before processing of step S150 in the flowchart of Fig. 6.

[0061] If the suspended load information acquisition unit 54 determines in step S140 that no suspended load is present, the process proceeds to step S400. In step S400, the suspended load position acquisition unit 55 determines whether the height (Y direction and −Y direction) position of the worker 500 indicated by the second position information is equal to or greater than a predetermined height, i.e., whether the worker 500 is a high-altitude worker performing work at a high altitude. For example, a maintenance inspector of the crane apparatus 100 works at a higher altitude than other workers, and is therefore likely to be a high-altitude worker as defined herein. If the worker 500 is determined to be a high-altitude worker, the process proceeds to step S150. In step S150, the suspended load position acquisition unit 55 acquires the position of the crane hook 1 and sets a first region, a second region, a third region, and a fourth region (described later) based on the acquired position of the crane hook 1. On the other hand, if the worker 500 is determined in step S400 not to be a high-altitude worker, the process shown in FIG. 9 ends.

[0062] Generally, when no load is suspended from the crane hook 1, the crane hook 1 is at a high position and is therefore unlikely to come into contact with a worker 500 performing normal work. On the other hand, a worker 500 performing work at a high altitude other than normal work, such as a crane equipment maintenance inspector, may come into contact with the crane hook 1. Therefore, in the second embodiment, as described above, when no load is suspended, processing related to approach to the crane hook 1 is executed only for high-altitude workers.

[0063] According to the above-described second embodiment, the following advantageous effects are achieved.

[0064] (1) The computing device determines whether or not a load is hung on the crane hook 1, and if it determines that no load is hung, it determines whether the worker 500, who is located at a predetermined height or higher, is approaching the crane hook 1, and if it determines that a load is hung, it determines whether the worker 500 is approaching the load. This allows appropriate measures to be taken against the worker 500 working at height, while avoiding notification to unrelated workers 500 who have no room to approach.

[0065] The following modified examples are also within the scope of the present invention, and it is possible to combine the configuration shown in the modified example with the configuration described in the above embodiment, to combine the configurations described in the different embodiments above, or to combine the configurations described in the different modified examples below.

[0066] <Variation 1> The approach determination unit 56 may determine whether the worker 500 is an operator. For example, the approach determination unit 56 determines whether the worker 500 of interest is holding the operation input device 12 in the video of the work place. If the worker 500 is holding the operation input device 12, the approach determination unit 56 considers the worker 500 to be an operator and excludes the worker 500 from the approach determination. In other words, the worker 500 is treated as not approaching the suspended load. Since operators usually perform operations near the suspended load or the crane apparatus 100, they are likely to be determined to be approaching the suspended load. Note that the method of identifying the operator is not limited to the above. For example, the operator may be identified using a method such as face recognition, object (person) recognition, or marker recognition.

[0067] That is, the computing device 41 according to the first modification identifies the operator of the crane apparatus 100 from the video of the work place based on the first position information of the worker 500, and excludes the operator of the crane apparatus 100 from among the workers 500 from the targets for determining approach. By configuring in this way, inappropriate notifications are prevented from being sent to the operator's information terminal 600, improving the reliability of notifications. Note that when a worker 500 other than the operator approaches the suspended load, a notification is also sent to the operator's information terminal 600 as usual.

[0068] <Variation 2> When it is determined that the distance between the worker 500 and the load or the crane hook 1 has become equal to or shorter than the first distance, second position information of the worker 500 who caused this and information indicating the position of the load or the crane hook 1 may be stored in a storage device. For example, actions that occur as the worker 500 approaches the load or the crane hook 1, such as sending a first notification, sending a second notification, deceleration processing, and stopping processing, as well as information identifying the worker 500 who caused the actions and the movement trajectory of the crane hook 1 immediately before the approach, are stored in a storage medium connected to the control device 40. The control device 40 is configured to output the data stored in the storage medium to a device external to the control device 40. For example, the control device 40 is configured to transmit data to an external server, display the data on a display, or print the data on a printer.

[0069] That is, when the computing device 41 according to the second modification determines that the distance between the worker 500 and the load or the crane hook 1 has become equal to or shorter than the first distance, it stores in the storage device the second position information of the worker 500 that caused this and information indicating the position of the load or the crane hook 1. In this way, the accumulated data can be used in the design of crane placement within the factory. For example, it is possible to determine, based on actual data, how to arrange the traffic flow of the overhead crane and the work area of ​​the worker to make it difficult for the worker to get close to the load or the crane hook 1.

[0070] Although the embodiments of the present invention have been described above, the above embodiments merely illustrate some of the application examples of the present invention, and it is not intended that the technical scope of the present invention be limited to the specific configurations of the above embodiments. [Explanation of symbols]

[0071] 1...Crane hook, 2...Wire rope, 3...Hoisting induction motor, 4...Hoisting drum, 5...Traveling induction motor, 6...Traveling wheel, 7...Traveling girder, 8...Traveling induction motor, 9...Traveling wheel, 10a...Traveling girder, 10b...Traveling rail, 11...Hoisting / traverse inverter control device, 12...Operation input device, 13...Traveling inverter control device, 14...Induction motor brake, 15...Hoisting / traverse inverter control unit, 16...Hoisting inverter, 17...Traveling inverter, 18...Traveling inverter control unit, 1 9...Travel inverter, 20, 23...Communication line, 21...Encoder, 24...Cloud, 40...Control device, 41...Calculation device, 42...Non-volatile memory, 43...Volatile memory, 44...Input / output interface, 51...First position information acquisition unit, 52...Video acquisition unit, 53...Second position information acquisition unit, 54...Suspended load information acquisition unit, 55...Suspended load position acquisition unit, 56...Approach determination unit, 57...Notification unit, 58...Operation control unit, 100...Crane device, 200...Camera, 300...Communication device, 400...Positioning device, 500...Worker, 600...Information terminal

Claims

1. A crane apparatus comprising a crane hook on which a load is hung, an electric motor for moving the crane hook, and a computing device, The computing device acquire first position information indicating the position of a worker performing work related to the suspended load; Photographing a work place where the work is to be performed to obtain an image of the work place; acquiring second location information indicating a detailed location of the worker based on the first location information of the worker and the image of the work place; determining whether the worker is approaching the load or the crane hook based on second position information of the worker; Based on the determination, the worker is notified of the approach of the load or the crane hook; controlling the operation of the electric motor based on the determination; Crane equipment.

2. The crane apparatus according to claim 1, The computing device acquires the second position information by searching for the worker from an image of the work site based on the first position information of the worker.

3. The crane apparatus according to claim 1, The calculation device identifies the operator of the crane apparatus from the image of the work site based on the first position information of the worker, and excludes the operator of the crane apparatus from among the workers from the targets for determining the approach of the crane apparatus.

4. The crane apparatus according to claim 1, When the computing device determines that the distance between the worker and the load or the crane hook has become a first distance or less, it issues a first notification to the worker and the operator of the crane device.

5. The crane apparatus according to claim 4, When the computing device determines that the distance between the worker and the load or the crane hook has become equal to or less than a second distance that is shorter than the first distance, it issues a second alert to the worker and the operator of the crane device.

6. The crane apparatus according to claim 5, The crane apparatus, wherein the computing device slows down the movement speed of the crane hook when it determines that the distance between the worker and the load or the crane hook has become equal to or shorter than a third distance that is shorter than the second distance.

7. The crane apparatus according to claim 6, The crane apparatus, wherein the computing device stops the movement of the crane hook when it determines that the distance between the worker and the load or the crane hook has become equal to or less than a fourth distance that is shorter than the third distance.

8. The crane apparatus according to claim 7, When the computing device determines that the distance between the worker and the load or the crane hook has become less than the first distance, it stores second position information of the worker who caused this and information indicating the position of the load or the crane hook in a storage device.

9. The crane apparatus according to claim 5, When the computing device determines that the worker is moving away from the load or the crane hook after the distance between the worker and the load or the crane hook becomes less than the second distance, the computing device issues the first alert to the worker and the operator of the crane device.

10. The crane apparatus according to claim 4, The crane apparatus, wherein the computing device stops the first notification when it determines that the distance between the worker and the suspended load or the crane hook has become greater than the first distance.

11. The crane apparatus according to claim 1, The computing device determines whether the load is hung on the crane hook, and if it determines that the load is not hung, determines whether the worker, who is located at a location above a predetermined height, is approaching the crane hook, and if it determines that the load is hung, determines whether the worker is approaching the load.

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