Crane rule violation monitoring device and crane rule violation monitoring method

Abstract

To provide a crane rule violation monitoring device and a crane rule violation monitoring method that can automatically detect rule violations during crane operation.SOLUTION: A crane rule violation monitoring device comprises: an operation data storage unit that stores operation data generated in association with the operation of a crane; a determination unit that determines whether or not the operation violates the rule based on the rule for operating the crane and the operation data; and a report creation unit that, when the determination unit determines that the operation violates the rule, acquires the operation data for a predetermined time period, including the time of the determination, from the operation data storage unit, and creates a report including the operation data for the predetermined time period.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The embodiments relate to a rule violation monitoring device and a rule violation monitoring method for a crane. [Background technology]

[0002] To move a load from a first location to a second, a crane performs three operations: "traveling," which moves the entire crane; "traversing," which moves the trolley along the crane's girder; and "hoisting and lowering," which raises and lowers the hoisting equipment, such as a spreader, tongs, or bucket, from the trolley. These operations are performed by the operator, but rules are established for each site to prevent the load from colliding with other loads, other cargo-handling machinery, or surrounding structures, or from falling. For example, the appropriate rules differ for a crane transporting containers at a port facility and a crane transporting coils inside a steelworks building.

[0003] Such rules could be incorporated into the crane's system, but doing so could result in excessive restrictions on crane operation. Crane operation requires detailed adjustments based on the relative positions of the operator's cab and the crane, the position of the load, and other surrounding conditions, so it is often not realistic to impose uniform restrictions through a system. For this reason, at many construction sites, cranes are operated by operators who understand the rules and operate them according to the situation.

[0004] However, in this case, it is difficult to grasp the extent to which the driver is complying with the rules. It is also difficult to grasp the possibility that the driver may be violating the rules without realizing it. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Publication No. 2020-198070 Summary of the Invention [Problem to be solved by the invention]

[0006] The embodiments have been made in consideration of the above-mentioned problems, and have an object to provide a crane rule violation monitoring device and a rule violation monitoring method that can automatically detect rule violations during crane operation. [Means for solving the problem]

[0007] A crane rule violation monitoring device according to an embodiment includes an operation data storage unit that stores operation data generated in association with operation of a crane; a determination unit that determines whether or not the operation violates a rule based on the rule for operating the crane and the operation data; and a report creation unit that, when the determination unit determines that the operation violates the rule, acquires the operation data for a predetermined time period, including the time of the determination, from the operation data storage unit and creates a report including the operation data for the predetermined time period. [Effects of the Invention]

[0008] According to the embodiments, it is possible to realize a crane rule violation monitoring device and a rule violation monitoring method that can automatically detect rule violations during crane operation. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a block diagram showing a crane system according to a first embodiment. [Figure 2] FIG. 2 is a block diagram showing the rule violation monitoring device according to the first embodiment. [Figure 3] FIG. 3 is a flowchart showing the operation of the rule violation monitoring device according to the first embodiment. [Figure 4] 4(a) to 4(d) are diagrams showing the first rule. [Figure 5]5(a) to 5(c) are timing charts showing the determination method of the first rule, with the horizontal axis representing time and the vertical axis representing the bottom landing signal, the hoisting speed, and the hoisting position. [Figure 6] 6(a) to 6(d) are diagrams showing the second rule. [Figure 7] 7(a) to 7(d) are timing charts showing the determination method of the second rule, with the horizontal axis representing time and the vertical axis representing the bottom landing signal, hoisting speed, hoisting position, and traversing speed. [Figure 8] 8(a) and (b) are timing charts showing the third rule and determination method, with the horizontal axis representing time and the vertical axis representing traverse speed and traveling speed. [Figure 9] FIG. 9 is a diagram showing a report created in the first embodiment. [Figure 10] FIG. 10 is a block diagram showing a crane system according to the second embodiment. [Figure 11] FIG. 11 is a block diagram showing a rule violation monitoring device according to the second embodiment. [Figure 12] FIG. 12 is a diagram illustrating a machine learning unit according to the second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] First Embodiment First, the configuration of the crane system according to this embodiment will be described. FIG. 1 is a block diagram showing a crane system according to this embodiment.

[0011] 1, a crane system 101 according to this embodiment is provided with a driving device 10, a control device 20, a leg drive device 30, a mechanical drive device 40, multiple cameras 50, and a rule violation monitoring device 60. The driving device 10, the control device 20, the leg drive device 30, and the mechanical drive device 40 are parts of a crane, which is a cargo handling machine.

[0012] The driving device 10 is arranged in the driver's cab R1. When a driver (not shown) operates the driving device 10 in the driver's cab R1, the driving device 10 outputs an operation signal to the control device 20. Furthermore, when operation data is input from the control device 20, the driving device 10 displays this to the driver. The driver's cab R1 may be arranged on the trolley of the crane, on the girder of the crane, at the base of the crane, or fixedly arranged in a building away from the crane.

[0013] The control device 20 is disposed in an electrical room R2. The electrical room R2 may be disposed in a part of the crane, or may be disposed in a facility separate from the crane. The control device 20 generates control signals based on operation signals input from the operation device 10, and outputs the signals to the leg drive devices 30 and the mechanical drive device 40.

[0014] Furthermore, the control device 20 receives feedback signals from the leg drive devices 30 and the machine drive device 40, and generates operation data based on these feedback signals. In addition to the information based on the feedback signals, the control device 20 may also add, as operation data, information regarding the position of the load 200 before transport, the position of the load 200 after transport, the current date and time, the driver's ID, and information regarding obstacles inside and outside the crane. This information is input to the control device 20 from, for example, a higher-level system. Information regarding obstacles inside and outside the crane may be acquired by a sensor (not shown) provided on the crane. The control device 20 outputs the operation data to the driving device 10 and the rule violation monitoring device 60.

[0015] The leg drive unit 30 is disposed on the leg R3 of the crane. The leg drive unit 30 moves the entire crane based on a control signal input from the control device 20. Methods for moving the entire crane include, for example, a rail system and a tire system. In the rail system, wheels attached to the leg R3 of the crane are rotated on a traveling rail to move the entire crane along the traveling rail. In the tire system, tires attached to the leg R3 of the crane are rotated to move the entire crane. In this way, the leg drive unit 30 controls the "travel" of the crane. The leg drive unit 30 also outputs information such as the traveling speed and traveling position of the crane to the control device 20 as a feedback signal.

[0016] The mechanical drive unit 40 is arranged in the machine room R4 or on the trolley. The machine room R4 is arranged in a part of the crane. The mechanical drive unit 40 moves the trolley along the girder of the crane based on a control signal input from the control unit 20. In this way, the mechanical drive unit 40 controls the "traverse" of the crane. Also, the mechanical drive unit 40 drives a hoist mounted on the machine room or trolley of the crane based on a control signal input from the control unit 20. In this way, the mechanical drive unit 40 controls the "hoisting and lowering" of the crane.

[0017] Furthermore, the mechanical driving device 40 outputs information such as the traverse speed and traverse position of the crane, the hoisting speed and hoisting position, the cargo load, and the gripping status of the hoisting gear as feedback signals to the control device 20. The hoisting gear holds the cargo 200, and is, for example, a spreader, tongs, or a bucket.

[0018] Multiple cameras 50 are placed at any location in the crane system 101. The cameras 50 acquire image data and output it to the rule violation monitoring device 60. The image data is, for example, video. For example, the cameras 50 are placed in the driver's cab R1, the legs R3, the machine room R4, and the loading field R5. While the image data output from the multiple cameras 50 is useful for checking the operating status, installation may be difficult due to restrictions on facility placement, and so a configuration in which cameras are installed is not essential.

[0019] The loading and unloading field R5 is an area in which the crane can transport cargo 200. For example, if the crane is installed in a port facility, the loading and unloading field R5 is an area spanning a container ship and a container yard on a quay, and the cargo 200 is a container. Alternatively, if the crane is installed in a steelworks building, the loading and unloading field R5 is a coil yard, and the cargo 200 is a coil.

[0020] The rule violation monitoring device 60 is located, for example, in the electrical room R2. Note that at least a portion of the rule violation monitoring device 60 may be located in a location other than the electrical room R2, or may be constructed on the cloud. The rule violation monitoring device 60 receives operation data from the control device 20 and image data from multiple cameras 50. The rule violation monitoring device 60 retains the operation data and image data for a certain period of time. The rule violation monitoring device 60 determines whether the operation of the crane violates the rules based on the operation data, and when it determines that the operation of the crane violates the rules, it saves the operation data and image data for a predetermined period of time, including the time of the determination. The rule violation monitoring device 60 then creates a report including the operation data and image data for this predetermined period of time.

[0021] Next, the detailed configuration of the rule violation monitoring device 60 will be described. FIG. 2 is a block diagram showing a rule violation monitoring device according to this embodiment. As shown in FIG. 2, the rule violation monitoring device 60 includes a rule storage unit 61, a driving data storage unit 62, an image data storage unit 63, a determination unit 64, a report creation unit 65, and a report storage unit 66.

[0022] The rule memory unit 61 stores rules for operating the crane. Specific examples of the rules will be described later. The operation data memory unit 62 stores operation data input from the control device 20 for a certain period of time. As described above, the operation data includes, for example, the crane's traveling speed and traveling position, traverse speed and traverse position, hoisting speed and hoisting position, cargo load, gripping status of the hoisting gear, position of the cargo 200 before transport, position of the cargo 200 after transport, current date and time, driver ID, information on obstacles inside and outside the cargo handling machine, etc. The image data memory unit 63 stores image data input from the multiple cameras 50 for a certain period of time.

[0023] The determination unit 64 compares the rules stored in the rule storage unit 61 with the operation data input from the control device 20, and determines whether or not the operation of the crane violates the rules. When the determination unit 64 determines that the operation of the crane violates the rules, it generates a trigger signal and outputs it to the report creation unit 65.

[0024] When a trigger signal is input from the determination unit 64, the report creation unit 65 reads out and stores driving data for a certain period of time including the time when the trigger signal was input from the driving data storage unit 62, and also reads out and stores image data for the same period of time from the image data storage unit 63. Then, the report creation unit 65 creates a report including this driving data and image data.

[0025] The report creation unit 65 outputs the created report to the report storage unit 66. The report storage unit 66 stores the report. In response to an external request or at a predetermined timing, the report creation unit 65 reads out the report from the report storage unit 66 and outputs it to the outside of the crane system 101.

[0026] The rule storage unit 61, the driving data storage unit 62, the image data storage unit 63, and the report storage unit 66 are configured by a large-capacity storage device such as an SSD (Solid State Drive) or an HDD (Hard Disk Drive). The rule storage unit 61, the driving data storage unit 62, the image data storage unit 63, and the report storage unit 66 may be configured by separate storage devices or may share a single storage device.

[0027] The determination unit 64 and the report creation unit 65 may be configured, for example, by a general-purpose CPU (central processing unit) and memory, and may be realized by the CPU executing a program stored in the memory, or may be configured by dedicated hardware. The determination unit 64 and the report creation unit 65 may be configured by separate hardware, or may be configured by common hardware. Note that the rule storage unit 61 may not be provided, and the rules may be written in the program executed by the determination unit 64.

[0028] Next, the operation of the rule violation monitoring device 60 according to this embodiment, that is, the rule violation monitoring method according to this embodiment, will be described.

[0029] First, the overall operation of the crane will be described. As shown in Fig. 1, when operating a crane, an operator operates the driving device 10 in the operator's cab R1. The driving device 10 generates driving signals based on the operator's operations and outputs them to the control device 20. The control device 20 generates control signals based on the driving signals and outputs them to the leg driving devices 30 and the machine driving device 40.

[0030] The leg drive unit 30 controls the "travel" of the crane based on the control signal, and outputs information such as the travel speed and travel position of the crane as a feedback signal to the control device 20. The mechanical drive unit 40 controls the "traverse" and "hoisting / lowering" of the crane based on the control signal, and outputs information such as the traverse speed and traverse position, hoisting speed and hoisting position, cargo load, and gripping status of the hoisting gear as a feedback signal to the control device 20.

[0031] The control device 20 generates driving data based on the feedback signal and constantly outputs it to the driving device 10 and the rule violation monitoring device 60. In addition, multiple cameras 50 constantly acquire image data and output it to the rule violation monitoring device 60. The driving device 10 supports the driver by displaying the driving data. The driving device 10 may also support the driver by displaying image data.

[0032] Next, the operation of the rule violation monitor 60 will be described in detail. FIG. 3 is a flowchart showing the operation of the rule violation monitoring device according to this embodiment. As shown in Fig. 2, rules are stored in advance in rule storage unit 61 of rule violation monitoring device 60. Driving data storage unit 62 stores driving data input from control device 20 for a fixed period of time. Therefore, driving data storage unit 62 always stores driving data for a fixed period of time going back from the current time. Image data storage unit 63 stores image data input from camera 50 for a fixed period of time. Therefore, image data storage unit 63 always stores image data for a fixed period of time going back from the current time.

[0033] 2 and 3, the determination unit 64 compares the operation data input from the control device 20 with the rules stored in the rule storage unit 61. As a result, the determination unit 64 determines whether or not the operation of the crane violates the rules.

[0034] As shown in step S2 of Fig. 3, if the determination unit 64 determines that the operation of the crane does not violate the rules, the process returns to step S1. If the determination unit 64 determines that the operation of the crane violates the rules, the process proceeds from step S2 to step S3. Then, the determination unit 64 generates a trigger signal and outputs it to the report creation unit 65. The trigger signal includes information about the time t0 when the violation of the rules was determined.

[0035] 2 and 3, when the report creation unit 65 receives a trigger signal, the report creation unit 65 reads out the driving data and image data from the driving data storage unit 62 and the image data storage unit 63, respectively, from a time (t0-t1) that is a time t1 back in time from time t0 to a time (t0+t2) that is a time t2 after time t2 has elapsed, and stores them so that they will not be erased. The times t1 and t2 are set in advance.

[0036] Next, as shown in step S4 of Fig. 3, the report creation unit 65 creates a report. The report is created electronically. The contents of the report will be described later.

[0037] Next, as shown in step S5 of Fig. 3, the report created by the report creation unit 65 is output to the report storage unit 66. The report storage unit 66 stores the report. It is preferable that the report storage unit 66 stores the report in a searchable state. Thereafter, the process returns to step S1.

[0038] In response to an external request or at a predetermined timing, the report creation unit 65 reads out a report from the report storage unit 66 and outputs it to the outside of the crane system 1. The report may be sent to the relevant parties by electronic means, or may be uploaded to an external server or cloud so that the relevant parties can view or download it.

[0039] Next, some rules will be exemplified and a method for determining rule violations will be explained. In this embodiment, the following three rules will be described as examples, but the content of the rules is not limited to these examples and can be set arbitrarily depending on the situation at the site.

[0040] First, the first rule will be explained. 4(a) to 4(d) are diagrams showing the first rule. 5(a) to 5(c) are timing charts showing the determination method of the first rule, with the horizontal axis representing time and the vertical axis representing the bottom landing signal, the hoisting speed, and the hoisting position. As shown in FIGS. 4(a) to 4(d), the first rule is the operating procedure when hoisting a crane.

[0041] As shown in Figure 4(a), before transportation, cargo 200 is placed on floor 300. If cargo 200 is a container, cargo 200 may be placed on another container or on the chassis of a truck instead of on floor 300. However, the following description will be given taking as an example a state in which cargo 200 is placed on floor 300. Wire 120 is attached to cargo 200 via sling 110.

[0042] This state is referred to as “State A1: Landing State.” Before reaching this state, the crane travels and moves laterally to position the hoisting tool 110 directly above the load 200, and then the hoisting tool 110 reaches the load 200 by a lowering operation, and the hoisting tool 110 grasps the load 200.

[0043] At this time, the operating data indicates that the landing signal is "ON", the hoisting speed Vz is 0 [%], and the hoisting position Pz is N [m]. The landing signal is a signal generated from, for example, the cargo load, and when the tension of the wire 120 is smaller than the weight of the cargo 200, it is determined that the cargo 200 has landed on the floor 300 and the landing signal is set to "ON", and when the tension of the wire 120 is approximately equal to the weight of the cargo 200, it is determined that the cargo 200 has left the floor 300 and the landing signal is set to "OFF". Position N is the hoisting position before the cargo 200 is transported and corresponds to the height of the floor 300.

[0044] Next, as shown in FIG. 4(b), the control device 20 drives the mechanical drive device 40 to slightly hoist up the cargo 200. This state is referred to as "State A2: temporary hoisting state." At this time, the operating data is such that the floor landing signal is "OFF," the hoisting speed Vz is a [%] (a>0), and the hoisting position Pz is greater than N [m].

[0045] Next, as shown in FIG. 4(c), the control device 20 stops the mechanical drive device 40, thereby temporarily suspending the hoisting of the cargo 200. This state is called "State A3: Temporarily ...

[0046] This state is maintained for, for example, three seconds or more, and then "ground lifting" is performed. That is, in "State A3: temporary stop state," the driver checks whether the hoisting device 110 is properly gripping the load 200, whether excessive tension is being applied to the wire 120, whether the load 200 is not swinging significantly, and so on.

[0047] Next, as shown in FIG. 4(d), the control device 20 drives the mechanical drive device 40 again to fully hoist the cargo 200. This state is referred to as "State A4: normal hoisting state." At this time, the operating data is such that the landing signal is "OFF," the hoisting speed Vz is arbitrary, and the hoisting position Pz is greater than (N+L) [m]. After that, when the landing signal turns "ON," it is determined that the state has returned to that of FIG. 4(a).

[0048] When the crane is operated in accordance with the first rule shown in Figures 4(a) to (d), the operation data changes as shown by the solid lines in Figures 5(a) to (c). In contrast, if the operator does not execute "State A3: temporary stop state" and instead transitions directly from "State A2: temporary hoisting state" to "State A4: normal hoisting state," the operation data changes as shown by the dashed lines in Figures 5(b) and (c). When the determination unit 64 detects that the actual operation data (dashed line) deviates from the operation data (solid line) that would be obtained in accordance with the rule, it generates a trigger signal including information about the detected time t0 and outputs it to the report creation unit 65.

[0049] Next, the second rule will be explained. 6(a) to 6(d) are diagrams showing the second rule. 7(a) to 7(d) are timing charts showing the determination method of the second rule, with the horizontal axis representing time and the vertical axis representing the bottom landing signal, hoisting speed, hoisting position, and traversing speed. As shown in FIGS. 6(a) to 6(d), the second rule is a driving procedure for avoiding an obstacle.

[0050] "State B1: Landing on the floor" shown in Fig. 6(a) is the same as "State A1: Landing on the floor" shown in Fig. 4(a). That is, the landing signal is "ON", the winding speed Vz is 0 [%], and the winding position Pz is N [m].

[0051] However, the second rule assumes the case where an obstacle 400 is present within the movement range of the luggage 200. The obstacle 400 is, for example, another luggage. The height of the upper end of the obstacle 400 is set to M [m]. The presence of the obstacle 400 and the height M [m] of its upper end may be input to the rule violation monitoring device 60 from a higher-level system, or may be detected by a sensor such as a laser sensor attached to the crane and input to the rule violation monitoring device 60.

[0052] The second rule prohibits lateral movement and running until the luggage 200 is hoisted up to a position higher than the obstacle 400. Therefore, as shown in FIG. 6(a), in "State B1: Landing state", the lateral movement speed Vy is 0[%].

[0053] Next, as shown in Fig. 6(b), the control device 20 drives the mechanical drive device 40 to hoist up the cargo 200. This state is referred to as "state B2: hoisting operation state." At this time, the operation data is such that the floor landing signal is "OFF," the hoisting speed Vz is a [%] (a > 0), the hoisting position Pz is greater than N [m] and equal to or less than M [m], and the traverse speed Vy is 0 [%].

[0054] Next, as shown in FIG. 6(c), when the hoisting position Pz becomes larger than the height M [m] of the upper end of the obstacle 400, the control device 20 stops the mechanical drive device 40, thereby stopping the hoisting of the cargo 200. This state is called "State B3: Hoisting Complete State." At this time, the operation data is as follows: the floor landing signal is "OFF," the hoisting speed Vz is 0 [%], the hoisting position is higher than M [m], and the traverse speed Vy is 0 [%]. After the crane state reaches "State B3: Hoisting Complete State," traverse and traveling are permitted.

[0055] Next, as shown in FIG. 6(d), the control device 20 drives the mechanical drive device 40 to perform traverse operation. This state is referred to as "State B4: Traverse Operation State." At this time, the operation data is as follows: the landing signal is "OFF," the hoisting speed Vz is arbitrary, the hoisting position is higher than M [m], and the traverse speed Vy is c [%] (c>0). Note that FIG. 6(d) shows a case where the hoisting speed Vz is 0 [%], but the hoisting speed Vz is arbitrary and may be higher than 0 [%]. After that, when the landing signal turns "ON," it is determined that the state has returned to that of FIG. 6(a).

[0056] When the crane is operated in accordance with the second rule shown in Figures 6(a) to (d), the operation data changes as shown by the solid lines in Figures 7(a) to (d). In contrast, if the operator does not perform "State B3: Hoisting Completion State" and starts lateral movement in "State B2: Hoisting Operation State" before the hoisting position Pz of the cargo 200 exceeds the height M of the upper end of the obstacle 400, the operation data will be as shown by the dashed lines in Figure 7(d) where the lateral movement speed Vy will be higher than 0% when the hoisting position Pz is equal to or lower than M. When the determination unit 64 detects such behavior, it generates a trigger signal including information about the detection time t0 and outputs it to the report creation unit 65.

[0057] Next, the third rule will be explained. 8(a) and (b) are timing charts showing the third rule and determination method, with the horizontal axis representing time and the vertical axis representing traverse speed and traveling speed. As shown in Figures 8(a) and (b), the third rule prohibits the crane from traveling and traversing at the same time.

[0058] When the crane is operated in accordance with the third rule, the operation data behaves as shown by the solid lines in Figures 8(a) and (b). That is, in "State C1: traverse operation state," the traveling speed Vx is 0[%], and in "State C2: traveling operation state," the traverse speed Vy is 0[%]. Between "State C1: traverse operation state" and "State C2: traveling operation state," "State C3: temporary stop state" appears. "State C3: temporary stop state" includes a moment when both the traverse speed Vy and the traveling speed Vx are 0[%].

[0059] On the other hand, if the operator simultaneously performs traverse and travel operations of the crane, there will be a moment in the operation data when both the traverse speed Vy and the travel speed Vx become higher than 0% as shown by the dashed lines in Figure 8(b). When the determination unit 64 detects such a state, it generates a trigger signal including information about the detected time t0 and outputs it to the report creation unit 65.

[0060] Next, we will explain what should be included in the report. FIG. 9 is a diagram showing a report created in this embodiment. It should be noted that FIG. 9 conceptually shows the items to be included in the report, and the format and layout of the report are not limited to this.

[0061] 9, the report creation unit 65 lists basic information 501 in a report 500, such as the date and time when the rule violation occurred, the crane number, and the location where the rule violation occurred. The report creation unit 65 also lists operation data 502 from time (t0-t1) to time (t0+t2) and image data 503 for the same time. Note that because the report 500 is written electronically, the viewer can watch the video by clicking on the area on their terminal that corresponds to the image data 503.

[0062] Furthermore, the report creation unit 65 may classify the type of rule violation based on the driving data, and publish the classification result 504 in the report 500. Examples of the classification result include "deviation from stopping the hoisting operation after landing" which violates the first rule described above, "deviation from avoiding obstacle height" which violates the second rule, and "deviation from driving and moving sideways in combination" which violates the third rule.

[0063] Furthermore, based on the type of rule violation, the report creation unit 65 may search the report storage unit 66 for rule violations of the same type that have occurred in the past, and include the search results 505 in the report 500. Furthermore, if measures to avoid the rule violation are proposed for each type of rule violation, it is preferable that the proposed contents are also stored in the report storage unit 66 and included as proposed measures 506 in the report 500. The report creation unit 65 may include items other than those mentioned above in the report 500, and may not include some of the items mentioned above.

[0064] Next, the effects of this embodiment will be described. According to this embodiment, the determination unit 64 of the rule violation monitoring device 60 compares operation data input from the control device 20 of the crane system 101 with the rules stored in the rule storage unit 61, and when it determines that a rule violation has occurred, the report creation unit 65 creates a report. This makes it possible to automatically detect rule violations during crane operation. As a result, it is possible to reliably detect rule violations that the operator does not report and rule violations that the operator is unaware of.

[0065] Furthermore, the rule violation monitoring device 60 constantly stores a certain period of driving data in the driving data storage unit 62 and a certain period of image data in the image data storage unit 63, and publishes in a report the driving data and image data from a time (t0-t1) that is a time t1 back from the time t0 when the rule violation occurred to a time (t0+t2) that is a time t2 that has elapsed since the time t0. This reduces the time and effort required to collect the necessary data.

[0066] The times t1 and t2 are set in advance based on the situation at the site and past experience. The driving data storage unit 62 and the image data storage unit 63 retain data for a time period equal to or longer than the time t1. The rule violation monitoring device 60 may include only the driving data in the report. In this case, the image data may be stored on a separate server or cloud, and only a link to the storage location may be included in the report 500.

[0067] Furthermore, the report creation unit 65 classifies the type of rule violation based on the driving data, and publishes the classification result 504 in the report 500. This reduces the time and effort required to analyze the situation of the rule violation.

[0068] Furthermore, the report creation unit 65 searches the report storage unit 66 for rule violations of the same type that have occurred in the past, and publishes the search results 505 in the report 500. This can assist in analyzing the reason for the rule violation. Furthermore, if the report creation unit 65 publishes countermeasure proposals 506 in the report 500, it can also assist in considering countermeasures.

[0069] Furthermore, in this embodiment, when a rule violation occurs, report 500 is created, but no intervention is made in the operation of the crane itself. This prevents the operation of the crane from being restricted at a time that the operator does not anticipate. As a result, the efficiency of the crane operation does not decrease, and trouble caused by sudden restrictions on operation can be avoided.

[0070] <Second embodiment> FIG. 10 is a block diagram showing a crane system according to this embodiment. FIG. 11 is a block diagram showing a rule violation monitoring device according to this embodiment. FIG. 12 is a diagram illustrating a machine learning unit in this embodiment.

[0071] As shown in FIG. 10, the crane system 102 according to this embodiment differs from the crane system 101 according to the first embodiment in that a rule violation monitoring device 60a is provided instead of the rule violation monitoring device 60 (see FIG. 1), and an alarm device 80 is also provided. The alarm device 80 is disposed in the operator's cab R1 and connected to the rule violation monitoring device 60a. Note that the alarm device 80 may be connected to the rule violation monitoring device 60a via the operation device 10 and the control device 20. The alarm device 80 is, for example, a lamp or a speaker.

[0072] 11, rule violation monitoring device 60a according to this embodiment is provided with a machine learning unit 67 in addition to the components of rule violation monitoring device 60 (see FIG. 2). Driving data is input to machine learning unit 67 from control device 20, and a determination result is input to machine learning unit 67 from determination unit 64. Image data may also be input to machine learning unit 67 from camera 50.

[0073] 12, a deep learning structure 70 is constructed in the machine learning unit 67. The deep learning structure 70 includes an input layer 71, hidden layers 72, 73, and 74, and an output layer 75.

[0074] Operation data a1, a2, a3,... as (s is a natural number of 2 or more) are input to the input layer 71. The operation data a1... as include, for example, hoisting position Pz, hoisting speed Vz, traverse position Py, traverse speed Vy, traveling position Px, traveling speed Vx, cargo load, gripping state of each hoisting tool, cargo position before transport, cargo position after transport, state of obstacles inside and outside the crane, date, time, etc. The state of obstacles inside and outside the crane may be detected, for example, based on image data or may be detected by a sensor such as a laser sensor. Note that image data may be input to the input layer 71 in addition to operation data.

[0075] The output layer 75 outputs the violation index b1 of the first rule, the violation index b2 of the second rule, and so on, the violation index bt of the t-th rule (t is a natural number). The violation index b1 of the first rule is a numerical value indicating the probability of violating the first rule.

[0076] First, driving data a1 to as, for which it is known whether or not rule violations have occurred, are prepared as training data. Then, the driving data a1 to as are input to the input layer 71 of the deep learning structure 70, and the violation indices of the above rules are input to the output layer 75, and the deep learning structure 70 is trained by supervised learning. For example, if only the first rule has been violated and no other rule violations have occurred, the value of the violation index b1 for the first rule is set to 1, and the values ​​of the violation indices for the other rules are set to 0.

[0077] This allows deep learning structure 70 to learn and become able to estimate the probability of rule violations from unknown operating data. Deep learning structure 70 may be trained sequentially in conjunction with daily crane operation, or may be trained in advance outside crane system 102 and then implemented in machine learning unit 67 after the learning is complete.

[0078] When unknown operating data is input from the control device 20 to the trained machine learning unit 67, each numerical value is output from the output layer 75 of the machine learning unit 67. The judgment unit 64 reads the numerical values ​​output to the output layer 75, and outputs an alarm signal to the alarm device 80 if the probability of a rule violation occurring exceeds a threshold value.

[0079] When the warning signal is input, the warning device 80 issues a warning to the driver. For example, if the warning device 80 is a lamp, it will turn on the lamp. If the warning device 80 is a speaker, it will emit a voice or siren. At this time, it is preferable that the warning device 80 also outputs the type of rule violation that is likely to occur. The type of rule violation that is likely to occur may be displayed on the display of the driving device 10.

[0080] Depending on the input driving data, there may be cases where the data is clearly directly linked to a dangerous situation without waiting for a judgment by the deep learning structure 70. For example, this may be the case when the cargo load is equal to or greater than a certain value, or when the height of an obstacle present within the cargo handling area is equal to or greater than a certain value. In such cases, the situation may be immediately judged to be a dangerous situation, and an alarm signal may be output to the alarm device 80.

[0081] According to this embodiment, it is possible to predict the occurrence of a rule violation in advance and notify the driver. This makes it possible to prevent the occurrence of rule violations. The configuration, operation, and effects of this embodiment other than those described above are the same as those of the first embodiment.

[0082] In this embodiment, an example has been shown in which the machine learning unit 67 is configured by the deep learning structure 70 that has been trained by supervised learning, but the configuration of the machine learning unit 67 is not limited to this. The machine learning unit 67 may be configured by, for example, a program that classifies driving data according to driving patterns, or may be configured by other algorithms.

[0083] The above-described embodiments are examples of realizing the present invention, and the present invention is not limited to these embodiments. For example, the present invention also includes the above-described embodiments in which some components or processes are added, deleted, or modified. Furthermore, the rule violation monitoring device and rule violation monitoring system according to the above-described embodiments can also be applied to cargo handling machines other than cranes.

[0084] The present invention includes the following aspects.

[0085] (Appendix 1) an operation data storage unit that stores operation data generated in association with the operation of the crane; a determination unit that determines whether the operation violates the rules based on the rules for operating the crane and the operation data; a report creation unit that, when the determination unit determines that the driving violates the rule, acquires the driving data for a predetermined period of time including the time of the determination from the driving data storage unit, and creates a report including the driving data for the predetermined period of time; A crane rule violation monitoring device equipped with this.

[0086] (Appendix 2) an image data storage unit that stores image data of the operation of the crane; Furthermore, The crane rule violation monitoring device according to claim 1, wherein the report creation unit also includes the image data for the predetermined time in the report.

[0087] (Appendix 3) The crane rule violation monitoring device according to claim 1 or 2, wherein the report creation unit classifies the type of violation.

[0088] (Appendix 4) The system further includes a machine learning unit capable of estimating the probability of the violation occurring based on the driving data, 4. The rule violation monitoring device for a crane according to any one of appendices 1 to 3, wherein the determination unit outputs an alarm signal when the probability of the occurrence of the violation exceeds a threshold value.

[0089] (Appendix 5) 5. The rule violation monitoring device for a crane according to any one of appendices 1 to 4, wherein the rule is an operating procedure for the crane.

[0090] (Appendix 6) determining whether the operation violates the rules for operating the crane based on the rules and operation data generated in association with the operation of the crane; A crane rule violation monitoring method that, when it is determined that the operation violates the rule, creates a report including the operation data for a predetermined period of time including the time of the determination. [Explanation of symbols]

[0091] 10 Driving Device 20 Control device 30 Leg drive unit 40 Mechanical Drive 50 cameras 60, 60a Rule violation monitoring device 61 Rule Memory 62 Operation data storage unit 63 Image data storage unit 64 Judgment section 65 Report Writing Department 66 Report Memory Unit 67 Machine Learning Department 70 Deep Learning Structure 71 Input Layer 72, 73, 74 Hidden layer 75 Output Layer 80 Alarm device 101, 102 Crane System 110 Hanging equipment 120 wire 200 luggage 300 beds 400 Obstacles 500 Reports 501 Basic information 502 Operational Data 503 Image Data 504 Classification results 505 results 506 Countermeasures R1 Driver's Cab R2 Electrical Room R3 leg R4 Machine room R5 Loading Field

Claims

1. an operation data storage unit that stores operation data generated in association with the operation of the crane; a determination unit that determines whether the operation violates the rules based on the rules for operating the crane and the operation data; a report creation unit that, when the determination unit determines that the driving violates the rule, acquires the driving data for a predetermined period of time including the time of the determination from the driving data storage unit, and creates a report including the driving data for the predetermined period of time; A crane rule violation monitoring device equipped with this.

2. an image data storage unit that stores image data of the operation of the crane; Furthermore, The crane rule violation monitoring device according to claim 1 , wherein the report creation unit also includes the image data for the predetermined time in the report.

3. The crane rule violation monitoring device according to claim 1 , wherein the report creation unit classifies the type of the violation.

4. The system further includes a machine learning unit capable of estimating the probability of the violation occurring based on the driving data, The rule violation monitoring device for a crane according to claim 1 , wherein the determination unit outputs an alarm signal when the probability of the occurrence of the violation exceeds a threshold value.

5. The rule violation monitoring device for a crane according to claim 1 , wherein the rule is an operating procedure for the crane.

6. determining whether the operation violates the rules for operating the crane based on the rules and operation data generated in association with the operation of the crane; A crane rule violation monitoring method that, when it is determined that the operation violates the rule, creates a report including the operation data for a predetermined period of time including the time of the determination.

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