Suspended state determination device, suspended state determination method, suspended state determination program, and recording medium

Abstract

To provide a suspended load state determination device capable of determining a state of a suspended load with high accuracy.SOLUTION: A suspended load state determination device of the present disclosure includes an acquisition part, a determination part, and an output part, wherein the acquisition part acquires state information reflecting a state of a suspended load of a crane, the state information includes acceleration information on acceleration acting on the suspended load, the determination part determines whether the suspended load is separated from a ground contact surface based on the state information, and the output part outputs a determination result of the determination part.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a suspended load state determination device, a suspended load state determination method, a suspended load state determination program, and a recording medium. [Background technology]

[0002] Patent Document 1 discloses a load sway detection device for a crane that includes an imaging means that is disposed near the top of the boom and whose position is controlled so that the field of view is directed vertically downward, an identification pattern that is drawn on the top surface of a hook disposed at the end of a rope, and a hook position detection means that detects the relative position of the hook with respect to the top of the boom by performing image processing on the identification pattern imaged by the imaging means to determine the centroid position of the identification pattern. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 7-179290 Summary of the Invention [Problem to be solved by the invention]

[0004] According to the invention of Patent Document 1, the position of the hook suspending the load can be detected visually using the output of the imaging means. On the other hand, the invention of Patent Document 1 cannot detect the position of the hook suspending the load if, for example, an obstruction prevents the imaging means from capturing an image. For this reason, the invention of Patent Document 1 may not be able to determine the state of the load with high accuracy.

[0005] Therefore, an object of the present disclosure is to provide a suspended load state determination device, a suspended load state determination method, a suspended load state determination program, and a recording medium that are capable of determining the state of a suspended load with high accuracy. [Means for solving the problem]

[0006] In order to achieve the above object, the suspended load state determination device of the present disclosure includes: An acquisition unit, a determination unit, and an output unit, The acquisition unit acquires status information reflecting a status of a load suspended by a crane, The state information includes acceleration information regarding acceleration acting on the suspended load, The determination unit determines whether the suspended load has separated from the ground surface based on the state information, The output unit outputs the determination result by the determination unit. It is a device.

[0007] The method for determining a suspended load state disclosed herein includes: The method includes an acquisition step, a determination step, and an output step, The acquiring step acquires status information reflecting a status of a load suspended by a crane, The state information includes acceleration information regarding acceleration acting on the suspended load, The determination step determines whether the suspended load has separated from the ground surface based on the state information, The output step outputs the determination result obtained by the determination step. Each of the steps is a computer-implemented method.

[0008] The suspended load state determination program of the present disclosure is An acquisition step, a determination step, and an output step are included, The obtaining step obtains status information reflecting a status of a load suspended by the crane; The state information includes acceleration information regarding acceleration acting on the suspended load, The determination step includes determining whether the suspended load has separated from the ground surface based on the state information; the output step outputs a determination result obtained by the determination step. This is a program for causing a computer to execute each of the above procedures.

[0009] The recording medium of the present disclosure includes: An acquisition step, a determination step, and an output step are included, The obtaining step obtains status information reflecting a status of a load suspended by the crane; The state information includes acceleration information regarding acceleration acting on the suspended load, The determination step includes determining whether the suspended load has separated from the ground surface based on the state information; the output step outputs a determination result obtained by the determination step. A computer-readable recording medium that records a suspended load status determination program for causing a computer to execute each of the above procedures. [Effects of the Invention]

[0010] According to the present disclosure, the state of a suspended load can be determined with high accuracy. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a block diagram showing an example of the configuration of a suspended load state determination device of the present disclosure. [Figure 2] FIG. 2 is a block diagram showing an example of the hardware configuration of the suspended load condition determination device of the present disclosure. [Figure 3] FIG. 3 is a flowchart showing an example of processing in the suspended load state determination device of the present disclosure. [Figure 4] FIG. 4 is a schematic diagram showing an example of a determination result in the suspended load condition determination device of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. The present disclosure is not limited to the following embodiments. In the following drawings, identical parts are designated by the same reference numerals. Furthermore, the descriptions of the embodiments can be used interchangeably unless otherwise specified, and the configurations of the embodiments can be combined unless otherwise specified. In the present disclosure, each drawing may apply to one or more embodiments.

[0013] [Embodiment 1] An example of the configuration of a suspended load status determination device of the present disclosure will be described with reference to Fig. 1. Fig. 1 is a block diagram showing an example of the configuration of a suspended load status determination device 10 of the present disclosure. As shown in Fig. 1, the suspended load status determination device 10 (hereinafter also referred to as "the present device 10") includes an acquisition unit 11, a determination unit 12, and an output unit 13. Although not shown, the present device 10 may also include, for example, an input unit, another output unit, a display unit, and / or a memory unit. The acquisition unit 11, the determination unit 12, and the output unit 13 are each capable of executing, for example, an acquisition procedure, a determination procedure, and an output procedure in a suspended load status determination program of the present disclosure, which will be described later.

[0014] The device 10 may be, for example, a single device including the above-described units, or a device in which the units can be connected via a communication network. The device 10 can also be connected to an external device (described later) via the communication network. The communication network is not particularly limited, and any known network can be used, for example, wired or wireless. Examples of communication networks include the Internet, the World Wide Web (WWW), a telephone line, a Local Area Network (LAN), a Storage Area Network (SAN), a Delay Tolerant Networking (DTN), a Low Power Wide Area Network (LPWA), and a Local 5G (L5G). Examples of wireless communication include Wi-Fi (registered trademark), Bluetooth (registered trademark), Local 5G, and LPWA. Examples of wireless communication include direct communication between devices (Ad Hoc communication), infrastructure communication, and indirect communication via an access point. The device 10 may be incorporated into a server as a system. The device 10 may be, for example, a personal computer (PC, for example, a desktop or notebook type) on which the program of the present disclosure is installed, a smartphone, a tablet terminal, etc. Furthermore, the device 10 may be in the form of cloud computing or edge computing, for example, in which at least one of the units is located on a server and the other units are located on a terminal.

[0015] 2 shows a block diagram of the hardware configuration of the device 10. The device 10 includes, for example, a central processing unit (CPU, GPU, etc.) 101, a memory 102, a bus 103, a storage device 104, an input device 105, an output device 106, and a communication device 107. The components of the device 10 are connected to each other via the bus 103 and their respective interfaces (I / F).

[0016] The central processing unit 101 operates in cooperation with other components via a controller (such as a system controller or an I / O controller) and is responsible for overall control of the device 10. In the device 10, the central processing unit 101 executes, for example, the program of the present disclosure (a suspended load state determination program) described below and other programs, and also reads and writes various information. Specifically, for example, the central processing unit 101 functions as an acquisition unit 11, a determination unit 12, and an output unit 13. The device 10 may include other arithmetic units such as a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), an APU (Accelerated Processing Unit), or a combination of these as the arithmetic unit.

[0017] The bus 103 can also be connected to, for example, external devices. Examples of the external devices include an external storage device (such as an external database), a printer, an external input device, an external display device, an audio output device such as a speaker, an external imaging device such as a camera, and a device equipped with various sensors such as an acceleration sensor, an angular velocity sensor, an inertial sensor, and a geomagnetic sensor. The device 10 can be connected to an external network (the communication line network) by, for example, a communication device 107 connected to the bus 103, and can also be connected to other devices such as a user terminal via the external network.

[0018] The memory 102 may be, for example, a main memory (primary storage device). When the central processing unit 101 performs processing, the memory 102 reads various operating programs, such as the program of the present disclosure, stored in the storage device 104 (described later), and the central processing unit 101 receives data from the memory 102 and executes the programs. The main memory may be, for example, a RAM (random access memory). The memory 102 may also be, for example, a ROM (read only memory).

[0019] The storage device 104 is also referred to as an auxiliary storage device, for example, in contrast to the main memory (primary storage device). As described above, the storage device 104 stores an operating program including the program of the present disclosure. The storage device 104 may be, for example, a combination of a recording medium and a drive for reading and writing data from and to the recording medium. The recording medium is not particularly limited and may be, for example, an internal or external type, such as a hard disk (HD), CD-ROM, CD-R, CD-RW, MO, DVD, flash memory, or memory card. The storage device 104 may be, for example, a hard disk drive (HDD) or a solid-state drive (SSD) in which the recording medium and drive are integrated. When the device 10 includes the storage unit, the storage device 104 functions as the storage unit, for example. The storage unit can record, for example, status information, determination results, and the like, as described below. The storage unit may also function, for example, as a database of various information, as described below.

[0020] In the present device 10, the memory 102 and the storage device 104 can also store various information such as log information, information acquired from an external database (not shown) or an external device, information generated by the present device 10, and information used when the present device 10 executes processing. In this case, the memory 102 and the storage device 104 may store, for example, the above-mentioned information on the user of the present device. Note that at least a portion of the information may be stored, for example, in an external server other than the memory 102 and the storage device 104, or may be stored in a distributed manner across multiple terminals using blockchain technology or the like.

[0021] The device 10 further includes, for example, an input device 105 and an output device 106. Examples of the input device 105 include a pointing device such as a touch panel, track pad, or mouse; a keyboard; an imaging device such as a camera or scanner; a card reader such as an IC card reader or a magnetic card reader; and an audio input device such as a microphone. Examples of the output device 106 include a display device such as an LED display or a liquid crystal display; an audio output device such as a speaker; a printer; etc. In this embodiment, the input device 105 and the output device 106 are configured separately, but the input device 105 and the output device 106 may also be configured as an integrated device, such as a touch panel display.

[0022] An example of processing by the suspended load status determination method of the present disclosure will be described with reference to FIG. 3. FIG. 3 is a flowchart showing an example of each step of the suspended load status determination method of the present disclosure. The suspended load status determination method of the present disclosure (hereinafter also referred to as the "method of the present disclosure") can be implemented, for example, using the suspended load status determination device 10 shown in FIG. 1 or FIG. 2. Note that the method of the present disclosure is not limited to methods that use the device 10 of the present disclosure. For example, the description of the program and device of the present disclosure can be used for the method of the present disclosure.

[0023] The acquisition unit 11 acquires status information that reflects the status of the load suspended by the crane (S1, acquisition step).

[0024] The crane is, for example, a device that has the function of lifting and lowering a load using power. The crane may be, for example, a device that has the function of horizontally moving the lifted load in addition to the above function. Examples of the crane include a mobile crane, an overhead crane, a jib crane, a bridge crane, an unloader, a cable crane, a terha crane, a derrick, and a hoisting device. Examples of the mobile crane include a truck crane, a wheel crane, a crawler crane, a rail crane, and a floating crane. The crane may include, for example, a hoist and a winch.

[0025] The lifted load may be, for example, a load lifted and lowered by the crane. The lifted load may be various depending on the location where the crane is used. Examples of the location where the crane is used include civil engineering sites, construction sites, ports, factories (e.g., steel mills, manufacturing plants, etc.), warehouses, waste disposal facilities, land-based mobile objects (e.g., vehicles, etc.), and water-based or offshore mobile objects (e.g., ships, etc.). The lifted load may be, for example, a load lifted and lowered by the crane via a lifting device and a sling. Examples of the lifting device include a hook, a hook block, a sheave, a sheave block, a grab bucket, a lifting magnet, a vacuum lift, a claw, a spreader, and a sling. Examples of the hook include a main hoisting hook and an auxiliary hoisting hook. Examples of the sling include a wire rope sling, a fiber sling, and a chain sling. The sling and the sling rope may be selected appropriately depending on the load to be suspended, for example.

[0026] Examples of the method of suspending the sling to the suspended load include a method of hanging the sling to the suspended load, and a method of suspending the sling to the suspended load using a tool. Examples of the tool include a clamp, a hacker, and a sling balance. The method of suspending the sling to the suspended load may be selected appropriately depending on the suspended load. Examples of the method of suspending the sling to the sling tool include, when the sling tool is a hook or a hook block, a method of hanging the sling to the hook or the hook block, and a method of hanging the sling loop of the sling to the hook or the hook block. For example, when the sling is a hook or a hook block, the method of hanging the sling cord on the sling device may be a method of hanging one sling cord on the hook or the hook block, a method of hanging two or more sling cords on the hook or the hook block, a method of hanging one sling loop of the sling cord on the hook or the hook block, a method of hanging two or more sling loops of the sling cord on the hook or the hook block, etc. The method of hanging the sling cord on the sling device may be selected appropriately depending on, for example, the load being suspended.

[0027] The status information is information that reflects the status of the load suspended by the crane. The status information may be, for example, information that reflects the status of the movement of the load suspended by the crane. In this case, examples of the status information include acceleration information and angular velocity information, which will be described later. The status information may be, for example, information that reflects the orientation of the load suspended by the crane. In this case, examples of the status information include geomagnetic information, which will be described later.

[0028] The state information includes, for example, at least one of value information, time information, and information based on these information. The value information is, for example, value data indicating the value of the state information, such as value data of acceleration information (described later), value data of angular velocity information (described later), and value data of geomagnetic information (described later). The value information may be, for example, information in which axial direction data indicating the axial direction of the state information is linked to the value data. The axial direction data may be, for example, data indicating the axial direction of the measurement medium of the state information (described later). The time information is, for example, time data indicating the time when the state information was measured, such as time data of acceleration information (described later), time data of angular velocity information (described later), and time data of geomagnetic information (described later). The time information may be, for example, period data indicating a predetermined period during which the state information was measured. In this case, the acquisition unit 11 may acquire the state information for the predetermined period, for example. The predetermined period may be, for example, 10 milliseconds, 20 milliseconds, 30 milliseconds, 40 milliseconds, 50 milliseconds, 60 milliseconds, 70 milliseconds, 80 milliseconds, 90 milliseconds, or 100 milliseconds. The predetermined period may be, for example, a period within a predetermined range, such as 10 to 100 milliseconds, 20 to 90 milliseconds, 30 to 80 milliseconds, 40 to 70 milliseconds, or 50 to 60 milliseconds. The predetermined period may be selected appropriately, for example, depending on the crane. The period required for the status information to reflect the status of the suspended load may vary depending on, for example, the weight of the crane. Therefore, the predetermined period may be selected appropriately, for example, depending on the weight of the crane. The predetermined period may be extended, for example, when the weight of the crane is heavy, or shortened, for example, when the weight of the crane is light. The time information may be, for example, information linked to the value information. The time information may be, for example, data indicating the time when a status information measurement medium (described later) measured the status information. The information based on these pieces of information may be, for example, information based on the value information and the time information.The information based on these pieces of information is, for example, information that can be calculated from the value information and the time information using a known method, such as information obtained by integrating the value information with the time information. Examples of information obtained by integrating the value information with the time information include velocity, displacement, and angle. The information based on these pieces of information is, for example, information that can be calculated from a combination of the value information using a known method, such as combined information calculated from at least two of acceleration information, angular velocity information, and geomagnetic information, which will be described later. Examples of the combined information include an estimation of the position of the suspended load based on acceleration information and angular velocity information, which will be described later.

[0029] The acquiring unit 11 may acquire, as the state information, integrated state information obtained by integrating the state information over the predetermined period. The predetermined period may be, for example, the same as the explanation about the time information mentioned above. The integrated state information may be, for example, the same as the explanation about the information obtained by integrating the value information over the time information mentioned above.

[0030] The status information includes acceleration information related to the acceleration acting on the suspended load. The acceleration may be, for example, acceleration in one axis direction, acceleration in two axes directions, or acceleration in three axes directions. The acceleration information includes, for example, at least one of acceleration and information based on acceleration. The information based on acceleration is, for example, information that can be calculated from acceleration using a known method, such as information obtained by integrating acceleration with the time information. The information obtained by integrating acceleration with the time information may be, for example, velocity, displacement, etc.

[0031] The acceleration may include, for example, vertical acceleration corresponding to the lifting direction and the lowering direction of the suspended load. The vertical acceleration is, for example, acceleration measured in a predetermined axial direction of a measurement medium for status information, which will be described later. According to the present disclosure, for example, while the crane is lifting the suspended load and while the crane is lowering the suspended load, the acceleration acting on the suspended load in the vertical direction can be acquired. Therefore, according to the present disclosure, for example, the status of the suspended load can be determined with higher accuracy. Furthermore, according to the present disclosure, for example, by using training data including the vertical acceleration, it is possible to generate a suspended load status determination model, which will be described later, that can determine the status of the suspended load with higher accuracy.

[0032] The acceleration may include, for example, at least one of a left-right acceleration perpendicular to the up-down direction and a front-back acceleration perpendicular to the up-down direction. The left-right acceleration is, for example, an acceleration measured in a predetermined axial direction of a measurement medium of status information, which will be described later. The front-back acceleration is, for example, an acceleration measured in a predetermined axial direction of a measurement medium of status information, which will be described later. According to the present disclosure, for example, while the crane is lifting the load and while the crane is lowering the load, acceleration acting on the load in at least one of the left-right direction and the front-back direction can be acquired. Therefore, according to the present disclosure, for example, the status of the load can be determined with higher accuracy. Furthermore, according to the present disclosure, for example, by using training data including at least one of the left-right acceleration and the front-back acceleration, it is possible to generate a suspended load status determination model, described later, which can determine the status of the load with higher accuracy.

[0033] The state information may include, for example, angular velocity information regarding the angular velocity acting on the suspended load. The angular velocity may be, for example, an angular velocity in one axis direction, an angular velocity in two axes directions, or an angular velocity in three axes directions. The angular velocity information may include, for example, at least one of angular velocity and information based on angular velocity. The information based on angular velocity may be, for example, information that can be calculated from angular velocity using a known method, such as information obtained by integrating the angular velocity with the time information or angular displacement. The information obtained by integrating the angular velocity with the time information may be, for example, an angle. According to the present disclosure, for example, the angular velocity acting on the suspended load can be acquired while the crane is lifting the suspended load and while the crane is lowering the suspended load. Therefore, according to the present disclosure, for example, the state of the suspended load can be determined with higher accuracy. Furthermore, according to the present disclosure, for example, by using training data including angular velocity information, a suspended load state determination model (described later) can be generated, which can determine the state of the suspended load with higher accuracy.

[0034] The status information may include, for example, geomagnetic information related to the geomagnetic field acting on the suspended load. The geomagnetic field may be, for example, biaxial geomagnetic field or triaxial geomagnetic field. The geomagnetic field information may include, for example, at least one of geomagnetic field and geomagnetic-based information. The geomagnetic-based information may be, for example, information that can be calculated from geomagnetic field using a known method, such as direction. According to the present disclosure, for example, the geomagnetic field acting on the suspended load can be acquired while the crane is lifting the suspended load and while the crane is lowering the suspended load. Therefore, according to the present disclosure, for example, the status of the suspended load can be determined with higher accuracy. Furthermore, according to the present disclosure, for example, by using training data including geomagnetic field information, a suspended load status determination model (described later) can be generated, which can determine the status of the suspended load with higher accuracy.

[0035] The measurement medium for the status information may be, for example, a sensor capable of measuring the status information. Examples of the sensor include an acceleration sensor, an angular velocity sensor, a geomagnetic sensor, and a sensor that combines these. Examples of the sensor that combines these include an inertial sensor that combines an acceleration sensor and an angular velocity sensor. Examples of the inertial sensor include an inertial measurement unit (IMU).

[0036] The status information measurement medium may be provided in, for example, the device disclosed herein. In this case, the device disclosed herein may be installed in, for example, the crane. The device disclosed herein may acquire the status information measured by the status information measurement medium using an acquisition unit 11. The device disclosed herein may be installed in, for example, the crane in a detachable state using a magnet or the like, or may be installed in a fixed state using a fixture or the like. In the former case, the device disclosed herein may be equipped with, for example, a mounting fixture that is detachable from the crane. Note that the mounting fixture may be, for example, a known detachable mounting fixture, such as a magnet. The device disclosed herein may be disposed on the crane in any location that reflects the status of the load on the crane, such as the load, the hoisting device, the sling, the jib, etc. of the crane. The device disclosed herein is preferably disposed on the crane in the sheave portion of the crane to prevent the status of parts of the crane other than the load from being erroneously reflected. The sheave portion is, for example, the location where the sheave is disposed on the crane. The sheave portion may be, for example, the sheave itself or a block to which the sheave is rotatably connected relative to the frame. The sheave portion may include, for example, the hook block, the center of the hook block, the center of gravity of the hook block, the sheave, the center of the sheave, the center of the sheave, the sheave block, the center of the sheave block, and the center of gravity of the sheave block of the crane. In particular, the arrangement of the device of the present disclosure on the crane is preferably, for example, the hook block, the center of the hook block, the center of gravity of the hook block, the sheave, the center of the sheave, the center of the sheave, the sheave block, the center of the sheave block, or the center of gravity of the sheave block of the crane. In this case, the acquisition unit 11 may acquire the status information from a status information measurement medium provided, for example, on the hook block, the center of the hook block, the center of gravity of the hook block, the sheave, the center of the sheave, the center of the sheave, the sheave block, the sheave block, the center of the sheave block, or the center of gravity of the sheave block of the crane.Furthermore, the device of the present disclosure may be provided, for example, on the hook block, the center of the hook block, the center of gravity of the hook block, the sheave, the center of the sheave, the center of gravity of the sheave, the sheave block, the center of the sheave block, or the center of gravity of the sheave block of the crane. The number of devices of the present disclosure disposed on the crane may be, for example, one or two or more. In the latter case, the devices of the present disclosure disposed on the crane may be, for example, in the same location on the crane or in different locations on the crane. According to the present disclosure, for example, by disposing the device of the present disclosure in a location on the crane that reflects the status of the load, the status information reflecting the status of the load on the crane can be obtained. Therefore, according to the present disclosure, for example, the status of the load can be determined with higher accuracy.

[0037] The status information measurement medium may be provided in, for example, a device other than the device disclosed herein. In this case, the device other than the device disclosed herein may be installed on the crane instead of the device disclosed herein. The device disclosed herein may be connected to the device other than the device disclosed herein via a wired or wireless communication network, and the status information measured by the status information measurement medium may be acquired by the acquisition unit 11. The communication network may use, for example, known wireless communication, such as Wi-Fi (registered trademark). The communication network may use, for example, known frequency bands, such as the Ultra High Frequency (UHF) band. The device other than the device disclosed herein may be installed on the crane in a detachable manner using, for example, magnets, or may be installed on the crane in a fixed manner using fixtures. In the former case, the device other than the device disclosed herein may be equipped with, for example, a mounting fixture that is detachable from the crane. Note that the mounting fixture may be, for example, a known detachable mounting fixture, such as a magnet. The device other than the device disclosed herein may be, for example, the external device. The arrangement of the other device other than the device disclosed herein on the crane may be, for example, any part that reflects the state of the load of the crane, such as the load, the hoisting gear, the sling, and the jib of the crane. The arrangement of the other device other than the device disclosed herein on the crane is preferably, for example, on the sheave part of the crane to prevent the state of parts of the crane other than the load from being erroneously reflected. The sheave part is, for example, the part of the crane where the sheave is arranged. The sheave part may be, for example, the sheave itself, or a block to which the sheave is rotatably connected to the frame. The sheave part includes, for example, the hook block of the crane, the center of the hook block, the center of gravity of the hook block, the sheave, the center of the sheave, the center of gravity of the sheave, the sheave block, the center of the sheave block, and the center of gravity of the sheave block.In detail, the arrangement of the device other than the device of the present disclosure on the crane is preferably, for example, the hook block, the center of the hook block, the center of gravity of the hook block, the sheave, the center of the sheave, the center of gravity of the sheave, the sheave block, the center of the sheave block, or the center of gravity of the sheave block of the crane. In this case, the acquisition unit 11 may acquire the status information from a status information measurement medium provided, for example, on the hook block, the center of the hook block, the center of gravity of the hook block, the sheave, the center of the sheave, the center of the sheave, the sheave block, the center of the sheave block, or the center of gravity of the sheave block of the crane. Furthermore, the device other than the device of the present disclosure may be provided, for example, on the hook block, the center of the hook block, the center of gravity of the hook block, the sheave, the center of the sheave, the center of the sheave, the sheave block, the center of the sheave block, or the center of gravity of the sheave block of the crane. The number of devices other than the device of the present disclosure arranged on the crane may be, for example, one or two or more. In the latter case, the arrangement of the other device other than the device of the present disclosure on the crane may be, for example, in the same location on the crane or in a different location on the crane. According to the present disclosure, for example, by arranging the other device other than the device of the present disclosure in a location on the crane that reflects the state of the load, the status information reflecting the state of the load on the crane can be obtained. Therefore, according to the present disclosure, for example, the state of the load can be determined with higher accuracy.

[0038] The status information may include, for example, other information. Examples of the other information include identification information capable of identifying the device disclosed herein, identification information capable of identifying a device other than the device disclosed herein, identification information capable of identifying a measurement medium for the status information, and identification information capable of identifying the crane. Examples of the identification information include an identification number. Examples of the other information include attribute information of the crane (e.g., rated load, total rated load, total rated load when unladen, lifting load, lifting height, working radius, etc.), attribute information of the suspended load (e.g., mass of the suspended load, type of suspended load, etc.), attribute information of the sling (e.g., number of slings, number of sling rings on the sling, diameter of the sling, suspension angle of the sling, safety factor of the sling, safe load of the sling, etc.).

[0039] The state information may be stored, for example, in memory 102 or storage device 104 of the device of the present disclosure, or in memory or storage device of a device other than the device of the present disclosure.

[0040] The determination unit 12 determines whether or not the suspended load has left the ground surface based on the state information (S2, determination step).

[0041] The contact surface is, for example, a surface with which the bottom of the suspended load comes into contact. The contact surface may be, for example, a surface from which the bottom of the suspended load leaves when the crane lifts the load. The contact surface may be, for example, various surfaces depending on the location where the crane is used. Examples of locations where the crane is used include civil engineering sites, construction sites, ports, factories (e.g., steel mills, manufacturing plants, etc.), warehouses, waste disposal facilities, land-based mobile objects (e.g., vehicles, etc.), and water-based or marine mobile objects (e.g., ships, etc.). Examples of the contact surface include the ground, concrete, floors, temporary scaffolding, loading platforms, and decks. The contact surface may be, for example, the same surface as the landing surface described below, or a different surface from the landing surface described below.

[0042] The determination unit 12 may, for example, input the state information into a load state determination model to determine whether the suspended load has left the ground surface. The load state determination model may, for example, be a trained model generated by machine learning using the state information as training data so as to determine whether the suspended load has left the ground surface when the state information is input. The load state determination model may, for example, be generated by known machine learning software. Furthermore, the suspended load state determination model may, for example, be trained on a known framework. Examples of such frameworks include PyTorch, TensorFlow, Keras, and ResNet. The suspended load state determination model may, for example, be converted into an open format to maintain compatibility between the frameworks.

[0043] The determination unit 12 may, for example, input the state information into the suspended load state determination model to output a confidence level of the determination result by the suspended load state determination model, and determine that the suspended load has left the ground surface if the confidence level satisfies a predetermined condition. The predetermined condition may, for example, be a condition that makes it possible to determine that the suspended load has left the ground surface. The predetermined condition may, for example, be a condition related to a threshold value of the confidence level. In this case, the determination unit 12 may, for example, input the state information into the suspended load state determination model to output a confidence level of the determination result by the suspended load state determination model, and determine that the suspended load has left the ground surface if the confidence level exceeds a predetermined threshold or is equal to or greater than a predetermined threshold. The confidence level is, for example, a degree indicating the reliability of the determination result by the suspended load state determination model. The confidence level may also be referred to as reliability, for example. Examples of the predetermined threshold for the confidence level include 50%, 60%, 70%, 80%, and 90% when the confidence level indicates a value between 0% and 100%. Examples of the predetermined threshold for the confidence level include 0.5, 0.6, 0.7, 0.8, and 0.9 when the confidence level indicates a value between 0.0 and 1.0. The predetermined threshold for the confidence level can be selected appropriately, for example, depending on the type of status information. As described above, the period required for the status information to reflect the status of the suspended load may vary depending on, for example, the weight of the crane. Therefore, the predetermined threshold for the confidence level may be selected appropriately, for example, depending on the weight of the crane.

[0044] The suspended load state determination model may be stored, for example, in the memory 102 or storage device 104 of the device of the present disclosure, or may be stored in the memory or storage device of a device other than the device of the present disclosure.

[0045] The determination unit 12 may determine, for example, based on the state information, whether or not the suspended load has landed on the landing surface.

[0046] The landing surface is, for example, a surface on which the bottom of the suspended load lands. The landing surface may be, for example, a surface on which the bottom of the suspended load lands when the crane suspends the load. The landing surface may be, for example, various surfaces depending on the location where the crane is used. Examples of locations where the crane is used include civil engineering sites, construction sites, ports, factories (e.g., steel mills, manufacturing plants, etc.), warehouses, waste disposal facilities, land-based mobile objects (e.g., vehicles, etc.), and water-based or marine mobile objects (e.g., ships, etc.). Examples of the landing surface include the ground, concrete, floors, temporary scaffolding, loading platforms, and decks. The landing surface may be, for example, the same surface as the ground surface described above, or a surface different from the ground surface described above.

[0047] The determination unit 12 may, for example, input the state information into a suspended load state determination model to determine whether the suspended load has landed on a landing surface. The suspended load state determination model may be a trained model generated by machine learning using the state information as training data so as to determine whether the suspended load has landed on a landing surface when the state information is input. The suspended load state determination model may, for example, be generated by known machine learning software. Furthermore, the suspended load state determination model may, for example, be trained on a known framework. Examples of such frameworks include PyTorch, TensorFlow, Keras, and ResNet. The suspended load state determination model may, for example, be converted into an open format to maintain compatibility between the frameworks.

[0048] The determination unit 12 may, for example, input the state information into the suspended load state determination model to output a confidence level of the determination result by the suspended load state determination model, and determine that the suspended load has landed on the landing surface if the confidence level satisfies a predetermined condition. The predetermined condition may, for example, be a condition that makes it possible to determine that the suspended load has landed on the landing surface. The predetermined condition may, for example, be a condition related to a threshold value of the confidence level. In this case, the determination unit 12 may, for example, input the state information into the suspended load state determination model to output a confidence level of the determination result by the suspended load state determination model, and determine that the suspended load has landed on the landing surface if the confidence level exceeds a predetermined threshold or is equal to or greater than a predetermined threshold. The confidence level is, for example, a degree indicating the reliability of the determination result by the suspended load state determination model. The confidence level may also be referred to as reliability, for example. Examples of the predetermined threshold for the confidence level include 50%, 60%, 70%, 80%, and 90% when the confidence level indicates a value between 0% and 100%. Examples of the predetermined threshold for the confidence level include 0.5, 0.6, 0.7, 0.8, and 0.9 when the confidence level indicates a value between 0.0 and 1.0. The predetermined threshold for the confidence level can be selected appropriately, for example, depending on the type of status information. As described above, the period required for the status information to reflect the status of the suspended load may vary depending on, for example, the weight of the crane. Therefore, the predetermined threshold for the confidence level may be selected appropriately, for example, depending on the weight of the crane.

[0049] The suspended load state determination model may be stored, for example, in the memory 102 or storage device 104 of the device of the present disclosure, or may be stored in the memory or storage device of a device other than the device of the present disclosure.

[0050] The output unit 13 outputs the determination result from the determination unit (S3, output step).

[0051] The output unit 13 may, for example, output the determination result to the external device. The output unit 13 may, for example, output the determination result to the output device 106 of the device disclosed herein, or to an output device of a device other than the device disclosed herein. The output unit 13 may, for example, output the determination result to the memory 102 or storage device 104 of the device disclosed herein, or to a memory or storage device of a device other than the device disclosed herein.

[0052] The output unit 13 may output the determination result to a control terminal of the crane, for example. Examples of the control terminal of the crane include a control terminal provided in the driver's seat of the crane, and a manual control terminal (such as a crane controller).

[0053] The load status determination device of the present disclosure acquires status information reflecting the status of a load suspended from a crane using an acquisition unit, the status information including acceleration information related to the acceleration acting on the load, determines whether the load has left the ground surface based on the status information using a determination unit, and outputs the determination result from the determination unit using an output unit. Therefore, according to the present disclosure, the status of a suspended load can be determined with high accuracy. Furthermore, according to the present disclosure, the status of a suspended load can be determined with high accuracy without being limited by the crane's operating environment, compared to devices that may have blind spots, such as the device described in Patent Document 1. Furthermore, the device of the present disclosure can be installed on any crane, for example, if it is detachable from the crane. Therefore, according to the present disclosure, for example, there is no need to prepare a device for each crane, thereby reducing operating costs and enabling the status of a suspended load to be determined with high accuracy.

[0054] [Embodiment 2] The suspended load status determination program of the present disclosure is a program for causing a computer to execute an acquisition procedure, a determination procedure, and an output procedure. The suspended load status determination program of the present disclosure can also be said to be a program for causing a computer to function as the acquisition procedure, the determination procedure, and the output procedure. Furthermore, the suspended load status determination program of the present disclosure can also be said to be a program for causing a computer to execute, for example, each step of the suspended load status determination method described above.

[0055] The load status determination program of the present disclosure (hereinafter also referred to as the "program of the present disclosure") is a program that is executed, for example, by replacing each "step" in the method of the present disclosure with a "procedure." Specifically, the program of the present disclosure includes an acquisition procedure, a determination procedure, and an output procedure. The acquisition procedure acquires status information reflecting the status of a load suspended by a crane, the status information includes acceleration information related to the acceleration acting on the load, the determination procedure determines whether the load has left the ground based on the status information, and the output procedure outputs the determination result obtained by the determination procedure. The program of the present disclosure can be executed, for example, using the load status determination device 10 shown in FIG. 1 or FIG. 2. Note that the program of the present disclosure is not limited to a program that uses the device 10 of the present disclosure. For example, the descriptions of the device and method of the present disclosure can be used to describe the program of the present disclosure.

[0056] For example, the term "procedure" in each of the steps can be read as "processing." The load status determination program of the present disclosure may be recorded on a computer-readable recording medium, for example. The recording medium may be a non-transitory computer-readable storage medium. The recording medium is not particularly limited, and examples thereof include random access memory (RAM), read-only memory (ROM), hard disk (HD), flash memory (e.g., solid state drive (SSD), USB flash memory, SD / SDHC card, etc.), optical disk (e.g., CD-R / CD-RW, DVD-R / DVD-RW, BD-R / BD-RE, etc.), magneto-optical disk (MO), and floppy disk (FD). The load status determination program of the present disclosure (also referred to as a programming product or program product) may be distributed from an external computer, for example. The "distribution" may be, for example, via a communication network or a device connected via a wire. The suspended load status determination program of the present disclosure may be installed and executed on the device to which it is distributed, or may be executed without being installed. An information processing device capable of executing the suspended load status determination program of the present disclosure can be referred to as, for example, the suspended load status determination device of the present disclosure.

[0057] According to the load status determination program of the present disclosure, an acquisition step acquires status information reflecting the status of a load suspended from a crane, the status information including acceleration information related to the acceleration acting on the load, a determination step determines whether the load has left the ground based on the status information, and an output step outputs the determination result of the determination step. Therefore, according to the present disclosure, the status of a suspended load can be determined with high accuracy. Furthermore, a device capable of executing the program of the present disclosure can determine the status of a suspended load with high accuracy, compared to devices that may have blind spots, such as the device described in Patent Document 1, without being limited by the crane's operating environment. Furthermore, a device capable of executing the program of the present disclosure can be installed on any crane, for example, if the device capable of executing the program of the present disclosure is detachable from the crane. Therefore, a device capable of executing the program of the present disclosure can determine the status of a suspended load with high accuracy, for example, because it does not need to prepare a device for each crane, thereby reducing operating costs.

[0058] [Embodiment 3] An example of how the device of the present disclosure is used will be described below with reference to Fig. 4. In the following description, an example will be given in which the device of the present disclosure is installed in a detachable state on a crane, but the present disclosure is not limited to the following description in any way.

[0059] First, the device disclosed herein determines whether a load has left the ground during a slinging operation using a crane, indicating that the load has left the ground. Specifically, a user installs the device disclosed herein in a detachable manner using a magnet in the center of a crane's hook block. The device disclosed herein is communicatively connected to a control terminal in the crane's driver's seat via a wireless communication network. The device disclosed herein includes, for example, an acceleration sensor as a measurement medium for status information. The user, for example, attaches a load to the crane via the hook block and wire rope sling and begins the slinging operation. The user, for example, operates the crane's control terminal from the crane's driver's seat to begin the hoisting operation. The device disclosed herein acquires, for example, acceleration information measured by the acceleration sensor over a 40-millisecond period as status information reflecting the status of the load. The device disclosed herein stores, for example, a load status determination model that determines whether the load has left the ground when the status information is input. The device disclosed herein, for example, inputs the state information into the load state determination model and determines whether the load has left the ground based on the output confidence level. As shown in FIG. 4 , the load state determination model determines that the load has left the ground, indicating a "ground clearance" because the confidence level is equal to or greater than a predetermined threshold of 0.9. The device disclosed herein outputs the determination result to a control terminal in the crane's driver's seat. For example, if the load state determination model determines that the load has left the ground, the user suspends the crane's lifting operation. For example, when the load has left the ground, the user checks the stability of the load, checking whether the load is tilted and whether the load has collapsed. For example, after checking the stability of the load, the user resumes the lifting operation of the load. For example, after the user has lifted the load to a predetermined height (i.e., after completing the lifting operation of the load), the user operates the crane to rotate so that the load moves directly above the landing surface.

[0060] Next, the device disclosed herein determines, for example, during a slinging operation of a load from a crane, that the load has "touched the ground," indicating that the load has landed on a landing surface. Specifically, for example, the user begins the hoisting operation of the load after the load has moved directly above the landing surface. The device disclosed herein acquires, for example, acceleration information measured by the acceleration sensor over a 40-millisecond period as status information reflecting the status of the load. For example, when the status information is input, the device disclosed herein stores a load status determination model that determines whether the load has landed on a landing surface. For example, the device disclosed herein inputs the status information to the load status determination model and determines whether the load has landed on a landing surface based on the output confidence factor. As shown in FIG. 4, the load status determination model determines, for example, that the load has "touched the ground," indicating that the load has landed on a landing surface, because the confidence factor is equal to or greater than a predetermined threshold of 0.9. The device disclosed herein outputs the determination result to a control terminal in the driver's seat of the crane. For example, when the load state determination model determines that the load has reached the landing surface, the user terminates the crane's slinging operation. For example, when the load has reached the landing surface, the user detaches the hook block and the wire rope sling from the load, thereby completing the crane's slinging operation.

[0061] According to the present disclosure, the state of a suspended load can be determined with high accuracy. Furthermore, according to the present disclosure, the state of a suspended load can be determined with high accuracy without being restricted by the environment in which the crane is used, compared to devices that may have blind spots, such as the device described in Patent Document 1. Furthermore, the device of the present disclosure can be installed on any crane, for example, if the device of the present disclosure is detachable from the crane. Therefore, according to the present disclosure, for example, there is no need to prepare a device for each crane, and the state of a suspended load can be determined with high accuracy while reducing costs.

[0062] Although the present disclosure has been described above with reference to the embodiments, the present disclosure is not limited to the above-described embodiments. Various modifications that can be understood by those skilled in the art can be made to the configuration and details of the present disclosure within the scope of the present disclosure. Furthermore, each embodiment can be combined with other embodiments as appropriate.

[0063] <Additional Notes> Some or all of the above embodiments can be described as, but not limited to, the following supplementary notes. (Appendix 1) An acquisition unit, a determination unit, and an output unit, The acquisition unit acquires status information reflecting a status of a load suspended by a crane, The state information includes acceleration information regarding acceleration acting on the suspended load, The determination unit determines whether the suspended load has separated from the ground surface based on the state information, The output unit outputs the determination result by the determination unit. Suspended load status determination device. (Appendix 2) The acceleration includes an acceleration in a vertical direction corresponding to the lifting direction and the lifting direction of the suspended load. 10. The load status determination device according to claim 1. (Appendix 3) the acceleration includes at least one of an acceleration in a left-right direction perpendicular to the up-down direction and an acceleration in a front-back direction perpendicular to the up-down direction, Attachment 2: A load status determination device. (Appendix 4) The state information includes angular velocity information regarding an angular velocity acting on the suspended load. A suspended load status determination device according to any one of appendices 1 to 3. (Appendix 5) The status information includes geomagnetic information regarding geomagnetic fields acting on the suspended load. 5. A load status determination device according to any one of appendices 1 to 4. (Appendix 6) The determination unit determines whether the suspended load has landed on a landing surface based on the state information. 6. A load status determination device according to any one of appendices 1 to 5. (Appendix 7) the acquisition unit acquires the status information for a predetermined period of time. 7. A load status determination device according to any one of appendices 1 to 6. (Appendix 8) the predetermined period of time is in the range of 10 milliseconds to 100 milliseconds; 8. The load status determination device according to claim 7. (Appendix 9) The determination unit determines whether the suspended load has separated from the ground surface by inputting the state information into a suspended load state determination model, The suspended load state determination model is a trained model generated by machine learning using the state information as training data so as to determine whether the suspended load has separated from the ground surface when the state information is input. A suspended load status determination device according to any one of appendices 1 to 8. (Appendix 10) the determination unit inputs the state information into the suspended load state determination model, and outputs a degree of certainty of a determination result by the suspended load state determination model; If the confidence level exceeds a predetermined threshold or is equal to or greater than a predetermined threshold, it is determined that the load has left the ground surface. 10. The load status determination device according to claim 9. (Appendix 11) The determination unit determines whether the suspended load has landed on a landing surface by inputting the state information into a suspended load state determination model, The suspended load state determination model is a trained model generated by machine learning using the state information as training data so as to determine whether the suspended load has landed on the landing surface when the state information is input. A suspended load status determination device according to any one of appendices 1 to 8. (Appendix 12) the determination unit inputs the state information into the suspended load state determination model, and outputs a degree of certainty of a determination result by the suspended load state determination model; If the confidence level exceeds a predetermined threshold or is equal to or greater than a predetermined threshold, it is determined that the load has landed on the landing surface. 12. The load status determination device according to claim 11. (Appendix 13) The acquisition unit acquires the status information from a status information measurement medium provided in the sheave portion of the crane. 13. A load status determination device according to any one of appendices 1 to 12. (Appendix 14) A suspended load status determination device according to any one of appendices 1 to 13, which is installed in a detachable state on the crane. (Appendix 15) A sheave of a crane, comprising a load state determination device according to any one of appendices 1 to 14. (Appendix 16) A sheave of a crane having a load state determination device according to any one of appendices 1 to 14 at its center. (Appendix 17) A sheave block of a crane, comprising the load state determination device according to any one of appendices 1 to 14. (Appendix 18) A sheave block of a crane having a load state determination device according to any one of appendices 1 to 14 at its center. (Appendix 19) A crane hook block comprising a load state determination device according to any one of appendices 1 to 14. (Appendix 20) A crane hook block having a load condition determination device according to any one of appendices 1 to 14 at its center. (Appendix 21) The method includes an acquisition step, a determination step, and an output step, The acquiring step acquires status information reflecting a status of a load suspended by a crane, The state information includes acceleration information regarding acceleration acting on the suspended load, The determination step determines whether the suspended load has separated from the ground surface based on the state information, The output step outputs the determination result obtained by the determination step. A method for determining a suspended load state, in which each of the steps is executed by a computer. (Appendix 22) The acceleration includes an acceleration in a vertical direction corresponding to the lifting direction and the lifting direction of the suspended load. The method for determining the state of a suspended load as described in Appendix 21. (Appendix 23) the acceleration includes at least one of an acceleration in a left-right direction perpendicular to the up-down direction and an acceleration in a front-back direction perpendicular to the up-down direction, A method for determining the state of a suspended load as described in Appendix 22. (Appendix 24) The state information includes angular velocity information regarding an angular velocity acting on the suspended load. A method for determining a suspended load condition according to any one of appendices 21 to 23. (Appendix 25) The status information includes geomagnetic information regarding geomagnetic fields acting on the suspended load. A method for determining a suspended load condition according to any one of appendices 21 to 24. (Appendix 26) The determination step determines whether the suspended load has landed on a landing surface based on the state information. A method for determining a suspended load condition according to any one of appendices 21 to 25. (Appendix 27) the acquiring step acquires the status information for a predetermined period of time. A method for determining a suspended load condition according to any one of appendices 21 to 26. (Appendix 28) the predetermined period of time is in the range of 10 milliseconds to 100 milliseconds; The method for determining the state of a suspended load described in Appendix 27. (Appendix 29) the determination step determines whether the load has separated from the ground surface by inputting the state information into a suspended load state determination model; The suspended load state determination model is a trained model generated by machine learning using the state information as training data so as to determine whether the suspended load has separated from the ground surface when the state information is input. A method for determining a suspended load condition according to any one of appendices 21 to 28. (Appendix 30) The determination step includes inputting the state information into the suspended load state determination model, and outputting a degree of certainty of a determination result by the suspended load state determination model; If the confidence level exceeds a predetermined threshold or is equal to or greater than a predetermined threshold, it is determined that the load has left the ground surface. The method for determining the state of a suspended load as described in Appendix 29. (Appendix 31) the determination step determines whether the suspended load has landed on a landing surface by inputting the state information into a suspended load state determination model; The suspended load state determination model is a trained model generated by machine learning using the state information as training data so as to determine whether the suspended load has landed on the landing surface when the state information is input. A method for determining a suspended load condition according to any one of appendices 21 to 28. (Appendix 32) The determination step includes inputting the state information into the suspended load state determination model, and outputting a degree of certainty of a determination result by the suspended load state determination model; If the confidence level exceeds a predetermined threshold or is equal to or greater than a predetermined threshold, it is determined that the load has landed on the landing surface. A method for determining the state of a suspended load as described in Appendix 31. (Appendix 33) The acquisition step acquires the status information from a status information measurement medium provided in a sheave portion of the crane. A method for determining a suspended load condition according to any one of appendices 21 to 32. (Appendix 34) A method for determining a suspended load status described in any one of appendices 21 to 33, which is executed by a suspended load status determination device that is detachably installed on the crane. (Appendix 35) A sheave of a crane, comprising a load state determination device that executes the load state determination method described in any one of appendices 21 to 34. (Appendix 36) A sheave of a crane, comprising, at its center, a load status determination device that executes the load status determination method described in any one of appendices 21 to 34. (Appendix 37) A sheave block of a crane, comprising a load state determination device that executes the load state determination method described in any one of appendices 21 to 34. (Appendix 38) A sheave block of a crane, comprising, at its center, a load status determination device that executes the load status determination method described in any one of appendices 21 to 34. (Appendix 39) A hook block of a crane, comprising a load state determination device that executes the load state determination method described in any one of appendices 21 to 34. (Appendix 40) A hook block of a crane having, at its center, a load status determination device that executes the load status determination method described in any one of appendices 21 to 34. (Appendix 41) An acquisition step, a determination step, and an output step are included, The obtaining step obtains status information reflecting a status of a load suspended by the crane; The state information includes acceleration information regarding acceleration acting on the suspended load, The determination step includes determining whether the suspended load has separated from the ground surface based on the state information; the output step outputs a determination result obtained by the determination step. A program for determining the state of a suspended load that causes a computer to execute each of the above procedures. (Appendix 42) The acceleration includes an acceleration in a vertical direction corresponding to the lifting direction and the lifting direction of the suspended load. A program for determining the state of a suspended load as described in Appendix 41. (Appendix 43) the acceleration includes at least one of an acceleration in a left-right direction perpendicular to the up-down direction and an acceleration in a front-back direction perpendicular to the up-down direction, A program for determining the state of a suspended load as described in Appendix 42. (Appendix 44) The state information includes angular velocity information regarding an angular velocity acting on the suspended load. A program for determining a suspended load condition according to any one of appendices 41 to 43. (Appendix 45) The status information includes geomagnetic information regarding geomagnetic fields acting on the suspended load. A program for determining a suspended load condition according to any one of appendices 41 to 44. (Appendix 46) The determination step determines whether the suspended load has landed on a landing surface based on the state information. A program for determining a suspended load condition according to any one of appendices 41 to 45. (Appendix 47) the acquisition step acquires the status information for a predetermined period of time. A program for determining a suspended load condition according to any one of appendices 41 to 46. (Appendix 48) the predetermined period of time is in the range of 10 milliseconds to 100 milliseconds; The program for determining the state of a suspended load described in Appendix 47. (Appendix 49) The determination procedure includes inputting the state information into a suspended load state determination model to determine whether the suspended load has separated from the ground surface; The suspended load state determination model is a trained model generated by machine learning using the state information as training data so as to determine whether the suspended load has separated from the ground surface when the state information is input. A program for determining a suspended load condition according to any one of appendices 41 to 48. (Appendix 50) The determination procedure includes inputting the state information into the suspended load state determination model, and outputting a degree of certainty of a determination result by the suspended load state determination model; If the confidence level exceeds a predetermined threshold or is equal to or greater than a predetermined threshold, it is determined that the load has left the ground surface. A program for determining the state of a suspended load as described in Appendix 49. (Appendix 51) The determination procedure includes inputting the state information into a suspended load state determination model to determine whether the suspended load has landed on a landing surface; The suspended load state determination model is a trained model generated by machine learning using the state information as training data so as to determine whether the suspended load has landed on the landing surface when the state information is input. A program for determining a suspended load condition according to any one of appendices 41 to 48. (Appendix 52) The determination procedure includes inputting the state information into the suspended load state determination model, and outputting a degree of certainty of a determination result by the suspended load state determination model; If the confidence level exceeds a predetermined threshold or is equal to or greater than a predetermined threshold, it is determined that the load has landed on the landing surface. A program for determining the state of a suspended load as described in Appendix 51. (Appendix 53) The acquisition step acquires the status information from a status information measurement medium provided in a sheave portion of the crane. A program for determining a suspended load condition according to any one of appendices 41 to 52. (Appendix 54) A suspended load status determination program according to any one of appendices 41 to 53, executed by a suspended load status determination device that is detachably installed on the crane. (Appendix 55) A sheave of a crane, comprising a load state determination device that executes a load state determination program according to any one of appendices 41 to 54. (Appendix 56) A sheave of a crane, comprising at its center a load status determination device that executes a load status determination program described in any one of appendices 41 to 54. (Appendix 57) A sheave block of a crane, comprising a load state determination device that executes a load state determination program according to any one of appendices 41 to 54. (Appendix 58) A sheave block of a crane having at its center a load status determination device that executes a load status determination program described in any one of appendices 41 to 54. (Appendix 59) A hook block of a crane, comprising a load state determination device that executes a load state determination program described in any one of appendices 41 to 54. (Appendix 60) A crane hook block having, at its center, a load status determination device that executes a load status determination program described in any one of appendices 41 to 54. (Appendix 61) An acquisition step, a determination step, and an output step are included, The obtaining step obtains status information reflecting a status of a load suspended by the crane; The state information includes acceleration information regarding acceleration acting on the suspended load, The determination step includes determining whether the suspended load has separated from the ground surface based on the state information; the output step outputs a determination result obtained by the determination step. A computer-readable recording medium having recorded thereon a suspended load status determination program for causing a computer to execute each of the above procedures. (Appendix 62) The acceleration includes an acceleration in a vertical direction corresponding to the lifting direction and the lifting direction of the suspended load. 62. The recording medium according to claim 61. (Appendix 63) the acceleration includes at least one of an acceleration in a left-right direction perpendicular to the up-down direction and an acceleration in a front-back direction perpendicular to the up-down direction, 63. The recording medium according to claim 62. (Appendix 64) The state information includes angular velocity information regarding an angular velocity acting on the suspended load. 64. A recording medium according to any one of appendices 61 to 63. (Appendix 65) The status information includes geomagnetic information regarding geomagnetic fields acting on the suspended load. 65. A recording medium according to any one of appendices 61 to 64. (Appendix 66) The determination step determines whether the suspended load has landed on a landing surface based on the state information. 66. A recording medium according to any one of appendices 61 to 65. (Appendix 67) the acquisition step acquires the status information for a predetermined period of time. 67. A recording medium according to any one of appendices 61 to 66. (Appendix 68) the predetermined period of time is in the range of 10 milliseconds to 100 milliseconds; 68. The recording medium described in Appendix 67. (Appendix 69) The determination procedure includes inputting the state information into a suspended load state determination model to determine whether the suspended load has separated from the ground surface; The suspended load state determination model is a trained model generated by machine learning using the state information as training data so as to determine whether the suspended load has separated from the ground surface when the state information is input. 69. A recording medium according to any one of appendices 61 to 68. (Appendix 70) The determination procedure includes inputting the state information into the suspended load state determination model, and outputting a degree of certainty of a determination result by the suspended load state determination model; If the confidence level exceeds a predetermined threshold or is equal to or greater than a predetermined threshold, it is determined that the load has left the ground surface. 69. The recording medium according to claim 69. (Appendix 71) The determination procedure includes inputting the state information into a suspended load state determination model to determine whether the suspended load has landed on a landing surface; The suspended load state determination model is a trained model generated by machine learning using the state information as training data so as to determine whether the suspended load has landed on the landing surface when the state information is input. 69. A recording medium according to any one of appendices 61 to 68. (Appendix 72) The determination procedure includes inputting the state information into the suspended load state determination model, and outputting a degree of certainty of a determination result by the suspended load state determination model; If the confidence level exceeds a predetermined threshold or is equal to or greater than a predetermined threshold, it is determined that the load has landed on the landing surface. 72. The recording medium according to claim 71. (Appendix 73) The acquisition step acquires the status information from a status information measurement medium provided in a sheave portion of the crane. 73. A recording medium according to any one of appendices 61 to 72. (Appendix 74) A recording medium described in any one of appendices 61 to 73, included in a suspended load status determination device that is detachably installed on the crane. (Appendix 75) A sheave of a crane, comprising a load state determination device including a recording medium according to any one of appendices 61 to 74. (Appendix 76) A sheave of a crane having a load status determination device at its center, the load status determination device including the recording medium described in any one of appendices 61 to 74. (Appendix 77) A sheave block of a crane, comprising a load state determination device including a recording medium according to any one of appendices 61 to 74. (Appendix 78) A sheave block of a crane having a load status determination device at its center, the load status determination device including the recording medium described in any one of appendices 61 to 74. (Appendix 79) A hook block of a crane, comprising a load state determination device including a recording medium according to any one of appendices 61 to 74. (Appendix 80) A crane hook block having a load status determination device at its center, the load status determination device including the recording medium described in any one of appendices 61 to 74. [Industrial Applicability]

[0064] According to the present disclosure, the state of a suspended load can be determined with high accuracy. Therefore, the present disclosure can be suitably used in various fields where the state of a suspended load needs to be determined. [Explanation of symbols]

[0065] 10. Suspended load status determination device 11 Acquisition Department 12 Judgment section 13 Output section 101 Central Processing Unit 102 memory 103 Bus 104 Storage device 105 Input Device 106 Output Device 107 Communication Devices

Claims

1. An acquisition unit, a determination unit, and an output unit, The acquisition unit acquires status information reflecting a status of a load suspended by a crane, The state information includes acceleration information regarding acceleration acting on the suspended load, The determination unit determines whether the suspended load has separated from the ground surface based on the state information, The output unit outputs the determination result by the determination unit. Suspended load status determination device.

2. The acceleration includes an acceleration in a vertical direction corresponding to the lifting direction and the lifting direction of the suspended load. The load state determination device according to claim 1.

3. the acceleration includes at least one of an acceleration in a left-right direction perpendicular to the up-down direction and an acceleration in a front-back direction perpendicular to the up-down direction, The load state determination device according to claim 2.

4. The state information includes angular velocity information regarding an angular velocity acting on the suspended load. The load state determination device according to claim 1.

5. The determination unit determines whether the suspended load has landed on a landing surface based on the state information. The load condition determination device according to claim 1.

6. The acquisition unit acquires the status information from a status information measurement medium provided in the sheave portion of the crane. The load state determination device according to claim 1.

7. The suspended load state determination device according to claim 1 , which is detachably installed on the crane.

8. The method includes an acquisition step, a determination step, and an output step, The acquiring step acquires status information reflecting a status of a load suspended by a crane, The state information includes acceleration information regarding acceleration acting on the suspended load, The determination step determines whether the suspended load has separated from the ground surface based on the state information, The output step outputs the determination result obtained by the determination step. A method for determining a suspended load state, in which each of the steps is executed by a computer.

9. An acquisition step, a determination step, and an output step are included, The obtaining step obtains status information reflecting a status of a load suspended by the crane; The state information includes acceleration information regarding acceleration acting on the suspended load, The determination step includes determining whether the suspended load has separated from the ground surface based on the state information; the output step outputs a determination result obtained by the determination step. A program for determining the state of a suspended load that causes a computer to execute each of the above procedures.

10. An acquisition step, a determination step, and an output step are included, The obtaining step obtains status information reflecting a status of a load suspended by the crane; The state information includes acceleration information regarding acceleration acting on the suspended load, The determination step includes determining whether the suspended load has separated from the ground surface based on the state information; the output step outputs a determination result obtained by the determination step. A computer-readable recording medium having recorded thereon a suspended load status determination program for causing a computer to execute each of the above procedures.

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