Detection system and detection method

Abstract

This invention provides a detection system and method that enable high-precision measurements using sensors in a short amount of time. [Solution] In a detection system 1 in which a control mechanism 4 controls a sensor 3 to acquire object data D1 including the position information of an object by measurement by the sensor 3, the acquisition unit 13 of the control mechanism 4 acquires prior data D2 of the object, the setting unit 14 sets the measurement range to be measured by the sensor 3 based on the prior data D2, and the sensor 3 performs measurements within the set measurement range.

Description

Technical Field

[0001] The present invention relates to a detection system and a detection method for acquiring position information of an object by measuring with a sensor installed in equipment such as a crane. More specifically, the present invention relates to a detection system and a detection method capable of performing measurement by a sensor in a short time and with high accuracy.

Background Art

[0002] When a crane performs a cargo handling operation, various detection systems for measuring the position information of the object to be handled have been proposed (see, for example, Patent Document 1). The crane described in Patent Document 1 measures the position of a coil, which is the object to be handled, by a sensor installed on the trolley with the hanging part in a stopped or very slow state.

[0003] In order to improve the cargo handling efficiency of the crane, there is a requirement that the measurement by the sensor be performed in a short time and with high accuracy. When trying to measure a plurality of objects simultaneously, there is a problem that the measurement takes time because the measurement range becomes wide. If the measurement range is narrowed to shorten the measurement time, there may be a problem that the object that is the nearest object to be handled is not included in this measurement range.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] The present invention has been made in view of the above problems, and an object thereof is to provide a detection system and a detection method capable of performing measurement by a sensor in a short time and with high accuracy.

Means for Solving the Problems

[0006] A detection system for achieving the above objectives comprises a sensor that measures an object and acquires object data including positional information, and a control mechanism that acquires the object data from the sensor and controls the sensor, wherein the control mechanism is characterized by having an acquisition unit that acquires prior data of the object, and a setting unit that sets the measurement range to be measured by the sensor based on the prior data.

[0007] A detection method for achieving the above objective is a detection method in which a control mechanism controls a sensor to acquire object data including position information of an object by measurement of the sensor, characterized in that it comprises an acquisition step in which the control mechanism acquires prior data of the object, a setting step in which the control mechanism sets a measurement range to be measured by the sensor based on the prior data, and a measurement step in which the sensor performs a measurement. [Effects of the Invention]

[0008] According to the present invention, since the measurement range of the sensor is set based on prior data, it becomes possible to set the measurement range appropriately. This is advantageous for performing measurements by the sensor quickly and with high accuracy. [Brief explanation of the drawing]

[0009] [Figure 1] This is an explanatory diagram illustrating a crane on which a detection system is installed, viewed from the front. [Figure 2] This is an explanatory diagram illustrating the crane in a plan view as shown in Figure 1. [Figure 3] This is an explanatory diagram showing the configuration of the detection system. [Figure 4] This is an explanatory diagram illustrating the flow of the detection method. [Figure 5] This is an explanatory diagram illustrating the measurement range. [Figure 6] This is an explanatory diagram illustrating the measurement range. [Figure 7] This is an explanatory diagram illustrating the measurement range for the chassis. [Modes for carrying out the invention]

[0010] The detection system and detection method will be described below based on the embodiment shown in the figure. In the figure, the direction of travel of the crane is indicated by arrow y, the lateral direction perpendicular to this direction of travel is indicated by arrow x, and the vertical direction is indicated by arrow z.

[0011] As illustrated in Figures 1 and 2, the detection system 1 is installed and used on the crane 2. The detection system 1 comprises a sensor 3 and a control mechanism 4. In this embodiment, the crane 2 is a gantry crane. The crane 2 is not limited to a gantry crane; it may also consist of a quay crane, an unloader, an overhead crane, or the like.

[0012] The crane 2, which is a gantry crane, comprises a leg structure 5 and a traveling device 6 that supports the leg structure 5 from below. The leg structure 5 has four leg members 5a extending in the vertical direction z, and an upper girder 5b extending in the lateral direction x and connecting the upper ends of the corresponding leg members 5a. In the lateral direction x, both ends of the upper girder 5b extend outward beyond the pair of leg members 5a. The traveling device 6 has multiple wheels and is configured to move the crane 2 along the travel direction y. The crane 2 also includes a trolley 7 configured to be able to traverse along the upper girder 5b, and a lifting device 8 suspended from the trolley 7 by a wire.

[0013] Sensor 3 has a configuration that measures an object and acquires object data D1 including position information. In this embodiment, sensor 3 is installed on the underside of the trolley 7, on the upper side of the leg member 5a, and on the lower side of the pair of leg members 5a. In Figures 1 and 2, the sensor 3 installed on the trolley 7 is shown with a dashed line for illustrative purposes. Sensor 3 measures the coil 9, which is the object to be handled by the crane 2, and the pallet 10 on which multiple coils 9 are placed. Sensor 3 acquires the position information of the coil 9 and pallet 10 as object data D1. The location where sensor 3 is installed is not limited to the trolley 7, etc., but may also be installed on other parts of the crane 2, such as the upper girder 5b or the lifting device 8. Furthermore, sensor 3 is not limited to being installed on the crane 2, but may also be installed on the running surface 11 on which the crane 2 travels.

[0014] Sensor 3 is composed of, for example, a three-dimensional laser scanner that scans laser light along the lateral direction x and the travel direction y. In Figure 1, the laser light emitted from Sensor 3 is shown as a dashed line for illustrative purposes. Sensor 3 may also be composed of a LiDAR (Light Detection and Ranging), a two-dimensional laser scanner, or a laser rangefinder that emits laser light in one dimension. Sensor 3 may also have a configuration that combines a sensor that emits laser light and a tilting mechanism that supports this sensor so that it can tilt. Sensor 3 may also be composed of a camera that acquires images.

[0015] The detection system 1 may have multiple sensors 3, which may be a combination of multiple types of sensors. For example, a camera may be installed on the trolley 7 and three three-dimensional laser scanners may be installed on the leg member 5a. Alternatively, the detection system 1 may have at least one sensor 3. For example, the detection system 1 may have only one sensor 3, which is composed of the three-dimensional laser scanner installed on the trolley 7.

[0016] The object measured by the sensor 3 is not limited to the coil 9 and the pallet 10. The object may be a slab or a container to be handled by the crane 2. Further, the conveyance device 12 such as a chassis that performs handling work together with the crane 2 may be the object. The conveyance device 12 is not limited to a chassis, and may be composed of, for example, an AGV (Automatic Guided Vehicle), a top lifter, a reach stacker, or a forklift.

[0017] The object data D1 includes at least the position information of the object. This position information means the three-dimensional coordinates or two-dimensional coordinates of the object acquired by the sensor 3. The identification symbols of the container, the pallet 10, and the conveyance device 12 such as a chassis may be included in the object data D1.

[0018] The control mechanism 4 has a configuration for acquiring the object data D1 from the sensor 3 and a configuration for controlling the sensor 3. In this embodiment, the control mechanism 4 is installed on the trolley 7 of the crane 2. In FIGS. 1 and 2, the control mechanism 4 is shown by a broken line for the sake of explanation. At this time, the sensor 3 and the control mechanism 4 are connected by a wired or wireless signal line. The control mechanism 4 is composed of, for example, a known PC or PLC (Programmable Logic Controller). Without being limited to this, the control mechanism 4 may be configured to be incorporated into the control devices of the sensor 3 and the crane 2.

[0019] As illustrated in FIG. 3, the control mechanism 4 has an acquisition unit 13 and a setting unit 14. The acquisition unit 13 has a configuration for acquiring the pre-data D2 of the object from outside the control mechanism 4. The setting unit 14 has a configuration for setting the measurement range p measured by the sensor 3 based on the pre-data D2.

[0020] In this embodiment, the acquisition unit 13 acquires the pre-data D2 from a management system 15 that manages the handling schedules of a plurality of cranes 2. The source from which the acquisition unit 13 acquires the pre-data D2 is not limited to the management system 15, and may be configured to acquire from other devices such as a mobile terminal.

[0021] The pre-data D2 consists of, for example, position information, size, and identification symbols of the coil 9 to be handled by the crane 2. The pre-data D2 may also include identification symbols of the pallet 10 and position information of the pallet 10 placed on the travel surface 11. The pre-data D2 may also include position information of the coil 9 on the pallet 10. The data included in the pre-data D2 is not limited to the above. The data included in the pre-data D2 is changed as appropriate according to the data required by the detection system 1. The pre-data D2 is not limited to containing the information required by the detection system 1. In other words, even if the acquisition unit 13 acquires the pre-data D2, it may not contain useful data.

[0022] The setting unit 14 has a configuration that sets the measurement range p of the sensor 3 based on the prior data D2 sent from the acquisition unit 13. The setting unit 14 has a configuration that sets at least one of the width, position, or shape of the measurement range p. The setting unit 14 also has a configuration that transmits setting data D3 to the sensor 3. If the detection system 1 has multiple sensors 3, the setting unit 14 may change the width, position, or shape of the measurement range p by switching the sensor 3 that performs the measurement. The setting unit 14 may also have a configuration that changes the measurement range p by controlling one sensor 3. The setting unit 14 may also have a configuration that sets the measurement range p and adjusts the center position of the set measurement range p.

[0023] As illustrated in Figure 1, the measurement range p of the sensor 3 can be set to cover, for example, a single pallet 10 containing three coils 9 in the lateral direction x. Measuring a relatively wide measurement range p in this way with the sensor 3 is sometimes called wide-area measurement. In the embodiment of Figure 1, the sensor 3 installed on the trolley 7 performs wide-area measurement. The measurement range p of the sensor 3 can be set to cover, for example, a single coil 9. Measuring a relatively narrow measurement range p in this way with the sensor 3 is sometimes called narrow-area measurement. In the embodiment of Figure 1, the sensor 3 installed on the leg member 5a performs narrow-area measurement.

[0024] Specifically, the setting unit 14 changes the measurement range p by switching the sensor 3 that performs the measurement from the sensor 3 installed on the trolley 4 to the sensor 3 installed on the leg member 5a. The setting unit 14 may also change the measurement range p by controlling the three-dimensional laser scanner or other components that make up the sensor 3. The sensor 3 scans the laser beam within the set measurement range p to perform the measurement.

[0025] The detection method will be explained with reference to the flow shown in Figure 4. In this detection method, the control mechanism 4 controls the measurement of the sensor 3 and acquires object data D1, which includes the position information of the object, from the measurement of the sensor 3. First, the control mechanism 4 acquires prior data D2 of the object (acquisition step S01). The acquisition unit 13 of the control mechanism 4 acquires prior data D2 from, for example, the management system 15.

[0026] Next, the control mechanism 4 sets the measurement range p to be measured by the sensor 3 based on the prior data D2 (setting step S02). The prior data D2 includes, for example, the position information of the coil 9 to be handled on a predetermined pallet 10, and the position information of this pallet 10. At this time, the control mechanism 4 can acquire the position information of the coil 9 to be handled as prior data D2, so the setting unit 14 sets a relatively narrow range targeting this coil 9 as the measurement range p. Specifically, the measurement range p is set to target one of the coil 9 to be handled among the multiple coils 9 exemplified in Figure 2. As exemplified in Figure 3, the measurement range p set by the setting unit 14 is transmitted to the sensor 3 as setting data D3. If the detection system 1 has multiple sensors 3, the setting data D3 may be configured to be transmitted only to the sensor 3 that performs the measurement. Alternatively, the setting data D3 may be transmitted to multiple sensors 3, and only the sensor 3 that performs the measurement may react to the setting data D3 and perform the measurement. The setting data D3 includes at least one of the width of the set measurement range p, the coordinates of the center position of the measurement range p, or the shape of the measurement range p.

[0027] The pre-data D2 includes, for example, the position information of the pallet 10 on which the coil 9 to be handled is placed, but may not include the position information of the coil 9 on this pallet 10. In this case, the control mechanism 4 cannot obtain the position information of the coil 9 to be handled, so the setting unit 14 sets a relatively wide range as the measurement range p that covers multiple coils 9 placed on the pallet 10. Specifically, the measurement range p is set to cover the range of one of the pallets 10 exemplified in Figure 2 in the traverse direction x.

[0028] The pre-data D2 may not include positional information for either the coil 9 or the pallet 10. In this case, the setting unit 14 may set the measurement range p to the entire range that can be handled by the lifting device 8 of the crane 2, for example.

[0029] Sensor 3, having received the setting data D3, performs a measurement within the set measurement range p. Object data D1 is acquired by the measurement of Sensor 3 (measurement step S03). When a narrow-area measurement is performed targeting a single coil 9, accurate position information and orientation of the coil 9, such as the coil 9's position information (three-dimensional coordinates) and the coil 9's tilt (hereinafter sometimes referred to as orientation) with the vertical z direction as the central axis, are acquired by Sensor 3 as object data D1. The object data D1 acquired in measurement step S03 is acquired by the acquisition unit 13 of the control mechanism 4. When the object data D1 acquired by the control mechanism 4 satisfies the termination condition, such as including the accurate position information of the coil 9 to be handled, the detection system 1 terminates the detection control. The crane 2 can then perform the handling of the coil 9 based on its position information and orientation. The termination condition is set to, for example, the condition under which the crane 2 can handle the object. The termination condition is determined, for example, by the acquisition unit 13. However, the termination condition may also be determined by other parts of the control mechanism 4.

[0030] If wide-area measurement is performed on a single pallet 10 in measurement step S03, the position information and orientation of the multiple coils 9 placed on the pallet 10 are acquired by the sensor 3 as object data D1. In addition, the position information and orientation of the pallet 10, such as the tilt of the pallet 10 with the vertical z direction as its central axis (hereinafter sometimes referred to as orientation), may also be acquired by the sensor 3 as object data D1 through wide-area measurement.

[0031] If the object data D1 obtained by wide-area measurement does not satisfy the termination condition, the setting step S02 is executed again. Specifically, in the setting step S02, the measurement range p is changed to a range targeting one coil 9. This measurement range p is determined based on the object data D1, such as the position information of multiple coils 9, acquired in the previous measurement step S03. The acquisition unit 13 modifies or supplements the prior data D2 based on the acquired object data D1 to generate modified data D4. The modified data D4 includes rough position information of a predetermined coil 9. The setting unit 14 resets the measurement range p based on the modified data D4 sent from the acquisition unit 13 (setting step S02). If accurate position information of one coil 9 to be handled is obtained by measurement in the changed measurement range p, the termination condition is satisfied. At this time, the detection system 1 terminates detection control. The detection system 1 may have a configuration that repeats the setting step S02 and the measurement step S03 multiple times.

[0032] This configuration allows for the measurement range p of sensor 3 to be set based on prior data D2, making it possible to set the measurement range p appropriately. This is advantageous for performing measurements by sensor 3 quickly and with high accuracy. Since detection system 1 can accurately detect objects, it can improve the work efficiency of, for example, the crane operator operating crane 2. It is also advantageous for automating crane 2 to realize automated handling of coils 9 and other materials.

[0033] For example, if the prior data D2 is insufficient and the object's location is unknown, having sensor 3 measure a wide area makes it easier to detect the object. This avoids the problem of not being able to detect an object if sensor 3 measures a narrow area when the location is unknown. This is advantageous for shortening the measurement time by sensor 3.

[0034] For example, if the location information of the object is known in advance from prior data D2, the object can be detected even if the sensor 3 is made to measure a narrow range. By narrowing the measurement range, the sensor 3 can shorten the measurement time while achieving high-precision measurement.

[0035] When changing the measurement range p, the range that sensor 3 can measure may remain unchanged, and data outside the area set as the measurement range p may be discarded. In setting step S02, for example, the range over which sensor 3 scans the laser beam may remain unchanged, and only the range of data to be used as object data D1 may be set. In this case, unnecessary data can be discarded, thus reducing the amount of data that needs to be processed. This is advantageous for reducing the computational load on the control mechanism 4.

[0036] The setting unit 14 may have a configuration that changes the data density in the object by changing the measurement range p. Here, data density refers to the density of measurement points measured by the sensor 3 in a predetermined object. If the sensor 3 is composed of a device that acquires a constant amount of data, such as a camera, widening the measurement range p in the object will decrease the data density, and narrowing it will increase the data density. Wide-area measurement results in a lower data density compared to narrow-area measurement.

[0037] As illustrated in Figure 1, in setting step S02, the measurement is switched from a wide-area measurement, for example, measured by a sensor 3 installed on the trolley 7, to a narrow-area measurement, measured by a sensor 3 installed on the leg member 5a. In other words, in setting step S02, the measurement range p is changed from wide-area to narrow-area. Since the sensor 3 performing narrow-area measurement is closer to the target object, the coil 9, than the sensor 3 performing wide-area measurement, if the two sensors 3 have the same performance, the data density of the sensor 3 installed on the trolley 7 and performing wide-area measurement will be lower.

[0038] With this configuration, the data density is relatively low during wide-area measurements, so even if the measurement range p is wide, the amount of data acquired by sensor 3 and sent to control mechanism 4 is suppressed. This shortens the measurement time by sensor 3 and reduces the computational load on control mechanism 4. Similarly, while the data density is high during narrow-area measurements, the amount of data acquired by sensor 3 and sent to control mechanism 4 is suppressed because the measurement range p is narrow. This is advantageous for shortening the detection time by detection system 1.

[0039] In setting step S02, the setting unit 14 may have a configuration that switches the resolution of the sensor 3. Wide-area measurement can shorten measurement time and reduce computation load by widening the measurement range p of the sensor 3 while lowering the resolution. Narrow-area measurement can shorten measurement time while acquiring highly accurate object data D1 by narrowing the measurement range p of the sensor 3.

[0040] The setting unit 14 may have a configuration that allows selecting one of several pre-set measurement ranges p. As illustrated in Figure 5, in a side view of the coil 9, a measurement range p1 targeting the central through-hole 9a and a measurement range p2 targeting the entire side of the coil 9 may be pre-set as measurement ranges p. The shape of the measurement range p is not limited to a rectangle, but may be configured as a circle or other polygon. It is desirable that the shape of the measurement range p be set according to the shape of the object. For example, when measuring a circular object such as a coil 9, setting the measurement range p to a circle minimizes the measurement range p and shortens the measurement time. Also, by avoiding measurement of unnecessary areas, false detections can be suppressed. Here, the side of the coil 9 refers to the side when viewing a single coil 9 in the lateral direction x. The through-hole 9a of the coil 9 is the part into which the lifting device 8 is inserted when gripping the coil 9 with the lifting device 8, and its position information is necessary when handling cargo by the crane 2.

[0041] As illustrated in Figure 6, in a plan view, measurement ranges p may be pre-set as such, including a measurement range p3 targeting a single coil 9, a measurement range p4 targeting multiple coils 9 placed on a single pallet 10, a measurement range p5 targeting the range that can be handled by the lifting device 8 of the crane 2, and a measurement range p6 targeting a range wider than the range that can be handled by the lifting device 8.

[0042] In this embodiment, the detection system 1 first selects the measurement range p3 illustrated in Figure 6 and performs a measurement using the sensor 3. This measurement acquires the position information of the coil 9 in a plan view as object data D1. The acquisition unit 13 generates corrected data D4 based on the acquired object data D1. Subsequently, the detection system 1 selects the measurement range p1 illustrated in Figure 5 and performs a measurement based on the corrected data D4. This measurement acquires highly accurate position information of the through hole 9a of the coil 9 in a side view as object data D1.

[0043] In some cases, the positional information of the through-hole 9a may not be accurately acquired, such as when the measurement results in the measurement range p1 do not include all or part of the through-hole 9a. For example, the termination condition is set so that the length of the through-hole 9a in the vertical direction z and the length in the travel direction y match preset values. If the entire through-hole 9a cannot be measured by the sensor 3, the above termination condition is not met. In this case, the detection system 1 expands the detection range and performs measurements in the measurement range p2 to acquire approximate positional information of the through-hole 9a. The acquisition unit 13 generates corrected data D4 from the approximate positional information of the through-hole 9a acquired as object data D1. The detection system 1 performs measurements with the sensor 3 in the measurement range p1 which has been reset based on the corrected data D4. High-precision positional information of the through-hole 9a is acquired as object data D1.

[0044] The setting unit 14 can change the measurement range p in multiple steps. Since the measurement range p is set or changed to an appropriate range based on prior data D2 or corrected data D4, the sensor 3 can perform measurements efficiently and with high accuracy. The setting unit 14 may also have a configuration that changes the measurement range p in a direction that expands when the termination condition is not met and the measurement range p is reset based on corrected data D4.

[0045] As shown in the right-hand pallet 10 in Figure 6, the position of the pallet 10 may be misaligned with the information in the prior data D2, or the pallet 10 may be tilted with the vertical z-axis as its central axis. In such cases, the entire coil 9 to be handled may not be included in the measurement range p3, and the object data D1 of the coil 9 may not be acquired with high accuracy. Since the detection system 1 cannot detect the coil 9 to be handled, it changes the measurement range p based on the corrected data D4. Subsequently, the detection system 1 selects, for example, the measurement range p5 and performs the measurement. If the coil 9 to be handled is found during the measurement in the measurement range p5, the setting unit 14 resets the measurement range p3 to target this coil 9 and has the sensor 3 take the measurement. Based on this result, the detection system 1 can acquire highly accurate positional information of the through hole 9a by performing a measurement in the measurement range p1.

[0046] In some cases, the coil 9 to be handled may not be found during measurement within measurement range p5. In this case, the setting unit 14 expands the measurement range, for example, by setting measurement range p6. If the coil 9 to be handled is detected during measurement within measurement range p6, the setting unit 14 resets the measurement range p based on the acquired object data D1. Whether or not the coil 9 to be handled has been found is determined based on whether or not the termination condition has been met. Alternatively, the configuration may be such that a worker determines whether or not the coil 9 to be handled has been found.

[0047] As illustrated in Figure 3, the control mechanism 4 has a comparison unit 16 that compares object data D1 acquired by the sensor 3 with prior data D2 acquired by the acquisition unit 13, and may also have a configuration in which the measurement range p is changed by the setting unit 14 if the object data D1 and the prior data D2 do not match. In Figure 3, the comparison unit 16 is shown with a dashed line for illustrative purposes.

[0048] As illustrated in Figure 4, the comparison unit 16 of the control mechanism 4 compares the prior data D2 with the object data D1 acquired in the measurement step S03 (comparison step S04). In Figure 4, comparison step S04 is shown with a dashed line for illustrative purposes. If the object data D1 and the prior data D2 match, it becomes clear that the object is located at the pre-set position as described in the prior data D2. Subsequently, if the termination condition is met, the detection system 1 terminates the detection control. If the object data D1 and the prior data D2 do not match, it is possible that an object of a different size, etc., is located below the crane 2 than the object obtained from the prior data D2. Alternatively, it may match the object obtained from the prior data D2, but its position may be different.

[0049] If the pre-data D2 and the object data D1 do not match, the setting step S02 and the measurement step S03 are executed. If there is a mismatch, the comparison unit 16 generates corrected data D4 based on the object data D1 and sends the corrected data D4 to the setting unit 14. In the setting step S02, the measurement range p is changed based on the corrected data D4. The setting unit 14 changes the measurement range p3, as exemplified in Figure 6, to the measurement range p5. The measurement step S03 is executed in the measurement range p5. The setting step S02, the measurement step S03, and the comparison step S04 may be executed repeatedly until the object's position information, etc., is clear. The control mechanism 4 may be configured to issue an alert, etc., when the comparison step S04 has been executed a predetermined number of times, prompting an inspection by a worker.

[0050] This configuration prevents malfunctions such as crane 2 mistakenly handling an object other than the one it is supposed to handle. This is because, unless the consistency between the pre-data D2 and the object data D1 is confirmed, the detection control by the detection system 1 will not terminate even if the termination conditions are met.

[0051] If the object data D1 and the prior data D2 are inconsistent, the measurement range p may be reduced in the setting step S02. Specifically, this could involve narrowing the measurement range p to first detect, for example, the identification mark on the pallet 10.

[0052] As illustrated in Figure 7, transport equipment 12 such as a chassis that transports coils 9 and containers may be set as the target object. The transport equipment 12 stops near the crane 2 in order to load and unload the coils 9 between it and the crane 2. The detection system 1 can detect that the correct transport equipment 12 is stopped in the correct position.

[0053] The detection system 1 can detect the stopping position of the transport device 12 and the tilt of the transport device 12 with respect to the vertical z axis (hereinafter sometimes referred to as its posture) by measuring the measurement range p8 with the sensor 3. The detection system 1 can also identify the transport device 12 from the shape of the chassis head and the identification symbols displayed on the chassis head by measuring the measurement range p7 with the sensor 3. For example, by comparing the object data D1, which is an image showing the shape of the head, with the image included in the prior data D2 using the sensor 3 which is composed of a camera, the detection system 1 can accurately identify the transport device 12.

[0054] Sensor 3 may have a sensor capable of performing measurements in multiple measurement ranges p with a single unit. Sensor 3 may have, for example, a camera with a zoom function or a three-dimensional laser scanner that can change the measurement range p by software control. Setting step S02 changes the measurement range p by controlling one sensor 3. Setting data D3 transmitted from the setting unit 14 to sensor 3 changes the measurement range p4, as exemplified in Figure 6, to measurement range p3. Measurements for multiple measurement ranges p can be performed with the same sensor 3. Alternatively, a configuration may be used in which measurement ranges p1 and p2, as exemplified in Figure 5, can be measured with a single sensor 3.

[0055] This configuration allows for a reduction in the number of sensors 3 that make up the detection system 1. This reduces the computational load on the control mechanism 4 and lowers the cost of installing the detection system 1 on a crane 2 or the like.

[0056] Sensor 3 may also be configured as a combination of a two-dimensional laser scanner and a tilting mechanism that supports the two-dimensional laser scanner in a tiltable manner. In this configuration, the two-dimensional laser scanner scans the laser beam while tilting. In this embodiment, the measurement range p can be changed by controlling the tilting range and tilting speed of the tilting mechanism. Even if the number of laser beams emitted per unit time by the two-dimensional laser scanner is kept constant, the data density for the object can be changed.

[0057] Increasing the tilting speed of the tilting mechanism expands the measurement range p, but the number of data points acquired by sensor 3 per unit time remains unchanged. In this case, the data density of object data D1 acquired by sensor 3 becomes relatively small. Decreasing the tilting speed of the tilting mechanism also remains unchanged, but the measurement range p shrinks. In this case, the data density of object data D1 acquired by sensor 3 becomes relatively large.

[0058] Sensor 3 may be configured such that a three-dimensional laser scanner is supported by a tilting mechanism. The measurement range p of sensor 3 may be changed by the tilting of this tilting mechanism. The tilting mechanism may also have a configuration that adjusts the center position of the measurement range p by tilting. The center position of the measurement range p may be adjusted by software control. [Explanation of Symbols]

[0059] 1. Detection System 2 Cranes 3 sensors 4. Control mechanism 5 legged structure 5a Leg member 5b Upper digit 6. Traveling device 7 Trolley 8 Hanging equipment 9 coils 9a through hole 10 pallets 11 Running surface 12. Conveying equipment 13 Acquisition Department 14. Settings section 15 Management Systems 16. Comparison Section x transverse direction y Direction of travel z Vertical direction D1 Object Data D2 Pre-data D3 Configuration Data S01 Acquisition Step S02 Setup Step S03 Measurement Step S04 Comparison Step p, p1-8 Measurement range

Claims

1. A detection system comprising a sensor that measures an object and acquires object data including position information, and a control mechanism that acquires the object data from the sensor and controls the sensor, The control mechanism is a detection system characterized by having an acquisition unit that acquires prior data of the object, and a setting unit that sets the measurement range to be measured by the sensor based on the prior data.

2. The detection system according to claim 1, wherein the setting unit has a configuration that changes the data density in the target object by changing the measurement range.

3. The detection system according to claim 1, wherein the control mechanism has a comparison unit that compares the object data acquired by the sensor with the prior data acquired by the acquisition unit, and the setting unit resets the measurement range of the sensor when the object data and the prior data do not match.

4. The detection system according to any one of claims 1 to 3, wherein the sensor is a sensor capable of performing measurements in multiple measurement ranges with a single unit.

5. In a detection method in which a control mechanism controls a sensor and acquires object data including the position information of an object by measurement of the sensor, The control mechanism includes an acquisition step in which it acquires prior data of the object, The control mechanism includes a setting step of setting the measurement range to be measured by the sensor based on the prior data, A detection method characterized by comprising a measurement step in which the sensor performs a measurement.

6. The detection method according to claim 5, wherein the setting step has a configuration that changes the data density in the object by changing the measurement range.

7. The control mechanism includes a comparison step that compares the prior data with the object data acquired in the measurement step, The detection method according to claim 5, wherein the setting step and the measurement step are executed if the prior data and the target data do not match.

8. The detection method according to any one of claims 5 to 7, wherein the setting step has a configuration that changes the measurement range by controlling one of the sensors.

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