Monitoring device under the load

Abstract

This technology provides appropriate warnings based on the relative positions of the suspended load and the person. [Solution] A load downward monitoring device is provided on a load direction control device 10 that controls the rotation direction of a suspended load X, and monitors the area below the load direction control device. The device includes an imaging unit 221 that captures images of the area below the load direction control device, and a load downward monitoring unit 120 that, based on the captured images, determines that there is a person within a predetermined range from the suspended load and issues a warning. It also issues a warning if it determines, based on the captured images, that there is a person approaching the suspended load X.

Description

Technical Field

[0001] The present disclosure relates to a load underside monitoring device that monitors the underside of a suspended load.

Background Art

[0002] At a construction site where a crane is used, it is prohibited for people to enter directly below the suspended load or within a predetermined range below the suspended load. Therefore, when a suspended load operation is being performed in the vicinity, considering the position of the suspended load and the like, evacuation from directly below the suspended load or from within the predetermined range below the suspended load has been promoted. For example, in Patent Document 1, a load position measuring device is provided at the tip of the boom of a crane, and a dangerous area below the suspended load that is assumed to be dangerous in case of the suspended load falling is set based on the position measured by the load position measuring device, and the risk of the suspended load falling is notified to workers directly below the suspended load with respect to the dangerous area.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the technology of Patent Document 1, since a load position measuring device is provided at the tip of the boom of a crane and a dangerous area below the suspended load that is assumed to be dangerous in case of the suspended load falling is set based on the position measured by the load position measuring device, it has been difficult to appropriately prompt attention according to the positional relationship between the suspended load and people.

[0005] An object of the present disclosure is to provide a technology capable of appropriately prompting attention according to the positional relationship between a suspended load and people.

Means for Solving the Problems

[0006] To solve the above problems, the suspended load downward monitoring device according to the present disclosure is provided on a suspended load direction control device that controls the rotation direction of a suspended load, and is a suspended load downward monitoring device that monitors the area below the suspended load direction control device, comprising: an imaging unit that captures an image of the area below the suspended load direction control device; and a suspended load downward monitoring unit that, based on the captured image, determines that there is a person within a predetermined range from the suspended load and issues a warning notification. [Effects of the Invention]

[0007] According to this disclosure, it is possible to provide technology that can appropriately prompt warnings depending on the positional relationship between the suspended load and the person. [Brief explanation of the drawing]

[0008] [Figure 1] This figure shows an example of a tower crane according to this embodiment. [Figure 2] This is a control block diagram of the load direction control device according to this embodiment. [Figure 3] This figure shows an example of a load direction control device according to this embodiment. [Figure 4] This figure shows an example of a flowchart related to the suspension load control process. [Figure 5] This figure shows an example of a flowchart related to the processing of the suspended load direction in the suspended load control process. [Figure 6A] This figure shows an example of how boundary crossing prevention control (during load rotation) is performed by processing the direction of the suspended load. [Figure 6B] This figure shows an example of how boundary crossing prevention control is performed by processing the direction of the suspended load (while the suspended load is not swiveling). [Figure 7] This figure shows an example of a flowchart related to load monitoring in the suspended load control process. [Figure 8] This figure shows an example of how load values ​​are reported through load monitoring processing. [Figure 9] This figure shows an example of a flowchart related to the downward monitoring process of a suspended load in the suspended load control process. [Figure 10]This figure shows an example of a flowchart related to safety harness monitoring in the downward load monitoring process. [Figure 11] This is an illustrative diagram showing an example of safety harness image detection using safety harness monitoring processing. [Figure 12] This figure shows an example of a flowchart related to access monitoring in the suspended load downward monitoring process. [Figure 13] This figure shows an example of the process for monitoring access. [Modes for carrying out the invention]

[0009] The embodiments of this disclosure will be described in detail below with reference to the drawings. However, unnecessarily detailed explanations, such as detailed explanations of already well-known technical matters or redundant explanations of substantially identical configurations, may be omitted.

[0010] The drawings described and referenced below are provided to enable those skilled in the art to understand this disclosure and are not intended to limit the scope of the claims of this disclosure.

[0011] Figure 1 shows an example of a tower crane according to this embodiment. As shown in this figure, a tower crane 1 is installed at the construction site of building K under construction as a crane for lifting suspended loads. A slewing frame 4 is mounted on the mast 3 of the tower crane 1, and the slewing frame 4 is equipped with a driver's cab 5, a jib (boom) 6, a hoisting device (not shown) for raising and lowering the hoisting wire rope 8, etc. A hook 7 is provided at the end of the hoisting wire rope 8.

[0012] The operator of the tower crane 1 uses the control device 500 (see Figure 2) located in the operator's seat 5 to perform the slewing operation of the slewing frame 4, the luffing (inclination angle) operation of the jib 6, and the hoisting wire rope 8 hoisting and lowering operations.

[0013] Hook 7 is suspended with a load direction control device 10 that controls the turning and stopping of the suspended load X. The suspended load X is suspended by the first to fourth wire ropes 20a to 20d of the load direction control device 10.

[0014] <Load direction control device> Next, the load direction control device 10 will be described using FIGS. 2 and 3. FIG. 2 is a control block diagram of the load direction control device according to the present embodiment, and FIG. 3 is a diagram showing an example of the load direction control device.

[0015] As shown in FIG. 2, the load direction control device 10 includes a control unit 100. The control unit 100 includes a load direction control unit 110, a load lower monitoring unit 120, a load monitoring unit 130, a sound control unit 140, a communication unit 150, a control information storage unit 160, etc. The control unit 100 is composed of a microcomputer including a processor such as a CPU and a memory (for example, RAM, ROM, storage, etc.). Note that the control unit 100 may be composed of an information processing device such as a mobile terminal or a personal computer. Also, since the technology related to the microcomputer and the information processing device is well-known technology, detailed description here will be omitted.

[0016] A load control application program is stored in the storage etc. of the load direction control device 10. The load control application program is composed of control programs such as a load direction control application program, a load lower monitoring application program, and a load monitoring application program. By reading and executing the load control application program by the processor, the control unit 100 realizes the function as a load control unit including a load direction control unit 110 that controls the posture holding and turning of the suspended load X, a load lower monitoring unit 120 that monitors below the load direction control device 10, and a load monitoring unit 130 that monitors the load of the suspended load X.

[0017] Furthermore, the first microcontroller may be used to read and execute a load direction control application program to realize the function of a load direction control unit 110, the second microcontroller may be used to read and execute a load downward monitoring application program to realize the function of a load downward monitoring unit 120, and the third microcontroller may be used to read and execute a load monitoring application program to realize the function of a load monitoring unit 130.

[0018] The sound control unit 140 outputs a sound (voice) instructed by the system in response to various sound information from the suspended load direction control unit 110, the suspended load downward monitoring unit 120, and the load monitoring unit 130.

[0019] The communication unit 150 is a wireless communication interface for communicating with the worker terminal 260, which is used by the worker to operate the driving device 500 and the suspended load direction control device 10.

[0020] The control information storage unit 160 is located in a storage device or the like and stores information related to the control of the suspended load direction control device 10, which is used as appropriate in the control of the control unit 100. The information stored in the control information storage unit 160 includes sound information related to sounds (voices) output by the sound control unit 140, intrusion prohibition information which is information related to restricted areas, person identification information which is information related to the characteristics of people, safety belt determination information which is information related to determining whether a safety belt (e.g., a full-body harness type fall arrest device, a body belt type fall arrest device) is being used correctly, and suspended load determination information which is information related to the suspended load.

[0021] The no-entry information is boundary information indicating the boundary lines of the no-entry zone where the suspended load X is prohibited from entering at this construction site. The no-entry boundary information consists of, for example, the latitude, longitude, and altitude of multiple points.

[0022] Human identification information is generated by a human detection model trained using a large amount of training data to which, for example, "bounding boxes for human images" have been added. Similarly, safety harness identification information is generated by a safety harness detection model trained using a large amount of training data to which, for example, "bounding boxes for overlapping images of hooks and hook supports (such as lifelines)" have been added. Furthermore, suspended load identification information is generated by a suspended load detection model trained using a large amount of training data to which, for example, "bounding boxes for suspended load images" have been added.

[0023] The control unit 100 is connected to a gimbal unit 211, a positioning unit 212, an angle detection unit 213, an imaging unit 221, an altitude measurement unit 222, a first load measurement unit 231, a second load measurement unit 232, a third load measurement unit 233, a fourth load measurement unit 234, a first speaker 241, and a second speaker 242.

[0024] The gimbal unit 211 has a mechanism for maintaining the attitude of the suspended load X by using the gyroscopic effect to maintain the attitude of the suspended load direction control device 10 against external forces such as wind, and a mechanism for rotating the suspended load X to the right or left by rotating the suspended load direction control device 10 to the right or left. Regarding the mechanism of the gimbal unit 211, for example, the technology disclosed in Japanese Patent Application Publication No. 2017-214213 is applied, so a detailed explanation is omitted here.

[0025] The positioning unit 212 (positioning section) is a satellite positioning system (GNSS: Global Navigation Satellite System) that receives radio waves from artificial satellites such as GPS satellites to detect the position of the suspended load direction control device 10, and has a positioning sensor that receives positioning signals transmitted from satellites. The positioning unit 212 uses the positioning information received by the positioning sensor to measure the current position (latitude, longitude, altitude) of the suspended load direction control device 10.

[0026] The angle detection unit 213 (angle detection section) is composed of, for example, a GNSS antenna and detects the current azimuth angle of the suspended load direction control device 10.

[0027] The imaging unit 221 is an imaging camera composed of a solid-state image sensor such as a CCD or CMOS, and as shown in Figure 3(a), it is installed on the bottom side of the load direction control device 10 and constantly captures images of the area below the load direction control device 10. Therefore, during the lifting of the load X by the tower crane 1, the load X will be captured in the image. In addition, during the lifting of the load X, people (workers, etc.) may be captured along with the load X. In this embodiment, image data is acquired at a frame rate of, for example, 10 fps. The captured images are stored in the storage of the control unit 10.

[0028] The first to fourth load measuring units 231 to 234 are located inside the bottom side of the load direction control device 10, as shown in Figure 3(a). The first to fourth load measuring units 231 to 234 consist of load cells, which are sensors for measuring load, and wire rope attachment parts, etc. The first load measuring unit 231 measures the load of the suspended load X applied via the first wire rope 20a, the second load measuring unit 232 measures the load of the suspended load X applied via the second wire rope 20b, the third load measuring unit 233 measures the load of the suspended load X applied via the third wire rope 20c, and the fourth load measuring unit 234 measures the load of the suspended load X applied via the fourth wire rope 20d. The first to fourth load measuring units 231 to 234 may also be provided corresponding to the first to fourth wire ropes 20a to 20d, as shown in Figure 3(b). Furthermore, if the first to fourth load measuring units 231 to 234 are provided corresponding to the first to fourth wire ropes 20a to 20d, then by providing wireless communication units in the first to fourth load measuring units 231 to 234, the respective loads are transmitted to the control unit 100 via wireless communication with the communication unit 150.

[0029] The first speaker 241 outputs sound emitted from the first sound-emitting unit 11a (see Figure 3(a)) formed in the load direction control device 10. The second speaker 242 outputs sound emitted from the second sound-emitting unit 11b (see Figure 3(a)) formed in the load direction control device 10.

[0030] The operating device 500 is operated by the operator of the tower crane 1, located in the operator's seat 5 of the tower crane 1, and can issue slewing instructions to the load direction control device 10. In addition, the monitor (not shown) of the operating device 500 displays the image captured by the imaging unit 221. Furthermore, the operating device 500 provides warning information as needed, as described later.

[0031] The worker terminal 260 is a terminal device consisting of a mobile terminal or dedicated wireless control device carried by the worker (the worker performing the lifting operation). It uses wireless communication to send swivel instructions to the lifting direction control device 10, and to request load values ​​for the load X that is lifted by the lifting direction control device 10. In addition, the worker terminal 260 will notify the worker terminal as needed, with cautionary information as described later.

[0032] The load direction control unit 110 maintains the attitude of the load direction control device 10 by controlling the gimbal unit 211. By maintaining the attitude of the load direction control device 10, the attitude of the load X is maintained. The load direction control unit 110 also rotates the load direction control device 10 to the left or right by controlling the gimbal unit 211. By rotating the load direction control device 10 to the left, the load X rotates to the left, and by rotating the load direction control device 10 to the right, the load X rotates to the right.

[0033] Furthermore, the load direction control unit 110 recognizes the boundary line of the restricted area set at the construction site by referring to the restricted access information stored in the control information storage unit 160. Then, based on the current position of the load direction control device 10 measured by the positioning unit 212, the current azimuth angle of the load direction control device 10 detected by the angle detection unit 213, and the external shape of the load X captured by the imaging unit 221, if the load direction control unit 110 determines that the load X may cross the boundary line, it performs control to issue a warning. If the load direction control unit 110 determines that the load X may cross the boundary line, it controls the load direction control device 10 to prevent the load X from crossing the boundary line.

[0034] The suspended load downward monitoring unit 120 detects human images within a predetermined range from the image of the suspended load X or human images approaching the image of the suspended load X by performing pattern matching with the captured image, including the image of the suspended load X captured by the imaging unit 221, based on the human identification information stored in the control information storage unit 160. If a human image is detected within a predetermined range from the image of the suspended load X, the suspended load downward monitoring unit 120 determines that there is a person within a predetermined range from the suspended load X and performs control to prompt a warning. In addition, if a human image approaching the image of the suspended load X is detected, the suspended load downward monitoring unit 120 determines that there is a person approaching the suspended load X and performs control to prompt a warning.

[0035] Furthermore, when the suspended load direction control device 10 is rotating, the suspended load downward monitoring unit 120 detects images of people in the direction of rotation of the image of the rotating suspended load X, or images of people approaching the image of the rotating suspended load X, based on a plurality of continuously captured images. If the suspended load downward monitoring unit 120 detects an image of a person in the direction of rotation of the image of the suspended load X, it determines that there is a person in the direction of rotation of the suspended load X and takes control to prompt a warning. Also, if the suspended load downward monitoring unit 120 detects an image of a person approaching the image of the rotating suspended load X, it determines that there is a person approaching the rotating suspended load X and takes control to prompt a warning.

[0036] Furthermore, when the suspended load direction control device 10 is above a predetermined altitude, the suspended load direction control device 120 performs pattern matching with the captured image taken by the imaging unit 221 based on the person identification information and safety belt identification information stored in the control information storage unit 160. This monitors whether the image of the worker performing high-altitude work with a safety belt and the hook image of the safety belt in that worker image overlap with the hook support image (i.e., whether the safety belt is being used correctly). If an image of a worker not using the safety belt correctly is detected, the device performs control to prompt a warning. It also sends a notification containing the captured image in which the image of the worker not using the safety belt correctly was detected to a designated notification recipient (for example, a notification recipient such as a work management supervisor). The suspended load direction control device 10 may move directly above or near the worker at close range at high altitudes, making it suitable for monitoring the usage of safety belts due to the small number of blind spots and the ease with which workers and safety belts can be captured in large images.

[0037] The load monitoring unit 130 (load calculation unit and notification unit) calculates the load of the suspended load X in response to a load value request for the load of the suspended load X, based on the load of the suspended load X measured by the first to fourth load measuring units 231 to 234, and the tension of the first to fourth wire ropes 20a to 20d according to the suspension angle, etc., which have been registered in advance (or entered from the worker terminal 260, etc.), and performs control to notify the calculated load value of the suspended load X.

[0038] <Load Control Processing> Next, the load control process performed by the control unit 100 will be explained using Figures 4 to 13. Figure 4 is a diagram showing an example of a flowchart related to the load control process. This load control process is performed continuously from the time the control unit 100 is started (for example, the power of the load direction control device 10 is turned ON) until it is stopped (for example, the power of the load direction control device 10 is turned OFF).

[0039] When the control unit 100 starts the suspended load control process, it reads the intrusion prohibition information stored in the control information storage unit 160 (step S10).

[0040] Next, the control unit 100 obtains the current position of the suspended load direction control device 10 from the positioning result obtained by the positioning unit 212 (step S20).

[0041] Next, the control unit 100 performs parallel processing of the following: load direction processing by the load direction control unit 110 (step S30), load monitoring processing by the load monitoring unit 130 (step S40), and load downward monitoring processing by the load downward monitoring unit 120 (step S50).

[0042] The control unit 100 performs parallel processing of the suspended load direction processing (step S30), suspended load monitoring processing (step S40), and suspended load downward monitoring processing (step S50), and then returns to step S20.

[0043] <Load direction processing in load control processing> Figure 5 shows an example of a flowchart related to the processing of the suspended load direction in the suspended load control process.

[0044] The load direction control unit 110 acquires the captured image (step S301). Next, the load direction control unit 110 refers to the load determination information and determines whether or not an image of the suspended load X has been detected in the captured image (step S302). If it is determined that an image of the suspended load X has been detected in the captured image (step S302: YES), the process proceeds to step S303. On the other hand, if it is determined that an image of the suspended load X has not been detected in the captured image (step S302: NO), the process proceeds to step S304. Normally, the suspended load X is in the closest position to the imaging unit 221, and the distance of the suspended load X from the imaging unit 221 does not move when it is suspended, so the image of the suspended load X is easy to recognize in the captured image.

[0045] If the suspended load direction control unit 110 determines that an image of the suspended load X has been detected from the captured image (step S302: YES), it sets an intrusion warning area 1 and an intrusion surrounding area 2 to control the intrusion of the suspended load X into the no-intrusion area, based on the external shape of the suspended load X identified from the image of the suspended load X (step S303). Here, the intrusion warning area 1 is, for example, an area where the external shape of the image of the suspended load X is enlarged to 130%, and the intrusion warning area 2 is, for example, an area where the external shape of the image of the suspended load X is enlarged to 110%.

[0046] If the load direction control unit 110 determines that no image of the load X is detected from the captured image (step S302: NO), it sets a pre-registered intrusion warning area 1 and intrusion surrounding area 2 for when there is no load (step S304). Here, intrusion warning area 1 is, for example, an area where the external shape of the load direction control device 10 is enlarged to 130%, and intrusion warning area 2 is, for example, an area where the external shape of the load direction control device 10 is enlarged to 110%.

[0047] After executing the process in step S303 or step S304, the load direction control unit 110 determines whether or not there is a slewing instruction (step S305). If it is determined that there is a slewing instruction (step S305: YES), the process proceeds to step S306. On the other hand, if it is determined that there is no slewing instruction (step S305: NO), the process proceeds to step S314.

[0048] If the load direction control unit 110 determines that there is a rotation instruction (step S305: YES), it drives the gimbal unit 211 in accordance with the rotation instruction to rotate the load direction control device 10 in the direction of the rotation instruction (step S306).

[0049] Next, the load direction control unit 110 determines whether or not there is a boundary line within the intrusion warning range based on the current position of the load direction control device 10, the current azimuth angle, and the intrusion warning range 1 and intrusion warning range 2 set for the load X (step S307). If it is determined that there is a boundary line within the intrusion warning range (step SS307: YES), the process proceeds to step S308. On the other hand, if it is determined that there is no boundary line within the intrusion warning range (step SS307: NO), the process proceeds to step S319.

[0050] If the load direction control unit 110 determines that there is a boundary line within the rotation intrusion warning range while the load direction control device 10 is rotating (step SS307: YES), it executes boundary crossing prevention control (during load rotation) by processing steps S308 to S312 below.

[0051] First, the load direction control unit 110 determines whether or not there is a boundary line within the intrusion caution area 2 (step S308). If it is determined that there is a boundary line within the intrusion caution area 2 (step S308: YES), the process proceeds to step S310. On the other hand, if it is determined that there is no boundary line within the intrusion caution area 2 (step S308: NO), the process proceeds to step S309.

[0052] If the load direction control unit 110 determines that there is no boundary line within the intrusion warning area 2 (step S308: NO), it transmits an intrusion warning 1 to the operating device 500 and the worker terminal 260, thereby notifying the operator of the operating device 500 and the workers that an intrusion warning 1 (intrusion warning level 1) has occurred (step S309).

[0053] Next, the load direction control unit 110 stops the driving of the gimbal unit 211 and performs an attitude holding process to maintain the attitude of the load direction control device 10 by the gyroscopic effect of the gimbal unit 211 (step S310), and then returns to step S307.

[0054] If the load direction control unit 110 determines that there is a boundary line within the intrusion warning area 2 (step S308: YES), it transmits an intrusion warning 2 to the operating device 500 and the worker terminal 260, notifying the operator of the operating device 500 and the worker that an intrusion warning 2 (intrusion warning level 2) has been issued (step S311). Upon receiving this intrusion warning 2 notification, for example, the operator of the operating device 500 can rotate the tower crane 1 away from the boundary line, or a worker holding the worker terminal 260 can rotate the suspended load X away from the boundary line.

[0055] Next, the load direction control unit 110 drives the gimbal unit 211 by a certain amount, causing the load direction control device 10 to rotate in a direction that moves the load X away from the boundary line (step S312), and then returns to step S307.

[0056] If the load direction control unit 110 determines that there is no slewing instruction (step S305: NO), it determines whether there is a boundary line within the intrusion caution range based on the current position of the load direction control device 10, the current azimuth angle, and the intrusion caution range 1 and intrusion caution range 2 set for the load X (step S313). If it determines that there is a boundary line within the intrusion caution range (step S313: YES), it proceeds to step S314. On the other hand, if it determines that there is no boundary line within the intrusion caution range (step S313: NO), it proceeds to step S319.

[0057] If the load direction control unit 110 determines that there is a boundary line within the swing intrusion warning range (step SS313: YES), it executes boundary crossing prevention control (while the load is not swinging) by processing steps S314 to S318 below.

[0058] First, the load direction control unit 110 determines whether or not there is a boundary line within the intrusion caution area 2 (step S314). If it is determined that there is a boundary line within the intrusion caution area 2 (step S314: YES), the process proceeds to step S317. On the other hand, if it is determined that there is no boundary line within the intrusion caution area 2 (step S314: NO), the process proceeds to step S315.

[0059] If the load direction control unit 110 determines that there is no boundary line within the intrusion warning area 2 (step S314: NO), it transmits an intrusion warning 1 to the operating device 500 and the worker terminal 260, thereby notifying the operator of the operating device 500 and the workers that an intrusion warning 1 (intrusion warning level 1) has occurred (step S315).

[0060] Next, the load direction control unit 110 performs an attitude holding process to maintain the attitude of the load direction control device 10 by the gyroscopic effect of the gimbal unit 211 (step S316), and then returns to step S313.

[0061] If the load direction control unit 110 determines that there is a boundary line within the intrusion warning area 2 (step S314: YES), it transmits an intrusion warning 2 to the operating device 500 and the worker terminal 260, notifying the operator of the operating device 500 and the worker that an intrusion warning 2 (intrusion warning level 2) has been issued (step S317). Upon receiving this intrusion warning 2 notification, for example, the operator of the operating device 500 can rotate the tower crane 1 away from the boundary line, or a worker holding the worker terminal 260 can rotate the suspended load X away from the boundary line.

[0062] Next, the load direction control unit 110 drives the gimbal unit 211 by a certain amount, causing the load direction control device 10 to rotate in a direction that moves the load X away from the boundary line (step S318), and then returns to step S314.

[0063] If the load direction control unit 110 determines that there is no boundary line within the intrusion warning area (step S307: NO, or step S313: NO), it determines whether or not an intrusion warning is currently being issued (step S319). If it determines that an intrusion warning is currently being issued (step S319: YES), it proceeds to step S320. On the other hand, if it determines that an intrusion warning is not currently being issued (step S319: NO), it terminates the load direction processing.

[0064] If the load direction control unit 110 determines that an intrusion warning is currently being issued (step S319: YES), it stops the intrusion warning (step S320) and then terminates the load direction processing.

[0065] Here, we will explain the concept of boundary crossing prevention control by the suspension load direction control unit 110 using Figures 6A and 6B.

[0066] First, using Figure 6A, we will explain the image of the boundary crossing prevention control (during load rotation) by the load direction control unit 110, which is performed by the processing of steps S308 to S312 described above.

[0067] Figure 6A(a) shows an image of the load direction control device 10 in a state where it is swung to the right. As shown in this figure, intrusion warning area 1 and intrusion warning area 2 are set for the image of the load X.

[0068] Figure 6A(b) shows an image of a state where there is a boundary line within the intrusion warning area 1. In this state, the system will be notified that intrusion warning area 1 has been detected by step S309 described above.

[0069] Figure 6A(c) shows an image of the state in which the rotation of the suspended load direction control device 10 is stopped (step S310) when there is a boundary line within the intrusion caution area 1. In this state, the attitude holding process is executed.

[0070] Figure 6A(d) shows an image of a state where there is a boundary line within the intrusion warning area 2. In this state, step S311 described above will notify that intrusion warning area 2 has been reached.

[0071] Figure 6A(e) shows an image of the state (step S312) where the gimbal unit 211 is driven in a direction away from the boundary line when the suspended load X is within the intrusion caution area 2. In this state, the suspended load direction control device 10 is rotated to the left by driving the gimbal unit 211 by a certain amount in the leftward direction away from the boundary line of the suspended load X.

[0072] Figure 6A(f) shows an image of what happens when the boundary line is outside the intrusion warning area 2 after the gimbal unit 211 has been driven by a certain amount. When the situation shown in this figure occurs, the driving of the gimbal unit 211 is stopped. Note that in the state shown in this figure, the boundary line is still within the intrusion warning area 1, so attitude holding processing is performed.

[0073] Next, using Figure 6B, we will explain the image of the boundary crossing prevention control (while the suspended load is not swiveling) performed by the suspended load direction control unit 110 as described in steps S314 to S318 above.

[0074] Figure 6B(a) shows an image of the tower crane 1 rotating while the load direction control device 10 is not holding its position (free state). In this figure, the load direction control device 10 (load X) is approaching the boundary line due to the rotation of the tower crane 1.

[0075] Figure 6B(b) shows an image of a state where there is a boundary line within the intrusion warning area 1. In this state, step S315 described above will notify that intrusion warning area 1 has been reached.

[0076] Figure 6B(c) shows an image of the state in which the attitude of the suspended load direction control device 10 is maintained while there is a boundary line within the intrusion caution area 1 (step S316). In this state, the attitude of the suspended load direction control device 10 is maintained by the gyroscopic effect of the gimbal unit 211.

[0077] Figure 6B(d) shows an image of a state where there is a boundary line within the intrusion warning area 2. In this state, the system will be notified that intrusion warning area 2 has been detected by step S317 described above.

[0078] Figure 6B(e) shows an image of the state (step S318) where the gimbal unit 211 is driven in the direction away from the boundary line when the suspended load X is within the intrusion caution area 2. In this state, the suspended load direction control device 10 is rotated to the right by driving the gimbal unit 211 by a certain amount in the rightward direction away from the boundary line of the suspended load X.

[0079] Figure 6B(f) shows an image of what happens when the boundary line is outside the intrusion warning area 2 after the gimbal unit 211 has been driven by a certain amount. When the situation shown in this figure occurs, the driving of the gimbal unit 211 is stopped. Note that in the situation shown in this figure, the boundary line is outside the intrusion warning area 1, so the attitude holding process is not executed.

[0080] As described above, the load direction processing by the load direction control unit 110 makes it possible to prevent the suspended load X from entering the restricted area while it is rotating. Furthermore, the load direction processing by the load direction control unit 110 makes it possible to prevent the suspended load X from entering the restricted area while it is maintaining its posture.

[0081] <Load monitoring process in suspension load control processing> Figure 7 shows an example of a flowchart related to load monitoring in the suspended load control process.

[0082] The load monitoring unit 130 determines whether or not there is a load value request from the worker terminal 260 (i.e., whether or not a load value request has been received) (step S401). If it is determined that there is a load value request from the worker terminal 260 (step S401: YES), the process proceeds to step S402. On the other hand, if it is determined that there is no load value request from the worker terminal 260 (step S401: NO), the load monitoring process is terminated.

[0083] When the load monitoring unit 130 determines that a load value request has been received from the worker terminal 260 (step S401: YES), it calculates the load value of the suspended load X based on the load of the suspended load X measured by each of the first to fourth load measuring units 231 to 234 (step S402).

[0084] Next, the load monitoring unit 130 transmits the calculated load value of the suspended load X to the operating device 500 and the worker terminal 260, thereby notifying the operator of the operating device 500 and the workers of the load X load. The load monitoring unit 130 also extracts (or generates) audio information corresponding to the load value of the suspended load X from the sound information in order to notify workers around the suspended load direction control device 10 of the load X load value, and transmits the extracted audio information to the sound control unit 140. The sound control unit 140 outputs the audio signal corresponding to the transmitted audio information from the first speaker 241 and the second speaker 242 with a set gain (step S403), and then terminates the load monitoring process. Figure 8 is a diagram showing an example of the notification method in step S403.

[0085] As described above, the load monitoring process by the load monitoring unit 130 makes it possible for workers near the landing (or ground clearance) point of the suspended load X to know the load of the suspended load X without having to contact the crane operator.

[0086] <Load Downward Monitoring Process in Load Control Processing> Figure 9 shows an example of a flowchart related to the downward monitoring process of the suspended load in the suspended load control process.

[0087] The suspended load downward monitoring unit 120 acquires the captured image (step S501). Next, the suspended load downward monitoring unit 120 refers to the human identification information and determines whether or not a human image has been detected in the captured image (step S502). If it is determined that a human image has been detected in the captured image (step S502: YES), the process proceeds to step S503. On the other hand, if it is determined that no human image has been detected in the captured image (step S502: NO), the suspended load downward monitoring process is terminated.

[0088] If the suspended load downward monitoring unit 120 determines that a human image has been detected from the captured image (step S502: YES), it determines whether the suspended load direction control device 10 is below a predetermined altitude based on the altitude measured by the positioning unit 212 (step S503). If it determines that the suspended load direction control device 10 is below the predetermined altitude (step S503: YES), the process proceeds to step S505. On the other hand, if it determines that the suspended load direction control device 10 is not below the predetermined altitude (step S503: NO), the process proceeds to step S504. In this embodiment, the predetermined altitude is set to, for example, 5.0m, but the altitude used as the criterion for determination can be set as appropriate.

[0089] If the suspended load downward monitoring unit 120 determines that the suspended load direction control device 10 is not below a predetermined altitude (i.e., it is above a predetermined altitude) (step S503: NO), it increments the value of the frame counter FCb, which counts the number of frames of consecutive captured images, by 1 (step S504).

[0090] If the suspended load downward monitoring unit 120 determines that the suspended load direction control device 10 is below a predetermined height (step S503: YES), it sets the value of the frame counter FCb to 0 (step S505).

[0091] Next, the suspended load downward monitoring unit 120 increments the value of the frame counter FCb by 1 (step S504), or sets the value of FCb to 0 (step S505), and then determines whether the value of the frame counter FCb is 10 or not (step S506). If it is determined that the value of the frame counter FCb is 10 (step S506: YES), the process proceeds to step S507. On the other hand, if it is determined that the value of the frame counter FCb is not 10 (step S506: NO), the process proceeds to step S508.

[0092] Next, the suspended load downward monitoring unit 120 performs safety harness monitoring (step S507). The safety harness monitoring process will be described later using Figure 10.

[0093] Next, the suspended load downward monitoring unit 120 refers to the suspended load determination information and determines whether or not an image of the suspended load X has been detected in the captured image (step S508). If it is determined that an image of the suspended load X has been detected in the captured image (step S508: YES), the process proceeds to step S510. On the other hand, if it is determined that an image of the suspended load X has not been detected in the captured image (step S508: NO), the process proceeds to step S509.

[0094] If the suspended load downward monitoring unit 120 determines that no image of the suspended load X is detected from the captured images (step S508: NO), it sets the value of the frame counter FCa, which counts the number of consecutive captured images, to 0 (step S509), and then terminates the suspended load downward monitoring process.

[0095] If the suspended load downward monitoring unit 120 determines that an image of the suspended load X has been detected from the captured images (step S508: YES), it increments the value of the frame counter FCa, which counts the number of consecutive captured images, by 1 (step S510).

[0096] Next, the suspended load downward monitoring unit 120 determines whether the value of the frame counter FCa is 10 or not (step S511). If it is determined that the value of the frame counter FCa is 10 (step S511: YES), the process proceeds to step S512. On the other hand, if it is determined that the value of the frame counter FCa is not 10 (step S511: NO), the suspended load downward monitoring process is terminated.

[0097] Next, the suspended load downward monitoring unit 120 performs access monitoring (step S512). The access monitoring process will be described later using Figure 12. After performing access monitoring, the suspended load downward monitoring unit 120 terminates the suspension load downward monitoring process.

[0098] <Safety harness monitoring process in the downward load monitoring process> Figure 10 shows an example of a flowchart related to the safety harness monitoring process (step S507) in the suspended load downward monitoring process.

[0099] When the suspended load downward monitoring unit 120 starts the safety harness monitoring process, it first detects a safety harness image (step S5071). Here, the suspended load downward monitoring unit 120 refers to the safety harness determination information and detects images in a sequence of 10 consecutive captured images (1 second of captured images) where the hook image and hook support image of the safety harness overlap. Normally, the hook of a safety harness is used by hooking it onto a hook support part such as a lifeline, so when a worker at height is using the safety harness correctly, the captured images will show images where the hook image and hook support image of the safety harness overlap. In this embodiment, images where the hook image and hook support image of the safety harness overlap are detected from a sequence of 10 consecutive captured images (1 second of captured images). This is to account for cases where, depending on the angle of capture, etc., it may not be possible to detect images where the hook image and hook support image of the safety harness overlap in a single captured image. Note that the sequence of captured images is not limited to 10 frames. Also, the number of consecutive captured images to be determined is set as appropriate according to the frame rate. Alternatively, the system may detect images where the hook image and hook support image of the safety harness overlap from a single frame of captured images.

[0100] Next, the suspended load downward monitoring unit 120 determines whether the safety harness is being used correctly (step S5072). Here, the suspended load downward monitoring unit 120 determines that the safety harness is being used correctly if it detects an image in which the hook image and the hook support image of the safety harness overlap in 10 consecutive frames of captured images. On the other hand, if it does not detect an image in which the hook image and the hook support image of the safety harness overlap, it determines that the safety harness is not being used correctly. If it is determined that the safety harness is being used correctly (step S5072: YES), the safety harness monitoring process ends. On the other hand, if it is determined that the safety harness is not being used correctly (step S5072: YES), the process proceeds to step S5073.

[0101] If the suspended load downward monitoring unit 120 determines that the safety harness is not being used correctly (step S5072: YES), it notifies the use of the safety harness (step S5073). At this point, the suspended load downward monitoring unit 120 extracts (or generates) safety harness usage sound (voice) information from the sound information to prompt the use of the safety harness, and transmits the sound (voice) based on the extracted safety harness usage sound information to the sound control unit 140. The sound control unit 140 outputs a sound (voice) from the first speaker 241 and the second speaker 242 at a set gain in response to the sound signal corresponding to the transmitted safety harness usage sound information, thereby prompting people below or around the suspended load direction control device 10 to hook the safety harness hook onto the hook support.

[0102] Next, the suspended load downward monitoring unit 120 sends information about the non-use of the safety harness, including captured images as evidence that the safety harness is not being used correctly, to a pre-registered notification recipient (for example, a notification recipient such as the work management supervisor) (step S5074). After executing the process in step S5074, the suspended load downward monitoring unit 120 terminates the safety harness monitoring process.

[0103] Here, we will explain the image of the safety harness monitoring process by the suspended load downward monitoring unit 120 using Figure 11.

[0104] This figure shows an image of captured images taken by the imaging unit 221 of a suspended load direction control device 10 moving at a height in a building K under construction. In this figure, each captured image is shown aligned with the direction of movement of the suspended load direction control device 10. Captured images SR1 to SR3 are each 10 consecutive frames. Therefore, for example, if captured image SR1 consists of frames 1 to 10, captured image SR2 consists of frames 11 to 20, and captured image SR3 consists of frames 21 to 30.

[0105] Images SR1 to SR3 capture images of the suspended load X (not captured if the suspended load X is not being lifted), images W21 to W26 of people wearing safety harnesses (with the exception of people not wearing safety harnesses), images H1 to H6 of the hook, and images T1 to T3 of the hook support (e.g., main rope).

[0106] The suspended load downward monitoring unit 120 determines whether the safety harness is being used correctly based on each of the sequential images SR1 to SR3 in the safety harness monitoring process described above. This figure shows an example in which human images W24 and W26 are detected as people not using the safety harness correctly.

[0107] As described above, the downward monitoring process of the suspended load by the downward monitoring unit 120 makes it possible to alert people who are directly below or in the direction of rotation of the suspended load X, or who are approaching directly below or in the direction of rotation of the suspended load X. Furthermore, the downward monitoring process of the suspended load by the downward monitoring unit 120 makes it possible to alert people who are not using their safety harnesses correctly at high altitudes and to notify the person in charge.

[0108] <Access monitoring process in the downward monitoring process for suspended loads> Figure 12 shows an example of a flowchart related to the access monitoring process (step S5102) in the suspended load downward monitoring process.

[0109] When the suspended load downward monitoring unit 120 starts the access monitoring process, it first determines whether the suspended load direction control device 10 is rotating or not (step S5121). If it determines that the suspended load direction control device 10 is not rotating (step S5121: NO), it proceeds to step S5102. On the other hand, if it determines that the suspended load direction control device 10 is rotating (step S5121: YES), it proceeds to step S5127.

[0110] If the suspended load downward monitoring unit 120 determines that the suspended load direction control device 10 is not rotating (step S5121: NO), it refers to the person detection information and determines whether a person has been detected directly below the suspended load X (step S5122). Here, the suspended load downward monitoring unit 120 sets, for example, an area where the outline shape of the image of the suspended load X is enlarged by 105% as a no-entry zone. Then, the suspended load downward monitoring unit 120 determines whether a person image has been detected within the set no-entry zone. If it determines that a person has been detected directly below the suspended load X (step S5122: YES), the process proceeds to step S5123. On the other hand, if it determines that no person has been detected directly below the suspended load X (step S5122: NO), the process proceeds to step S5124.

[0111] If the suspended load downward monitoring unit 120 determines that a person has been detected directly below the image of the suspended load X (step S5122: YES), it issues a warning to enter the area (step S5123). At this point, the suspended load downward monitoring unit 120 extracts (or generates) a warning sound (or voice) from the sound information and transmits the sound (voice) based on the extracted warning sound information to the sound control unit 140. The sound control unit 140 outputs a warning sound (voice) from the first speaker 241 and the second speaker 242 at a set gain in response to the sound signal corresponding to the transmitted warning sound information, thereby alerting people below or around the suspended load direction control device 10.

[0112] The suspended load downward monitoring unit 120 determines that no person is detected directly below the suspended load X (step S5122: NO), or after executing the process in step S5123, it detects an image of a person approaching the suspended load X (step S5124). Here, the suspended load downward monitoring unit 120 detects an image of a person approaching a restricted area set in the image of the suspended load X by referring to a series of captured images from a predetermined number of frames (for example, 10 frames) back to the latest captured image in the stored captured images.

[0113] Next, the suspended load downward monitoring unit 120 determines whether or not it has detected a person approaching directly below the suspended load X (step S5125). If it determines that it has detected a person approaching directly below the suspended load X (step S5125: YES), it proceeds to step S5126. On the other hand, if it determines that it has not detected a person approaching directly below the suspended load X (step S5125: NO), it terminates the access monitoring process.

[0114] If the Suspended Load Downward Monitoring Unit 120 determines that it has detected a person approaching directly below the suspended load X (step S5125: YES), it issues a warning to approach (step S5126). Here, the Suspended Load Downward Monitoring Unit 120 extracts (or generates) a warning sound (or voice) from the sound information and transmits the sound (voice) based on the extracted warning sound information to the sound control unit 140. The sound control unit 140 outputs a warning sound (voice) from the first speaker 241 and the second speaker 242 at a gain set for the sound signal corresponding to the transmitted warning sound information, thereby alerting people below or around the suspended load direction control device 10. After executing the process in step S5126, the Suspended Load Downward Monitoring Unit 120 terminates the access monitoring process.

[0115] If the suspended load downward monitoring unit 120 determines that the suspended load direction control device 10 is rotating (step S5121: YES), it refers to the person detection information and determines whether a person has been detected directly below the suspended load X or in the direction of the suspended load X's rotation (step S5127). Here, the suspended load downward monitoring unit 120 sets an arc-shaped no-entry zone during rotation based on the no-entry zone set from the image of the suspended load X. Then, the suspended load downward monitoring unit 120 determines whether a person image has been detected within the set no-entry zone during rotation. If it determines that a person has been detected directly below the suspended load X or in the direction of the suspended load X's rotation (step S5127: YES), the process proceeds to step S5128. On the other hand, if it determines that no person has been detected directly below the suspended load X or in the direction of the suspended load X's rotation (step S5127: NO), the process proceeds to step S5129.

[0116] If the suspended load downward monitoring unit 120 determines that a person has been detected directly below the suspended load X or in the direction of the suspended load X's rotation (step S5127: YES), it issues a warning to enter the area (step S5128). The suspended load downward monitoring unit 120 then extracts (or generates) a warning sound (or voice) from the sound information and transmits the sound (voice) based on the extracted warning sound information to the sound control unit 140. The sound control unit 140 outputs a warning sound (voice) from the first speaker 241 and the second speaker 242 at a set gain in response to the sound signal corresponding to the transmitted warning sound information, thereby alerting people below or around the suspended load direction control device 10.

[0117] The suspended load downward monitoring unit 120 determines that no person is detected directly below the suspended load X or in the direction of the suspended load X's rotation (step S5127: NO), or after executing the process in step S5128, it detects an image of a person approaching the direction of the suspended load X's rotation (step S5129). Here, the suspended load downward monitoring unit 120 detects an image of a person approaching the restricted area during rotation set in the image of the suspended load X by referring to a series of captured images from a predetermined number of frames (for example, 10 frames) back to the latest captured image in the stored captured images.

[0118] Alternatively, the following detection method may be used. The suspended load downward monitoring unit 120 generates (draws) a predicted no-entry area during rotation, predicting the rotational trajectory of the no-entry area corresponding to the image of the suspended load X beyond the 10 consecutive frames of captured images, based on the trajectory of the no-entry area corresponding to the image of the suspended load X. Then, by determining whether or not an image of a person approaching the generated predicted no-entry area during rotation is detected, it is determined whether or not there is an image of a person approaching in the rotational direction of the suspended load X. It is also possible to detect a person approaching in the rotational direction of the suspended load X by this method as well.

[0119] Next, the suspended load downward monitoring unit 120 determines whether or not it has detected a person approaching in the direction of rotation of the suspended load X (step S5130). If it determines that it has detected a person approaching in the direction of rotation of the suspended load X (step S5130: YES), it proceeds to step S5131. On the other hand, if it determines that it has not detected a person approaching in the direction of rotation of the suspended load X (step S5130: NO), it terminates the access monitoring process.

[0120] If the Suspended Load Downward Monitoring Unit 120 determines that it has detected a person approaching in the direction of rotation of the suspended load X (step S5130: YES), it issues an approach warning (step S5131). Here, the Suspended Load Downward Monitoring Unit 120 extracts (or generates) approach warning sound (or voice) information from the sound information and transmits the sound (voice) based on the extracted approach warning sound information to the sound control unit 140. The sound control unit 140 outputs an approach warning sound (voice) from the first speaker 241 and the second speaker 242 at a gain set for the sound signal corresponding to the transmitted approach warning sound information, thereby alerting people below or around the suspended load direction control device 10. After executing the process in step S5131, the Suspended Load Downward Monitoring Unit 120 terminates the access monitoring process.

[0121] Here, we will explain the image of the access monitoring process performed by the suspended load downward monitoring unit 120 using Figure 13.

[0122] Figure 13(a) shows an image of the access monitoring process when the suspended load X is not rotating (non-rotating). As shown in this figure, the aforementioned no-entry zone is set according to the image of the suspended load X. The suspended load lower monitoring unit 120 then determines whether or not there is a human image within this no-entry zone. The suspended load lower monitoring unit 120 also determines whether or not there is a human image approaching this no-entry zone. In this figure, an example is shown in which human images W3 and W6 are detected as people who have entered directly below the suspended load X, and human images W1 and W5 are detected as people approaching directly below the suspended load X.

[0123] Figure 13(b) shows an image of the access monitoring process when the suspended load X is rotating. As shown in this figure, the aforementioned no-entry zone during rotation is set according to the image of the suspended load X. The suspended load lower monitoring unit 120 then determines whether or not there is a human image within this no-entry zone during rotation. The suspended load lower monitoring unit 120 also determines whether or not there is a human image approaching this no-entry zone during rotation. In this figure, human images W12 and W14 are detected as people who have entered in the direction of rotation of the suspended load X, and human images W11 and W15 are detected as people approaching the rotating suspended load X.

[0124] While embodiments of this disclosure have been described above, this disclosure is not limited to these embodiments, and various modifications and changes are possible within the scope of the gist of this disclosure as described in the claims.

[0125] <Examples of variations, etc.> In this embodiment, the control unit 100 was configured to function as a load control unit consisting of a load direction control unit 110, a load downward monitoring unit 120, and a load monitoring unit 130. However, the system is not limited to this configuration, and the load downward monitoring unit 120 and the load monitoring unit 130 can be separate devices having their respective functions, as described below.

[0126] A suspended load downward monitoring device comprising an imaging unit 221 installed to capture images below the suspended load direction control device 10, a suspended load downward monitoring unit 110 consisting of a microcontroller, etc., which monitors the area below the suspended load direction control device 10 based on the images captured by the imaging unit 221, a sound control unit 140, a communication unit 150, a control information storage unit 160, and a speaker, which can be mounted on the suspended load direction control device 10 or installed between the suspended load direction control device 10 and the suspended load X. The suspended load downward monitoring device may be configured as a device having both entry monitoring processing (step S510) and safety belt monitoring processing (step S512), or it may be configured as a device having only entry monitoring processing processing function or a device having only safety belt monitoring processing function.

[0127] A load monitoring device that can be mounted on a load direction control device 10, comprising a first to fourth load measuring unit 231 to 234, a load monitoring unit 130 consisting of a microcontroller or the like that calculates the load of the suspended load X based on the loads measured by the first to fourth load measuring units 231 to 234, a sound control unit 140, a communication unit 150, and a speaker.

[0128] A load monitoring device that can be mounted on a load direction control device 10 is provided, comprising a first wire rope 20a equipped with a first load measuring unit 231 having a wireless communication unit, a second wire rope 20b equipped with a second load measuring unit 232 having a wireless communication unit, a third wire rope 20c equipped with a third load measuring unit 233 having a wireless communication unit, and a fourth wire rope 20d equipped with a fourth load measuring unit 234 having a wireless communication unit, which are attached to a load direction control device 10, and a load monitoring unit 130 consisting of a microcontroller, etc., which calculates the load of the suspended load X based on the loads measured and transmitted by the first to fourth load measuring units 231 to 234, a sound control unit 140, a communication unit 150, and a speaker.

[0129] In this embodiment, an example was shown in which the load direction control device 10 is suspended from the hook 7 of the tower crane 1. However, the invention is not limited to this, and the load direction control device 10 may also be suspended from the hook of another crane that lifts the load X.

[0130] In this embodiment, the load direction control device 10 was used to alert users by emitting sound and to notify them of the load. However, the system is not limited to this, and speakers may be provided in the work area to alert users. Alternatively, monitors may be provided in the work area to display images to alert users.

[0131] <Note> The invention according to the embodiments of this disclosure will be described below.

[0132] At construction sites where cranes are used, it is prohibited for people to enter a designated area directly below or below a suspended load. Therefore, when lifting operations are being carried out in the vicinity, workers are encouraged to evacuate from the designated area directly below or below the suspended load, taking into consideration the position of the suspended load. For example, Patent Document 1 discloses a technology in which a suspended load position measuring device is installed at the tip of the crane boom, a dangerous area below the suspended load where it is assumed that there is a risk of the suspended load falling is set based on the position measured by the suspended load position measuring device, and workers directly below the suspended load are notified of the risk of the suspended load falling in that dangerous area. However, in this technology of Patent Document 1, because the suspended load position measuring device is installed at the tip of the crane boom and the dangerous area below the suspended load where it is assumed that there is a risk of the suspended load falling is set based on the position measured by the suspended load position measuring device, it was difficult to appropriately warn people according to the positional relationship between the suspended load and the people. Invention A1 aims to provide a technology that can appropriately prompt warnings according to the positional relationship between the suspended load and the person, and has the effect of providing a technology that can appropriately prompt warnings according to the positional relationship between the suspended load and the person.

[0133] (Invention A1) A load downward monitoring device is provided in a load direction control device that controls the slewing direction of a suspended load, and monitors the area below the load direction control device, An imaging unit that captures images of the area below the aforementioned load direction control device, It has a load downward monitoring unit that monitors the downward direction from the load direction control device based on the captured image, The suspended load downward monitoring unit is, A suspended load downward monitoring device that, based on the captured image, determines that a person is within a predetermined range from the suspended load and performs control to prompt a warning.

[0134] (Invention A2) The aforementioned suspended load downward monitoring unit is A suspended load downward monitoring device according to Invention A1, which, when it is determined that there is a person approaching the suspended load based on the captured image, performs the control necessary to prompt the warning.

[0135] (Invention A3) The aforementioned suspended load downward monitoring unit is A suspended load downward monitoring device according to Invention A1 or Invention A2, which, when it is determined based on the captured image that a person is approaching the suspended load while it is rotating, performs the control necessary to prompt the warning.

[0136] At construction sites where cranes are used, the load (weight) of the suspended load is communicated to the crane operator in the crane's cab, and workers near the loading (or ground-lifting) point of the suspended load learn of the load's load by communicating with the crane operator. For example, a patent document (Japanese Patent Publication No. 2018-19610) discloses a technology that displays the suspended load calculated by the display load calculation unit of a suspension load calculation device mounted on a crane on a display screen. However, with the technology described in this patent document, while the weight of the suspended load can be confirmed on the display screen by the crane operator in the crane's cab, workers near the loading (or ground-lifting) point of the suspended load still needed to communicate the load's weight to the crane operator. Invention B1 aims to provide a technology that allows a worker near the loading (or lifting) point of a suspended load to know the load's weight without having to contact the crane operator. Invention B1 has the effect of providing a technology that allows a worker near the loading (or lifting) point of a suspended load to know the load's weight without having to contact the crane operator.

[0137] (Invention B1) Located on the side of the load being lifted, rather than the crane hook. A load calculation unit for calculating the load of the suspended load, A notification unit that notifies workers in the vicinity of the suspended load of the calculated load of the suspended load, A load monitoring device equipped with the following features.

[0138] (Invention B2) The load calculation unit is, A load monitoring device according to Invention B1, which calculates the load of the suspended load in response to a load requirement.

[0139] (Invention B3) The load monitoring device is provided in a load rotation control device that rotates the suspended load, as described in Invention B1 or Invention B2.

[0140] In construction sites where cranes are used, there is a technology that involves attaching a position information acquisition device to the jib top of the crane to monitor whether the suspended load will cross the boundary during lifting operations (for example, Non-Patent Literature (Construction Area Safety Monitoring System "Skywatch", "New Technology Information Provision System", [online], [Accessed August 19, 2024], Internet).<https: / / www.netis.mlit.go.jp / netis / pubsearch / details?regNo=QS-220040%20> However, in the technology described in this non-patent document, since suspended loads come in various shapes, a predetermined range from the jib top is set as the boundary crossing detection area to accommodate all shapes of suspended loads, and monitoring is performed to prevent the suspended load from crossing the boundary. Therefore, depending on the shape and direction of the suspended load, an alert may be issued even if there is sufficient distance between the suspended load and the boundary, which can reduce the efficiency of the lifting operation. Invention C1 aims to provide a technology that can improve the efficiency of lifting operations, and Invention C1 has the effect of providing a technology that can improve the efficiency of lifting operations.

[0141] (Invention C1) A load slewing control device comprising a load direction control unit for slewing a suspended load, A positioning unit for determining the position of the aforementioned suspended load swing control device, The aforementioned load swing control device has an angle detection unit for detecting the azimuth angle, The aforementioned load direction control unit is Based on the position of the boundary line set to prevent the intrusion of the suspended load, and the position and azimuth angle, it is determined whether or not the suspended load may cross the boundary line. A load slewing control device that, when it is determined that the suspended load may cross the boundary line, performs control to issue a warning.

[0142] (Invention C2) The aforementioned load direction control unit is A load slewing control device according to Invention C1, which stops the slewing of the load if it is determined that the load may cross the boundary line while the load is being slewing.

[0143] (Invention C3) The aforementioned load direction control unit maintains the orientation of the load when the load is not being rotated. A load slewing control device according to Invention C1 or Invention C2, which, when it is determined that the load may cross the boundary line, slewing the load in a direction that increases the distance between the load and the boundary line.

[0144] Workers performing work at heights are required to wear safety harnesses (fall arrest devices) to prevent falls. Workers attach the hook on the lanyard of the safety harness to a lifeline or handrail while performing their work. Because work at heights involves movement, the hook needs to be reattached frequently, but some workers find reattaching the hook troublesome and may perform work at heights without using the hook. In addition, some workers may forget to attach the hook and start working. For example, a patent document (Japanese Patent Publication No. 2023-137361) discloses a technology that determines whether or not the hook is attached to the lifeline based on the positional relationship between the hook's position and the lifeline's path from on-site images. However, this patent document's technology involves setting up multiple imaging devices at the work site and determining whether or not the hook is attached to the lifeline based on the 3D position obtained by imaging the site from multiple directions, which creates burdens associated with the installation and removal of the imaging devices. Invention D1 aims to provide a technology that makes it possible to easily manage the usage status of a safety harness hook, and has the effect of providing a technology that makes it possible to easily manage the usage status of a safety harness hook.

[0145] (Invention D1) A load downward monitoring device is provided in a load direction control device that controls the slewing direction of a suspended load, and monitors the area below the load direction control device, An imaging unit that captures images of the area below the aforementioned load direction control device, It has a load downward monitoring unit that monitors the downward direction from the load direction control device based on the captured image, The suspended load downward monitoring unit is, A device for monitoring suspended loads downwards, which determines whether a hook attached to a safety harness is engaged with a hook support based on an image captured when the load is above a predetermined height, and if it is determined that the hook is not engaged with the hook support, it performs control to notify the user of that fact.

[0146] (Invention D2) The aforementioned suspended load downward monitoring unit is A suspended load downward monitoring device according to Invention D1, wherein the device determines whether the hook is hooked onto the hook support by detecting the overlap between the image of the hook and the image of the hook support in the captured image.

[0147] (Invention D3) The aforementioned suspended load downward monitoring unit is A suspended load downward monitoring device according to Invention D2, wherein if no overlap is detected between the image of the hook and the image of the hook support in any of the multiple images captured in succession, it is determined that the hook is not attached to the hook support.

[0148] While embodiments and modifications of the present disclosure have been described above, the technical scope of this disclosure is not limited by a direct interpretation of the embodiments described above, and various modifications are possible without departing from the gist of this disclosure. Furthermore, embodiments and modifications of this disclosure can be combined as appropriate, provided that no inconsistencies arise in the processing. Also, the effects described herein are merely illustrative and are not limited to these effects; other effects may also be achieved. [Explanation of symbols]

[0149] 1 Tower crane, 3 Mast, 4 Slewing frame, 5 Operator's cab, 6 Jib, 7 Hook, 8 Hoisting wire rope, 10 Load direction control device, 11a-11b 1st-2nd sound emission units, 20a-20d 1st-4th wire ropes, 100 Control unit, 110 Load direction control unit, 120 Load downward monitoring unit, 130 Load monitoring unit, 140 Sound control unit, 150 Communication unit, 160 Control information storage unit, 211 Gimbal unit, 212 Positioning unit, 213 Angle detection unit, 221 Imaging unit, 231-234 1st-4th load measurement units, 241 1st speaker, 242 2nd speaker, 260 Operator terminal, 500 Operating device

Claims

1. A load downward monitoring device is provided in a load direction control device that controls the slewing direction of a suspended load, and monitors the area below the load direction control device, An imaging unit that captures images of the area below the aforementioned load direction control device, It has a load downward monitoring unit that monitors the downward direction from the load direction control device based on the captured image, The suspended load downward monitoring unit is, A suspended load downward monitoring device that, based on the captured image, determines that a person is within a predetermined range from the suspended load and performs control to prompt a warning.

2. The aforementioned suspended load downward monitoring unit is The suspended load downward monitoring device according to claim 1, wherein if it is determined that there is a person approaching the suspended load based on the captured image, it performs the control to prompt the warning.

3. The aforementioned suspended load downward monitoring unit is The suspended load downward monitoring device according to claim 1 or 2, which, if it is determined based on the captured image that a person is approaching the suspended load while it is rotating, performs the control necessary to prompt the warning.

Images