Crane and winch monitoring device

Abstract

To provide a crane that can more effectively monitor the condition of the winch drum. [Solution] A crane (100) equipped with a winch drum (106) around which a rope (112) is wound includes a camera (11) for imaging the winch drum, a marker (13) provided at a specific position within the imaging range of the camera and separate from the winch drum, and a monitoring unit (80) for monitoring the rope winding state of the winch drum based on the image captured by the camera and the marker in the image, wherein the specific position is a position where the camera can image the marker when the rope has been unwound by a predetermined amount from the winch drum.

Description

Technical Field

[0001] The present invention relates to a monitoring device for a crane and a winch.

Background Art

[0002] As background art in this technical field, for example, Patent Document 1 describes a configuration in which a marker on a hoist is detected in a captured image, and the state of a hoist drum (winch drum) is determined based on the detection result.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When a marker is provided on a winch drum, the marker may become unclear or disappear due to wear by a wire rope or the like. In such a case, the conventional technique described in Patent Document 1 has a problem that the state of the winch drum (particularly, the winding state of the wire rope) cannot be sufficiently determined.

[0005] An object of the present invention is to provide a monitoring device for a crane and a winch that can more suitably monitor the state of a winch drum.

Means for Solving the Problems

[0006] To achieve the above objective, one aspect of the present invention provides a crane equipped with a winch drum around which a rope is wound, comprising: a camera for imaging the winch drum; a marker provided at a specific position within the imaging range of the camera and separate from the winch drum; and a monitoring unit for monitoring the rope winding state of the winch drum based on the image captured by the camera and the marker in the image, wherein the specific position is a position in which the camera can image the marker when the rope is unwound by a predetermined amount from the winch drum.

[0007] Furthermore, in order to achieve the above objective, another aspect of the present invention is a winch monitoring device mounted on a crane and used to monitor a winch drum around which a rope is wound, comprising: a camera for imaging the winch drum; and a marker provided at a specific position within the imaging range of the camera and being separate from the winch drum, wherein the winch monitoring device monitors the rope winding state of the winch drum based on the image captured by the camera and the marker in the image, and the specific position is a position in which the camera can image the marker when the rope has been unwound by a predetermined amount from the winch drum.

[0008] According to the present invention, the condition of the winch drum can be monitored more effectively. Other problems, configurations, and effects not mentioned above will be clarified by the following description of the embodiments. [Brief explanation of the drawing]

[0009] [Figure 1] This is an external side view of the crane. [Figure 2] This is a perspective view showing the main part of the crane's slewing mechanism. [Figure 3] This is an overall diagram of the winch monitoring system. [Figure 4] This is a front view of the bulkhead. [Figure 5] This is a schematic diagram of a camera image showing the main winding rope fully wound. [Figure 6]This is a schematic diagram of a camera image showing the main winding rope in a state where it has been mostly unfurled. [Figure 7] This is a control block diagram of the controller. [Figure 8] This is a flowchart showing the control process steps of the controller. [Figure 9] This is a perspective view of the winch monitoring device according to Modification Example 1. [Figure 10] This is a perspective view of the winch monitoring device according to Modification 2. [Figure 11] This is a front view of the partition wall according to Modification 3. [Figure 12] Modification example 3 is a schematic diagram of a camera image taken when the main winding rope is mostly unwound. [Figure 13] This is a front view of the partition wall according to Modification 4. [Figure 14] In modified example 4, the camera image (schematic diagram) shows the main winding rope in a state where it has been wound to a certain extent. [Figure 15] This flowchart shows the procedure for the controller's control process in modified example 4. [Modes for carrying out the invention]

[0010] Hereinafter, a monitoring device for a crane and winch according to an embodiment of the present invention will be described with reference to the drawings.

[0011] FIG. 1 is an external side view of a crane according to an embodiment, and FIG. 2 is a perspective view showing a main part of a revolving body of the crane. The crane 100 shown in FIG. 1 is a crawler crane, and includes a traveling body 102, a revolving body 104 rotatably mounted on the traveling body 102 via a slewing device 103, a boom 105 attached to the tip of the revolving body 104 so as to be able to rise and fall, and sheaves 110, 111 and sheaves 117, 118 provided at the tip of the boom 105. A boom hook 121 is attached to the tip of the main hoist rope 112 passing through the sheaves 110 and 117, and an auxiliary sheave hook 122 is attached to the tip of the auxiliary hoist rope 113 passing through the sheaves 111 and 118. With these hooks 121, 122, a load or the like is lifted.

[0012] The revolving body 104 is provided with a cab 109. The cab 109 is provided with various operation levers (main hoist operation lever, auxiliary hoist operation lever, luffing operation lever, traveling lever, slewing lever, etc.), and the user operates these operation levers to perform the lifting operation, excavation operation, slewing operation, and traveling operation of the crane 100. Instead of the various operation levers, buttons, operation dials, etc. may be used. Further, the cab 109 is provided with a display device 90 for displaying or reporting various information such as the operating state and warnings of the crane 100, and a controller 80 for controlling the operation of the crane 100.

[0013] Also, as shown in FIG. 2, the main hoist rope 112 and the auxiliary hoist rope 113 are respectively wound around a main hoist winch 106 and an auxiliary hoist winch 107 mounted on the revolving body 104, and each rope 112, 113 is wound up or paid out by driving each winch 106, 107, so that the suspended load rises and falls.

[0014] A pendant rope 114 is connected to the tip of the boom 105. When the luffing rope 115 is wound up or paid out by driving a luffing winch 108 mounted on the revolving body 104, the boom 105 is luffed via the pendant rope 114.

[0015] Also, as shown in FIG. 2, in the present embodiment, a monitoring device 10A for monitoring the rope winding state of the main winding winch 106 and a monitoring device 10B for monitoring the rope winding state of the auxiliary winding winch 107 are provided. Since these monitoring devices 10A and 10B have the same configuration, hereinafter, the monitoring device 10A for the main winding winch 106 will be described in detail, and the description of the monitoring device 10B for the auxiliary winding winch 107 will be omitted.

[0016] Here, the "rope winding state" broadly means a state in which the main winding rope 112 (rope) is wound around the main winding winch 106 (winch drum). Therefore, all "rope winding states" such as how many layers / rows the main winding rope 112 is wound around the main winding winch 106, the discard winding (extra winding) of the main winding rope 112, and the disordered winding of the main winding rope 112 are included in the present invention.

[0017] Note that the "discard winding" refers to the last few windings of the main winding rope 112 wound around the main winding winch 106. Specifically, it is a state in which the main winding rope 112 wound around the main winding winch 106 is about 1 layer and 1 to 3 rows. When the main winding rope 112 is further unwound from this discard winding state, it reaches the limit of unwinding. Therefore, usually, the main winding winch 106 is not used in this discard winding state. As long as it conforms to that meaning, the state of discard winding is not limited to the above-mentioned number of windings. For example, whether the main winding rope 112 is 1 layer and 2 rows or 4 rows, it is included in the state of discard winding.

[0018] FIG. 3 is an overall configuration diagram of the winch monitoring device according to the present embodiment, FIG. 4 is a front view of the partition wall seen from the rear side, FIG. 5 is a camera imaging diagram (schematic diagram) in a state where the main winding rope is sufficiently wound, and FIG. 6 is a camera imaging diagram (schematic diagram) in a state where the main winding rope is generally paid out. In FIG. 3, the left side is the front side of the crane 100, and the right side is the rear side of the crane 100.

[0019] As shown in FIG. 3, the winch monitoring device 10A includes a camera 11, a partition wall 12, a marker 13, a controller 80, and a display device 90.

[0020] Camera 11 is positioned behind the main winch 106 and photographs the main winch 106, around which the main rope 112 is wound, from the rear. The imaging range of camera 11 is within the range of lines L1 and L2, i.e., within the field of view θ. Line L1, which represents the lower range, is located below the flange 106b of the main winch 106, and line L2, which represents the upper range, is located in contact with the flange 106b of the main winch 106. Therefore, the main winch 106 and the main rope 112 wound around it are sufficiently contained within the imaging range of camera 11 (see Figures 5 and 6).

[0021] The bulkhead 12 is positioned in front of the main winch 106, facing the camera 11 and the main winch 106. That is, the bulkhead 12 is located on the opposite side of the camera 11 from the main winch 106. As shown in Figure 4, the bulkhead 12 consists of vertical plates extending in the vertical direction and is fixed to the bottom plate of the slewing body 104 by fastening means such as bolts. The height of the bulkhead 12 is approximately equal to the line L3 passing through the center of the drum body 106a of the main winch 106. The width of the bulkhead 12 is slightly larger than the pair of flanges 106b of the main winch 106. Therefore, the bulkhead 12 covers the entire upper and lower half of the front of the main winch 106, both vertically and horizontally (left and right). As a result, the bulkhead 12 functions as a reflection prevention means to prevent scenery from being reflected in the camera image.

[0022] Here, the partition wall 12 does not necessarily have to completely prevent reflections of the scenery. Some reflections of the scenery are acceptable as long as they reduce the negative impact on the analysis of the camera image. In other words, the partition wall 12 only needs to be able to generally prevent reflections of the scenery in the camera image.

[0023] Furthermore, so that the controller 80 can distinguish and identify (image analyze) the partition wall 12 and the main winding rope 112 from the image captured by the camera 11, the partition wall 12 is formed with a different color and / or a different surface finish with different reflective properties from the main winding rope 112. For example, in this embodiment, since the main winding rope 112 is generally black, the partition wall 12 is painted blue.

[0024] The marker 13 is mounted on a partition wall 12, which is separate from the main winch 106. Here, "separate" means that the main winch 106 and the marker 13 (partition wall 12) are physically separate, and that the marker 13 does not move in conjunction with the operation of the main winch 106. This can also be rephrased as meaning that the main winch 106 and the marker 13 are physically separated. Therefore, for example, if the marker 13, which is a separate component from the main winch 106, is attached to the main winch 106 and operates as a single unit, it is not considered "separate."

[0025] The height position of the marker 13 is a specific position lower than the center (line L3) of the main winch 106. Here, the specific position is a position where the camera 11 can image the marker 13 only when the main rope 112 has been unwound by a predetermined amount from the main winch 106. More specifically, in this embodiment, the marker 13 is not exposed at all when the main rope 112 is fully wound around the main winch 106, and the marker 13 is installed at a position where it is exposed and can be imaged by the camera 11 when the main rope 112 has been unwound to about 2 or 3 turns around the drum body 106a (see Figure 6). In other words, the marker 13 is installed at a position where the state of the main rope 112 being left unwound can be identified. In this embodiment, the marker 13 is placed at the specific position described above to monitor the slack winding state of the main winch 106, but the position of the marker 13 can be arbitrarily changed depending on what kind of rope winding state you want to monitor.

[0026] For example, when the main hoisting rope 112 is fully wound around the main hoisting winch 106, a small portion of the marker 13 is exposed (in other words, it is not substantially exposed), and the marker 13 may be positioned such that it cannot be recognized in the image captured by the camera 11, and the marker 13 is exposed when the main hoisting rope 112 is almost fully unwound.

[0027] Furthermore, the marker 13 is painted in a different color (for example, yellow in this embodiment) from the partition wall 12, taking into consideration its identifiability. Therefore, the controller 80 can easily distinguish the partition wall 12 and the marker 13 from the image captured by the camera 11. The marker 13 may be formed as a recess or protrusion that is identifiable relative to the partition wall 12, or it may be constructed by attaching another member to the partition wall 12 or joining it by welding or the like.

[0028] Next, a specific example of an image captured by camera 11 will be described. As shown in Figure 5, the imaging range of camera 11 includes the front view of the main winch 106 as seen from the rear, the state in which the main rope 112 is wound around the main winch 106, and the bulkhead 12 located behind the main winch 106. Because the bulkhead 12 covers the lower rear of the main winch 106, the background is not captured in the lower rear of the main winch 106. When the main rope 112 has been mostly unwound and two or three turns remain as slack, the marker 13 is exposed within the imaging range of camera 11, as shown in Figure 6. Therefore, if the controller 80 analyzes the image captured by camera 11, it can identify the current rope winding state of the main winch 106.

[0029] The controller 80 analyzes the images captured by the camera 11 and notifies the operator of the rope winding status of the main hoist winch 106 in a predetermined manner via the display device 90.

[0030] The controller 80, although not shown in the diagram, consists of hardware including a CPU that performs various calculations, a storage device such as a ROM or HDD that stores programs for executing calculations performed by the CPU, RAM which serves as a workspace for the CPU when executing programs, and a communication interface which is an interface for sending and receiving data with other devices, and software stored in the storage device and executed by the CPU. Each function of the controller 80 is realized when the CPU loads various programs stored in the storage device into RAM and executes them.

[0031] Figure 7 is a functional block diagram of the controller 80. As shown in Figure 7, the controller 80 includes an image acquisition unit 81, a marker identification unit 82, and a notification control unit 83.

[0032] The image acquisition unit 81 acquires an image from the camera 11. The marker identification unit 82 analyzes the image acquired by the image acquisition unit 81 to identify the presence or absence of the marker 13. For example, if the image shown in Figure 5 is acquired, the marker identification unit 82 identifies that the marker 13 does not exist (not a discarded winding state). On the other hand, if the image shown in Figure 6 is acquired, the marker identification unit 82 identifies that the marker 13 exists (discarded winding state).

[0033] The notification control unit 83 displays the image captured by the camera 11 acquired by the image acquisition unit 81 on the display device 90, and the marker identification unit 82 notifies the operator of the presence or absence of the marker 13 by sound. For example, if the marker 13 is present, the notification control unit 83 notifies the operator of the presence of the marker 13 by sound via a speaker (not shown) built into the display device 90. Thus, the operator can recognize the rope winding state (discarded winding state) of the main winch 106 by sound. In addition, since the camera image captured as shown in Figure 6 is displayed on the display device 90, the operator can visually confirm that the marker 13 is visible. In this embodiment, the presence of the marker 13, i.e., the discarded winding state, can be confirmed by sight and hearing.

[0034] Next, the details of the control process by the controller 80 will be explained. Figure 8 is a flowchart showing the procedure for the control process by the controller. As shown in Figure 8, when the controller 80 detects the rotation of the main winch 106 (S1), it starts imaging with the camera 11 (S2). The controller 80 detects the presence or absence of the marker 13 from the image captured by the camera 11 (S3). If the marker 13 is detected, that is, if a slack winding state is detected (S4 / Yes), the controller 80 notifies the display device 90 that the marker 13 has been detected. That is, the controller 80 notifies that the main winch rope 112 is in a slack winding state (S5). On the other hand, if the marker 13 is not detected (S4 / No), the controller 80 terminates the process.

[0035] The effects and advantages of this embodiment can be summarized as follows:

[0036] Since the marker 13 is attached to the bulkhead 12, which is separate from the main winch 106, the marker 13 will not become blurred or peel off and disappear due to friction with the main winch rope 112. Therefore, when the main winch rope 112 is unwound and in a discarded state, the marker 13 is reliably exposed within the imaging range of the camera 11. As a result, the controller 80 can reliably identify the marker 13 through image analysis. In other words, false detection of the marker 13 is prevented.

[0037] Since the marker 13 is positioned so that it is only exposed when the main winding rope 112 is in a sling wound state, the controller 80 can reliably notify the operator whether the main winding rope 112 is in a sling wound state by performing image analysis to determine the presence or absence of the marker 13.

[0038] Furthermore, if marker 13 is present, the operator can easily determine that the main hoisting rope 112 is in a slack-winding state by looking at the display device 90 or by listening to the sound emitted from the display device 90. Therefore, the operator can concentrate on the lifting operation of the crane 100 while reliably recognizing when the main hoisting winch 106 is in a slack-winding state.

[0039] Furthermore, since the width of the bulkhead 12 is slightly wider than the pair of flanges 106b of the main winch 106, the scenery does not appear in the background of the main winch 106. Therefore, the controller 80 can easily analyze the rope ridge of the main rope 112. Thus, misrecognition of the rope winding state by the controller 80 can be prevented. Similarly, since the height of the bulkhead 12 extends to a position approximately equal to the center of the drum body 106a, the lower part of the main winch 106 is reliably covered in the height direction. Therefore, it is prevented that unnecessary scenery behind the main winch 106 is reflected. As a result, misdetection of the rope ridge by the controller 80 is prevented. In addition, since the bulkhead 12 and the marker 13 are different colors, and the bulkhead 12 and the main rope 112 have different reflective properties, misdetection of the marker 13 and the main rope 112 by the controller 80 is prevented. Thus, in this embodiment, the marker 13 can be reliably detected, and the rope winding state (discarded winding state) can be confirmed.

[0040] Furthermore, when the controller 80 detects the presence or absence of the marker 13, it may analyze the entire imaging range of the camera 11, or it may crop the lower half of the main winch 106, including the marker 13, and analyze only that region to identify the presence or absence of the marker 13. In addition, appropriate methods such as general binarization can be used for image analysis. Of course, image analysis may also be performed using a learning model.

[0041] (Variation 1) Figure 9(a) is a perspective view showing the overall configuration of the winch monitoring device according to Modified Example 1, and Figure 9(b) is a perspective view with the main winding rope 112 removed. As shown in Figures 9(a) and (b), in Modified Example 1, the shape of the partition wall 12-1 is different from the partition wall 12 according to the above embodiment.

[0042] Specifically, the partition wall 12-1 in the modified example 1 has a shape in which a rectangular plate-like body is bent at approximately the center in the longitudinal direction, and its width is approximately equal to the distance between the pair of flanges 106b. Therefore, the partition wall 12-1 can fit into the lower part between the pair of flanges 106b of the main hoist winch 106.

[0043] Here, we compare the dimensional differences in the front-to-back direction of the winch monitoring device 10A-1 according to Modification 1 and the winch monitoring device 10A according to the embodiment shown in Figure 3. In the embodiment shown in Figure 3, a predetermined gap is provided in the front-to-back direction between the main hoist winch 106 and the partition wall 12. On the other hand, in Modification 1 shown in Figure 9, the partition wall 12-1 is located below the main hoist winch 106, so there is no predetermined gap, similar to Figure 3. Therefore, in addition to achieving the same effects as the above embodiment, Modification 1 also has the advantage of making the size of the winch monitoring device 10A-1 (especially the dimensions in the front-to-back direction) more compact.

[0044] (Modification 2) Figure 10 is a perspective view showing the overall configuration of the winch monitoring device 10A-2 according to Modification 2, with the main winding rope 112 removed. As shown in Figure 10, the bulkhead 12-2 according to Modification 2 has a different overall shape compared to the bulkhead 12-1 according to Modification 1.

[0045] Specifically, the partition wall 12-1 in Modification 1 is a bent plate-like body, while the partition wall 12-2 in Modification 2 is a plate-like body formed in an arc shape. More specifically, the partition wall 12-2 is formed in an arc shape that follows the outer shape of the flange 106b of the main hoist winch 106. With this Modification 2, as with Modification 1, it can fit into the lower part of the main hoist winch 106, thus enabling a compact design.

[0046] (Variation 3) Figure 11 is a front view of the partition wall according to the modified example 3, seen from the rear. The partition wall 12-3 shown in Figure 11 is characterized by having multiple (for example, three) markers 13. These three markers 13 are spaced apart from each other at the same height in the horizontal direction (width direction / axis direction of the main winch 106). The spacing between them is approximately equal to the diameter of the main winch rope 112. Therefore, the controller 80 can identify how many turns (rows) of the main winch rope 112 remain.

[0047] This will be explained in detail using Figure 12. Figure 12 is a schematic camera image of the main winding rope in the modified example 3, when it is mostly unwound. In the example in Figure 12, when one marker 13 is exposed, it is identified that the number of rows of the main winding rope 112 is 5. Similarly, when two markers 13 are exposed, it is identified that the number of rows of the main winding rope 112 is 4.

[0048] The number and shape of the markers 13 can be arbitrary. For example, if you want to identify five rows of the main winding rope 112, you can simply place five markers 13. Alternatively, the markers 13 can be made horizontally elongated, and the controller 80 can calculate the area of ​​the markers 13 and identify the number of rows of the main winding rope 112 from that area.

[0049] (Modification 4) Figure 13 is a front view of the partition wall according to the modified example 4, seen from the rear. The partition wall 12-4 shown in Figure 13 is characterized by having multiple (e.g., three) markers 13 along the horizontal direction, and multiple (e.g., three) markers 14 along the vertical direction on both sides in the width direction. The three markers 13 are spaced apart from each other at the same height in the horizontal direction (width direction / axis direction of the main winding winch 106). The three markers 14 are spaced apart from each other in the vertical direction. The spacing between these markers is approximately equal to the diameter of the main winding rope 112. Therefore, the controller 80 can identify the number of rows of the main winding rope 112 by analyzing the presence of the markers 13, and can identify the number of layers of the main winding rope 112 by analyzing the presence of the markers 14.

[0050] This will be explained in detail using Figure 14. Figure 14 is a schematic camera image of the main winding rope in modified example 4, where the main winding rope is wound to a certain extent. In the example of Figure 14, when one marker 13 is exposed, it is identified that the number of rows of the main winding rope 112 is, for example, 6. Similarly, when two markers 13 are exposed, it is identified that the number of rows of the main winding rope 112 is, for example, 5. Similarly, when three markers 13 are exposed, it is identified that the number of rows of the main winding rope 112 is, for example, 3 (i.e., a sloppy winding state).

[0051] Furthermore, when one marker 14 on the left (or the marker 14 on the right) is exposed, it is identified that the main winding rope 112 has, for example, 5 layers. Similarly, when two markers 14 are exposed, it is identified that the main winding rope 112 has, for example, 4 layers. Similarly, when three markers 14 are exposed, it is identified that the main winding rope 112 has, for example, 3 layers.

[0052] The number, shape, and mounting position of markers 13 and 14 are arbitrary. Depending on which state of winding of the main winding rope 112 you want to identify, you can determine the number, shape, and mounting position of markers 13 and 14 as appropriate.

[0053] Next, the details of the control process of the controller 80 in modified example 4 will be described. Figure 15 is a flowchart showing the procedure of the control action by the controller. As shown in Figure 15, when the controller 80 detects the rotation of the main hoist winch 106 (S11), it starts imaging with the camera 11 (S12). From the image captured by the camera 11, the controller 80 first detects the presence or absence of the marker 14 (S13). From the detection result of the marker 14, the controller 80 obtains the number of layers of the main hoist rope 112 (S14).

[0054] Next, the controller 80 detects the presence or absence of marker 13 from the image captured by the camera 11 (S15). From the detection result of marker 14, the controller 80 obtains the number of layers of the main winding rope 112 (S16).

[0055] Based on the detection result of the marker 13 in S15, the controller 80 determines whether the main winding rope 112 is in a discarded winding state (S17). If it is in a discarded winding state (S17 / Yes), the controller 80 notifies the display device 90 that the main winding rope 112 is in a discarded winding state (S18). On the other hand, if it is not in a discarded winding state (S17 / No), the controller 80 terminates the process.

[0056] Thus, in the modified example 4, the number of layers and rows of the main winding rope 112 can be detected, making it possible to more effectively monitor the rope winding state of the main winding winch 106.

[0057] It should be noted that the present invention is not limited to the embodiments described above, and various modifications are possible without departing from the spirit of the invention. All technical matters included in the technical concept described in the claims are subject to the present invention. The embodiments described above are preferred examples, but those skilled in the art can realize various alternatives, modifications, variations, or improvements from the contents disclosed herein, and these are included in the technical scope described in the appended claims.

[0058] For example, the main hoist winch 106 has a rope stopper attached to the front of the drum body 106a to prevent the rope from coming off. By providing markers 13 and 14 on this rope stopper, the same effects as in the above-described embodiment can be achieved. Moreover, there is the advantage that a separate partition wall does not need to be provided.

[0059] Furthermore, since many components (such as hydraulic components) are located below the main hoisting winch 106, depending on the arrangement of these components, some of them can be used as markers 13 and 14.

[0060] Furthermore, although the example shows a case where there is only one camera 11, depending on the positions of the markers 13 and 14 and the size of the winch drum, multiple cameras 11 may be installed to monitor the rope winding status of the winch drum.

[0061] Furthermore, while a crawler crane was given as an example of a crane, the present invention is not limited to this and can be applied to all kinds of cranes, including other mobile cranes such as wheel cranes, truck cranes, rough terrain cranes, and all-terrain cranes, as well as tower cranes, overhead cranes, jib cranes, retractable cranes, stacker cranes, gantry cranes, unloaders, and foundation machinery such as earth drills. [Explanation of Symbols]

[0062] Monitoring device for 10A and 10B winches 11 Cameras 12. Partition (means to prevent reflections) 13,14 Markers 80 Controller (monitoring unit) 81 Image acquisition unit 82 Marker identification section 83. Notification Control Unit 90 Display device 100 Cranes 102 Running body 104 Rotating body 106 Main winch (winch drum) 106a Drum body 106b Flange 107. Supplemental winch (winch drum) 108 Luffing Winch 109 Cab 112 Main winding rope (rope) 113. Supplementary winding rope (rope)

Claims

1. In a crane equipped with a winch drum around which a rope is wound, A camera for imaging the winch drum, A marker is provided at a specific position within the imaging range of the camera and is separate from the winch drum, The system includes a monitoring unit that monitors the rope winding state of the winch drum based on the image captured by the camera and the marker in the image, The aforementioned specific position is a position where the camera can capture an image of the marker when the rope is unwound by a predetermined amount from the winch drum. A crane characterized by the following features.

2. In the crane according to claim 1, The camera has a means to prevent reflections from appearing in the background of the rope within the imaging range of the camera. A crane characterized by the following features.

3. In the crane according to claim 2, The aforementioned reflection prevention means is a partition wall provided on the opposite side of the camera from the winch drum, The marker is attached to the specific position provided on the partition wall. A crane characterized by the following features.

4. In the crane according to claim 3, The partition wall, the marker, and the rope have different colors and / or reflective properties. A crane characterized by the following features.

5. In the crane according to claim 3, The partition wall is shaped to be able to cover at least the lower part of the winch drum entirely along the axial direction of the winch drum. A crane characterized by the following features.

6. In the crane according to claim 1, Multiple such specific locations are provided. The monitoring unit can detect the rope winding state by having the camera detect the markers that are each attached to the plurality of specific positions. A crane characterized by the following features.

7. In the crane according to claim 6, The monitoring unit is capable of detecting at least the presence of discarded rope windings as part of the rope winding state. A crane characterized by the following features.

8. A winch monitoring device mounted on a crane, which monitors the winch drum around which the rope is wound, A camera for imaging the winch drum, The camera comprises a marker provided at a specific position within the imaging range of the camera and separate from the winch drum, The monitoring device for the winch is, Based on the image captured by the camera and the marker in the image, the rope winding state of the winch drum is monitored. The aforementioned specific position is a position where the camera can capture an image of the marker when the rope is unwound by a predetermined amount from the winch drum. A winch monitoring device characterized by the following features.

Images