Monitoring device, monitoring program, and monitoring system

Abstract

We provide a monitoring device to monitor safety measures during lifting operations. [Solution] The monitoring device 2 monitors whether the lifting operation is safe using captured images taken from above of the area around the load being lifted by the crane and distance information representing the distance from the crane to the object being lifted. It comprises an image processing unit 10 that detects objects from the captured images, a first determination unit 11 that determines whether a stopper and an anti-pinch body are installed, a second determination unit 12 that determines whether the object being lifted is stopped at 30 cm for 3 seconds or more, a third determination unit 13 that determines whether a worker has entered the area, and an alarm unit 14 that outputs an alarm when the lifting operation is unsafe.

Description

Technical Field

[0001] The present invention relates to a monitoring device, a monitoring program, and a monitoring system for lifting operations.

Background Art

[0002] Conventionally, in lifting operations using a crane, in order to prevent accidents such as the falling of the suspended load, safety measures have been taken by means of the 3·3·3 movement, the installation of opening stoppers, and the installation of anti-entrapment bodies. Whether these safety measures are being observed has been confirmed visually, which has placed a heavy burden on workers and supervisors.

[0003] The 3·3·3 movement is to move 3 m away from the suspended load, stop once at a ground cut of 30 cm, and stop for 3 seconds for safety confirmation. Ground cutting means lifting the suspended load with a crane and separating it from the ground.

[0004] Therefore, conventional methods for preventing accidents such as the falling of the suspended load have been proposed (for example, Patent Document 1). The method described in Patent Document 1 detects whether an operator has entered the restricted area around the suspended load, and outputs an alarm when the entry of the operator is detected.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] Note: The specific number in the Japanese Patent Application Publication No. in the original text is not filled in the translation, so it is represented by "********-****" here. You can replace it with the actual number if needed.However, the method described in Patent Document 1 only detects the entry of workers and does not detect the installation of the opening stopper or the installation of the pinch prevention device. Furthermore, the method described in Patent Document 1 does not detect the ground cut at 30 cm and the 3-second stop during the 3-3-3 movement. Thus, the method described in Patent Document 1 has the problem of not being able to adequately monitor safety measures for lifting operations.

[0007] The present invention aims to solve the aforementioned problems and provide a monitoring device, monitoring program, and monitoring system that can monitor safety measures for lifting operations. [Means for solving the problem]

[0008] To solve the aforementioned problems, the monitoring device according to the present invention is a monitoring device that monitors whether the lifting operation of a suspended load is safe, using an image taken from above of the area around the suspended load being lifted by a crane and distance information representing the distance from the crane to the suspended load being lifted. The device comprises: an image processing unit that detects the lifted object, surrounding objects located around the lifted object, workers, pinch prevention devices, and opening stoppers from the image taken; a first determination unit that determines whether an opening stopper is installed within a preset range from the lifted object detected by the image processing unit and whether a pinch prevention device is installed within a preset range from the surrounding objects; a second determination unit that uses the distance information to determine whether the lifted object has stopped at a preset height for a preset time or longer; a third determination unit that determines whether a worker has entered below the lifted object detected by the image processing unit; and an alarm unit that outputs an alarm for the lifting operation based on the determination results of the first determination unit, the second determination unit, and the third determination unit.

[0009] With this configuration, the monitoring device can detect not only the entry of workers, but also the installation of opening stoppers and pinching prevention devices, as well as the stopping due to ground clearance.

[0010] Furthermore, in order to solve the above problems, the present invention provides a monitoring system that uses captured images taken from above of the area around the load being lifted by a crane and distance information representing the distance from the crane to the load being lifted, which is the lifted object, to monitor whether the lifting operation of the load is safe, and comprises: a camera unit attached to the crane trolley to capture images; a measuring unit attached to the trolley adjacent to the camera unit to measure distance information; and an image detector that detects the lifted object, surrounding objects located around the lifted object, workers, pinch prevention devices, and opening stoppers from the captured images. The system comprises a processing unit, a first determination unit that determines whether a stopper is installed within a preset range from the lifting target detected by the image processing unit and whether an anti-pinch device is installed within a preset range from surrounding objects, a second determination unit that uses distance information to determine whether the lifting target is stopped at a preset height for a preset time or longer, a third determination unit that determines whether a worker is standing below the lifting target detected by the image processing unit, and an alarm unit that outputs an alarm for lifting operations based on the determination results of the first, second, and third determination units.

[0011] With this configuration, the monitoring system can detect not only the entry of workers, but also the installation of anti-opening devices and anti-pinch devices, as well as the stopping due to ground clearance.

[0012] Furthermore, the present invention can also be implemented using a program that causes a computer to function as the aforementioned monitoring device. [Effects of the Invention]

[0013] According to the present invention, safety measures for lifting operations can be monitored. [Brief explanation of the drawing]

[0014] [Figure 1] This is a schematic diagram of the monitoring system according to the embodiment. [Figure 2] This diagram illustrates the opening stopper in an embodiment. [Figure 3]This is a diagram for explaining the sandwiched prevention body in the embodiment. [Figure 4] This is a diagram for explaining the arrangement of the photographing unit and the measuring unit in the embodiment. [Figure 5] This is a block diagram showing the configuration of the monitoring system according to the embodiment. [Figure 6] This is a diagram for explaining the detection of an object in the embodiment. [Figure 7] This is a flowchart showing the overall operation of the monitoring system according to the embodiment. [Figure 8] This is a flowchart showing the processing during the hoisting operation in the embodiment. [Figure 9] This is a flowchart showing the determination process for the installation of the opening stopper in the embodiment. [Figure 10] This is a flowchart showing the determination process for the installation of the sandwiched prevention body in the embodiment. [Figure 11] This is a flowchart showing the determination process for the 3·3·3 movement in the embodiment. [Figure 12] This is a flowchart showing the determination process for the entry of an operator in the embodiment.

Embodiments for Carrying out the Invention

[0015] Hereinafter, embodiments of the present invention will be described with reference to the drawings. However, each of the embodiments described below is for embodying the technical idea of the present invention, and unless there is a specific description, the present invention is not limited to the following. Also, the same means may be denoted by the same reference numerals, and the description may be omitted.

[0016] [Hoisting Work] Referring to FIG. 1, as a premise for explaining the monitoring system 1 according to the embodiment, the hoisting work performed by the crane 90 will be briefly described.

[0017] The crane 90 that performs the lifting operation is a general crane such as an overhead crane or a gantry crane. As shown in Figure 1, in this embodiment, the crane 90 is an overhead crane. The crane 90 has saddles 92 at both ends of a girder 91, and rails installed below the saddles 92 move towards the front and back of the drawing. The crane 90 has a trolley 93 on the top surface of the girder 91, and the trolley 93 moves along the girder 91 in the left-right direction of the drawing. The crane 90 has a hook 94 attached to the trolley 93, and the hook 94 moves in the up-down direction of the drawing. The crane 90 has a cabin 95 which is the operator's room. The monitoring device 2, which will be described later, is located in the cabin 95.

[0018] In this embodiment, the suspended load 100 lifted by the crane 90 is assumed to be a segment. A segment is an arc-shaped concrete member used in tunnel construction using the shield tunneling method.

[0019] When performing lifting operations, various safety measures are necessary, as explained below. As shown in Figure 2, when performing lifting operations, a stopper 120 is installed to prevent the sling 110, which is hooked onto the hook 94, from opening and detaching from the suspended load 100 (the object to be lifted 101). Hereafter, the suspended load being lifted may be referred to as the object to be lifted.

[0020] As shown in Figure 3, when performing lifting operations, an anti-pinch device 130 is installed on the surrounding objects 102 to prevent the lifted object 101 (Figure 2) from being pinched by the surrounding objects 102. Surrounding objects are objects located around the lifted object 101. In the example in Figure 3, the suspended loads 100 other than the lifted object 101 are the surrounding objects 102. Furthermore, when performing lifting operations, it is necessary to monitor the situation to ensure that workers do not enter the area below the suspended load (100g) or perform the 3-3-3 movement.

[0021] If these safety measures are monitored visually, it places a heavy burden on workers and supervisors. Furthermore, if safety measures are not being followed, an immediate warning must be issued. Therefore, monitoring system 1 monitors these safety measures and issues an alarm if they are not being followed.

[0022] [Overview of the monitoring system] Refer to Figures 1 and 4 to describe the overview of monitoring system 1. As shown in Figures 1 and 4, the monitoring system 1 comprises a monitoring device 2, an imaging unit 3, a measurement unit 4, and a speaker 5. Figure 1 also shows a cloud server 9.

[0023] The monitoring device 2 uses images taken from above of the area surrounding the suspended load 100 being lifted by the crane 90, and distance information representing the distance from the crane 90 to the suspended load 100, to monitor whether the lifting operation of the suspended load 100 is safe. If the monitoring device 2 determines that the lifting operation is unsafe, it outputs a predetermined warning sound to the speaker 5. For example, the warning sound may be an alarm sound or a warning voice message such as, "Please move away from the suspended load."

[0024] Monitoring device 2 displays a screen for configuring the necessary settings for processing and a screen for displaying the detection results of the captured images. Furthermore, if monitoring device 2 determines that the lifting operation is unsafe, it displays a warning message such as, "Do not enter the area below the suspended load." Additionally, if monitoring device 2 determines that the lifting operation is unsafe, it transmits the captured images and the violation details to cloud server 9. Further details of monitoring device 2 will be described later.

[0025] The camera unit 3 is attached to the trolley 93 of the crane 90 and captures images. The captured images are of the area around the suspended load 100 being lifted by the crane 90, taken from above. The camera unit 3 then outputs the captured images to the monitoring device 2. For example, the camera unit 3 is a typical network camera that transmits captured images to the monitoring device 2 via a network. Furthermore, the camera unit 3 maintains a constant height and changes position on the horizontal plane in accordance with the movement of the trolley 93. Additionally, the camera unit 3 maintains a constant field of view.

[0026] The measurement unit 4 is attached to the trolley 93 adjacent to the imaging unit 3 and measures distance information. The distance information is the distance measured from the crane 90 to the lifting target 101, which is the suspended load 100 being lifted. The imaging unit 3 then outputs the distance information to the monitoring device 2. For example, the measurement unit 4 is a typical laser distance meter that transmits distance information to the monitoring device 2 via a network. Furthermore, the measurement unit 4 will pre-measure the distance between the crane 90 and the ground (floor) while the load 100 is not suspended from the crane 90.

[0027] Speaker 5 is a standard speaker that outputs a warning sound commanded by monitoring device 2. In addition to the speaker 5, the monitoring system 1 may also be equipped with a rotating light (not shown) that lights up in accordance with commands from the monitoring device 2.

[0028] Cloud server 9 is a general-purpose cloud server that stores captured images and violation status received from monitoring device 2 via the network. By referring to these captured images and violation status, it is possible to analyze under what circumstances safety violations occur at the lifting operation site.

[0029] Referring to Figure 4, the arrangement of the imaging unit 3 and the measurement unit 4 will be briefly explained. As shown in Figure 4, the camera unit 3 is positioned on the side of the trolley 93 so as to face vertically. At this time, the camera unit 3 is attached to the trolley 93 so that the suspended load 100 (lifting target 101) being lifted by the hook 94 is visible in the center of the captured image. The measuring unit 4 is positioned vertically on the side of the trolley 93, adjacent to the imaging unit 3. At this time, the measuring unit 4 is attached to the trolley 93 so that it can measure the distance between the crane 90 and the center of the object to be lifted 101. Speaker 5 is positioned on the side of the trolley 93 so as to be adjacent to the camera unit 3.

[0030] [Configuration of the monitoring device] Referring to Figure 5, the configuration of the monitoring device 2 will be explained. As shown in Figure 5, the monitoring device 2 comprises an image processing unit 10, a first determination unit 11, a second determination unit 12, a third determination unit 13, and an alarm unit 14.

[0031] The image processing unit 10 detects the lifting target 101, which is the suspended load 100 being lifted, surrounding objects 102 located around the lifting target 101, a worker 140, an anti-pinch body 130, and an opening stopper 120 from the captured image input from the camera 3. In this embodiment, the image processing unit 10 detects these objects using a trained image recognition model.

[0032] As shown in Figure 6, the image processing unit 10 detects the hook 94, the lifted object 101, the surrounding object 102, the worker 140, the pinch prevention body 130, and the opening stopper 120 as bounding boxes. A bounding box is a rectangle that surrounds each object detected by the image processing unit 10, and is shown as a dashed line in Figure 6. The bounding boxes are also assigned a label representing each object detected by the image processing unit 10, and a two-digit number representing the recognition rate. For example, "crane_hook" represents the hook 94, "lifted_segment" represents the lifted object 101, "segment" represents the surrounding object 102, "stopper" represents the opening stopper 120, "fender" represents the pinch prevention body 130, and "person" represents the worker 140.

[0033] In this embodiment, the image processing unit 10 generates a pre-trained image recognition model using general machine learning methods such as YOLO (You Only Look Once). Specifically, the image processing unit 10 generates a pre-trained image recognition model by training it with pre-prepared training data. The training data consists of data in which correct labels are assigned to each of the suspended load 100, surrounding objects 102, opening stopper 120, pinch prevention body 130, and worker 140 included in the captured image.

[0034] Subsequently, the image processing unit 10 outputs the detection result of the captured image to the first determination unit 11 and the third determination unit 13.

[0035] The first determination unit 11 determines whether or not the opening stopper 120 is installed within a preset range (first threshold) from the lifting target 101 detected by the image processing unit 10. The first determination unit 11 also determines whether or not the pinch prevention body 130 is installed within a preset range (second threshold) from the surrounding object 102. Hereinafter, the range used to determine the installation of the opening stopper 120 may be referred to as the first threshold, and the range used to determine the installation of the prevention body 130 may be referred to as the second threshold.

[0036] As described above, since the height and field of view of the imaging unit 3 are constant, the correlation between the distance (number of pixels) on the captured image and the distance on the ground surface (meters) can be easily determined. Therefore, the user of the monitoring device 2 will set this correlation in the initial settings. Next, the user of the monitoring device 2 inputs the first threshold and the second threshold in terms of the distance on the ground surface. The monitoring device 2 then refers to the correlation described above and converts the first and second thresholds, which the user input in terms of the distance on the ground surface, into distances on the captured image.

[0037] The first determination unit 11 receives the bounding boxes of the lifting target 101, surrounding objects 102, worker 140, pinch prevention body 130, and opening stopper 120, which are included in the captured image, as detection results from the image processing unit 10. The first determination unit 11 then makes a determination based on the center position of each bounding box.

[0038] Specifically, the first determination unit 11 calculates the distance between the center position of the bounding box representing the lifting target 101 and the center position of the bounding box representing the opening stopper 120. Here, the first determination unit 11 determines that the lifting operation is safe (safe operation) if the calculated distance is within the first threshold. On the other hand, if the calculated distance exceeds the first threshold, the first determination unit 11 determines that the lifting operation is unsafe because there is a defect in the installation of the opening stopper 120 (unsafe operation: defective opening stopper installation).

[0039] Furthermore, the first determination unit 11 calculates the distance between the center position of the bounding box representing the surrounding object 102 and the center position of the bounding box representing the pinch prevention body 130. If multiple surrounding objects 102 are detected from the captured image, the first determination unit 11 performs this determination for all surrounding objects 102.

[0040] Here, the first determination unit 11 determines that the lifting operation is safe (safe operation) if the calculated distance is within the second threshold. On the other hand, if the calculated distance exceeds the second threshold, the first determination unit 11 determines that the lifting operation is unsafe because the installation of the pinch prevention device 130 is inadequate (unsafe operation: inadequate installation of pinch prevention device). Subsequently, the first determination unit 11 outputs the determination result regarding the opening stopper 120 and the pinch prevention body 130 to the alarm unit 14.

[0041] The second determination unit 12 uses distance information input from the measurement unit 4 to determine whether the lifted object 101 has stopped at a preset height for a preset time or longer. The user of the monitoring device 2 presets the height and time to be used for the determination using arbitrary values. For example, consider the case where the object stops at a ground clearance of 30 cm, which is included in the 3-3-3 movement, and the determination is made based on a 3-second stop. In this case, the user of the monitoring device 2 should set the height to be used for the determination to 30 cm and the time to be used for the determination to 3 seconds.

[0042] Specifically, the second determination unit 12 determines whether the object to be lifted 101 has stopped at a predetermined height and whether the stopping time is longer than or equal to a predetermined time. Here, the second determination unit 12 determines that the lifting operation is safe (safe operation) if the lifting object 101 stops at a predetermined height and the stopping time is longer than the predetermined time. On the other hand, the second determination unit 12 determines that the lifting operation is unsafe if the lifting object 101 does not stop at a predetermined height, or if the stopping time is less than a predetermined time, because it violates the ground clearance rule (unsafe operation: ground clearance violation). Subsequently, the second determination unit 12 outputs the determination result regarding ground clearance to the alarm unit 14.

[0043] The third determination unit 13 determines whether or not a worker 140 is standing below the lifting target 101 detected by the image processing unit 10. The third determination unit 13 also determines whether or not a worker 140 is approaching a preset range (third threshold) from the lifting target 101. Hereinafter, the range used to determine whether a worker 140 is present may be referred to as the third threshold. This third threshold can be set in the same way as the first and second thresholds.

[0044] In this embodiment, the third determination unit 13 makes a determination based on the center position of each bounding box, similar to the first determination unit 11. Specifically, the third determination unit 13 determines whether the center position of the bounding box representing the worker 140 is outside the bounding box representing the lifting target 101.

[0045] Now, consider the case where the center position of the bounding box representing worker 140 is outside the bounding box representing the object to be lifted 101. In this case, the third determination unit 13 determines that the lifting operation is safe (safe operation). On the other hand, consider the case where the bounding box representing the lifting object 101 includes the center position of the bounding box representing the worker 140. In this case, the third determination unit 13 determines that the lifting operation is unsafe because the worker 140 is standing below the lifting object 101 (unsafe operation: violation of worker entry rule).

[0046] Furthermore, the third determination unit 13 calculates the distance between the center position of the bounding box representing the lifting target 101 and the center position of the bounding box representing the worker 140. Here, the third determination unit 13 determines that the lifting operation is safe (safe operation) if the calculated distance is within the third threshold. On the other hand, if the calculated distance exceeds the third threshold, the third determination unit 13 determines that the lifting operation is unsafe because the worker 140 has not evacuated from near the lifting target 101 (unsafe operation: violation of worker evacuation procedure). Subsequently, the third determination unit 13 outputs the determination result to the alarm unit 14.

[0047] The alarm unit 14 outputs an alarm for the lifting operation based on the judgment results of the first judgment unit 11, the second judgment unit 12, and the third judgment unit 13. For example, if any of the judgment results of the first judgment unit 11, the second judgment unit 12, and the third judgment unit 13 indicate unsafe work, the alarm unit 14 outputs an alarm for the lifting operation. For example, the alarm unit 14 commands the speaker 5 to output an alarm sound or a warning message. The alarm unit 14 also transmits the captured image and the violation details to the cloud server 9.

[0048] The violation details include the time when the work was determined to be unsafe and the nature of the unsafe work. The nature of the unsafe work refers to inadequate installation of opening stoppers, inadequate installation of pinch prevention devices, ground cutting violations, worker entry violations, or worker evacuation violations.

[0049] [Operation of the monitoring system] <Overall processing> Refer to Figures 7 to 12 to explain the operation of monitoring system 1. As shown in Figure 7, in step S1, the imaging unit 3 starts capturing images. In step S2, the imaging unit 3 performs image processing on the captured image so that the captured image has a predetermined resolution and size. In step S3, the measurement unit 4 starts measuring distance information.

[0050] In step S4, the monitoring device 2 starts communication with the cloud server 9. In step S5, the monitoring device 2 receives captured images from the imaging unit 3. The monitoring device 2 also receives distance information from the measurement unit 4.

[0051] In step S6, the image processing unit 10 detects the lifting target 101 from the captured image using a trained image recognition model. If the lifting target 101 can be detected from the captured image (Yes in step S6), the monitoring device 2 proceeds to the process in step S7. If the lifting target 101 cannot be detected from the captured image (No in step S6), the monitoring device 2 returns to the process in step S5.

[0052] In step S7, the image processing unit 10 calculates the difference between the distance from the crane 90 to the ground, which was measured in advance, and the distance indicated by the distance information entered in step S5, and calculates the height from the ground to the lifting object 101.

[0053] In step S8, the image processing unit 10 determines whether the lifting target 101 is being lifted based on whether its height is greater than or equal to a constant α. The constant α represents the height of the lifting target 101 when it is stationary and can be set to any value. If the height of the object to be lifted 101 is greater than or equal to the value α (Yes in step S8), the image processing unit 10 determines that the object to be lifted 101 is being lifted and proceeds to the lifting process S9. If the height of the object to be lifted 101 is less than the value α (No in step S8), the image processing unit 10 determines that the object to be lifted 101 is not being lifted and returns to the process in step S7.

[0054] <Handling during lifting> Refer to Figure 8 and explain the lifting process S9. As shown in Figure 8, the monitoring device 2 performs the following: opening stopper installation determination process S10, pinch prevention body installation determination process S11, 3-3-3 movement determination process S12, and worker entry determination process S13. Note that the determination processes in steps S10 to S13 can be executed in parallel, and the details will be described later.

[0055] In step S14, the alarm unit 14 determines whether any of the judgment results from steps S10 to S13 indicate unsafe work. If any of the judgment results from steps S10 to S13 indicate unsafe work (Yes in step S14), the alarm unit 14 proceeds to the process in step S15. If all of the judgment results from steps S10 to S13 are not unsafe work (No in step S14), the alarm unit 14 returns to the process in step S9.

[0056] In step S15, the alarm unit 14 determines whether a certain percentage (e.g., 50%) or more of the unsafe work in step S14 occurred during a predetermined interval (e.g., the most recent 0.6 seconds). If unsafe work occurs at predetermined intervals at a certain rate or higher (Yes in step S15), the alarm unit 14 proceeds to the process in step S16. If unsafe work does not occur at a certain rate or higher within a predetermined interval (No in step S15), the alarm unit 14 returns to the process in step S9.

[0057] In step S16, the alarm unit 14 outputs an alarm. For example, the alarm unit 14 commands the speaker 5 to output an alarm sound or a warning message. The alarm unit 14 may also turn on the rotating light.

[0058] In step S17, the alarm unit 14 transmits the captured image and violation details to the cloud server 9. The monitoring device 2 then returns to the process in step S9.

[0059] <Determination process for setting up the opening stopper> Referring to Figure 9, the opening stopper installation determination process S10 will be explained. As shown in Figure 9, in step S20, the first determination unit 11 determines whether or not the opening stopper 120 is installed within the range of the first threshold from the lifting target 101.

[0060] If the door stopper 120 is installed (Yes in step S20), the first determination unit 11 proceeds to the process in step S21. If the door stopper 120 is not installed (No in step S20), the first determination unit 11 proceeds to the process in step S22.

[0061] In step S21, the first determination unit 11 determines that it is a safe operation and terminates the opening stopper installation determination process S10. In step S22, the first determination unit 11 determines that the operation is unsafe: the door stopper is not properly installed, and terminates the door stopper installation determination process S10. .

[0062] <Pinch prevention device installation detection process> Referring to Figure 10, the pinch prevention device installation determination process S11 will be explained. As shown in Figure 10, in step S30, the first determination unit 11 determines whether or not the pinch prevention body 130 is installed within the range of the second threshold from the surrounding object 102.

[0063] If the pinch prevention body 130 is installed (Yes in step S30), the first determination unit 11 proceeds to the process in step S31. If the pinch prevention body 130 is not installed (No in step S30), the first determination unit 11 proceeds to the process in step S32.

[0064] In step S31, the first determination unit 11 determines that it is a safe operation and terminates the pinch prevention device installation determination process S11. In step S32, the first determination unit 11 determines that the work is unsafe: the pinch prevention device is not properly installed, and terminates the pinch prevention device installation determination process S11.

[0065] <3-3-3 motion detection processing> Referring to Figure 11, the 3-3-3 motion determination process S12 will be explained. As shown in Figure 11, in step S40, the second determination unit 12 uses the distance information input in step S5 to determine whether or not the lifting target 101 has come to a temporary stop at a predetermined height (for example, 30 cm) from the ground clearance position.

[0066] If the object to be lifted 101 comes to a complete stop (Yes in step S40), the second determination unit 12 proceeds to the process in step S42. If the object to be lifted 101 has not stopped (No in step S40), the second determination unit 12 proceeds to the process in step S41.

[0067] In step S41, the second determination unit 12 determines that the operation is unsafe: ground cutting is in violation, and terminates the 3-3-3 movement determination process S12.

[0068] In step S42, the second determination unit 12 determines whether the stopping time of the lifting target 101 is longer than a predetermined time (for example, 3 seconds).

[0069] If the stop time is longer than the predetermined time (Yes in step S42), the second determination unit 12 proceeds to the process in step S44. If the stopping time is less than the predetermined time (No in step S42), the second determination unit 12 proceeds to the process in step S43.

[0070] In step S43, the second determination unit 12 determines that the operation is unsafe: ground cutting is in violation, and terminates the 3-3-3 movement determination process S12.

[0071] In step S44, the third determination unit 13 determines whether or not the worker 140 is approaching within a third threshold range (for example, 3m) from the lifting target 101.

[0072] If worker 140 is not approaching the object to be lifted 101 (Yes in step S44), the third determination unit 13 proceeds to the process in step S45. If worker 140 is approaching the object to be lifted 101 (No in step S44), the third determination unit 13 proceeds to the process in step S46.

[0073] In step S45, the third determination unit 13 determines that it is a safe operation and terminates the 3-3-3 movement determination process S12. In step S46, the third determination unit 13 determines that there is an unsafe operation: violation of worker evacuation procedure, and terminates the 3-3-3 movement determination process S12.

[0074] <Worker entry detection process> Referring to Figure 12, the worker entry determination process S13 will be explained. As shown in Figure 12, in step S50, the third determination unit 13 determines whether or not a worker 140 is standing below the object to be lifted 101.

[0075] If no worker 140 is standing below the object to be lifted 101 (Yes in step S50), the third determination unit 13 proceeds to the process in step S51. If a worker 140 is standing below the object to be lifted 101 (No in step S50), the third determination unit 13 proceeds to the process in step S52.

[0076] In step S51, the third determination unit 13 determines that the work is safe and terminates the worker entry determination process S13. In step S52, the third determination unit 13 determines that the work is unsafe: worker entry is in violation, and terminates the worker entry determination process S13.

[0077] [effect] As described above, the monitoring system 1 according to this embodiment can monitor safety measures for lifting operations. Specifically, the monitoring system 1 can detect not only the entry of workers 140, but also the installation of the opening stopper 120 and the pinch prevention body 130, as well as the stopping of the lift at ground clearance. This improves the safety of lifting operations.

[0078] Furthermore, the monitoring system 1 saves images and violation details to the cloud server 9 when lifting operations are unsafe, enabling analysis of the circumstances under which violations occur and improving the safety of lifting operations.

[0079] Although embodiments have been described in detail above, the present invention is not limited to the embodiments described above, and includes design changes and the like that that do not depart from the spirit of the present invention. In the embodiments described above, the suspended load was assumed to be a segment, but the suspended load is not particularly limited.

[0080] In the embodiments described above, the determination was made based on the center position of the bounding box, but this is not limited to this. For example, the coordinates of the four corners of the bounding box (the sides of the rectangle) may be determined, and the determination may be made based on the distance from the sides of the bounding box.

[0081] In the embodiments described above, the monitoring device was described as an independent piece of hardware, but the present invention is not limited thereto. For example, the present invention can also be implemented using a program that causes hardware resources such as the CPU, memory, and hard disk of a computer to function as the monitoring device described above. This program may be distributed via a communication line, or it may be written to a recording medium such as a CD-ROM or flash memory and distributed. [Explanation of Symbols]

[0082] 1. Monitoring System 2 Monitoring device 3. Photography Department 4. Measurement Unit 5 speakers 9. Cloud Server 10 Image Processing Unit 11 1st Judgment Section 12 Second Judgment Section 13 Third Judgment Section 14 Alarm section 90 Cranes 91 Garter 92 saddle 93 Trolley 94 hooks 95 cabins 100 Suspended load 101 Lifting targets 102 Surrounding Objects 120 Opening stopper 130 Pinch prevention device 140 workers

Claims

1. A monitoring device that monitors whether the lifting operation of a suspended load is safe, using an image taken from above of the area around the suspended load being lifted by a crane and distance information representing the distance from the crane to the suspended load being lifted. An image processing unit detects the lifting target, surrounding objects located around the lifting target, a worker, an anti-pinch device, and an opening stopper from the aforementioned captured image, A first determination unit determines whether the opening stopper is installed within a preset range from the lifting target detected by the image processing unit, and whether the pinch prevention body is installed within a preset range from the surrounding objects. A second determination unit that uses the distance information to determine whether the lifted object is stopped at a predetermined height for a predetermined time or longer, A third determination unit that determines whether or not the worker is standing below the lifting target detected by the image processing unit, An alarm unit that outputs an alarm for the lifting operation based on the determination results of the first determination unit, the second determination unit, and the third determination unit, A monitoring device characterized by being equipped with the following features.

2. The monitoring device according to claim 1, characterized in that the image processing unit detects the lifting target, the surrounding objects, the worker, the pinch prevention body, and the opening stopper from the captured image using a trained image recognition model.

3. The image processing unit detects the lifting target, the surrounding objects, the worker, the pinch prevention body, and the opening stopper as bounding boxes, The monitoring device according to claim 1, characterized in that the first determination unit and the third determination unit perform determinations based on the center position of each bounding box.

4. The monitoring device according to claim 1, further characterized in that the third determination unit determines whether or not the worker is approaching within a preset range from the object to be lifted.

5. A program for causing a computer to function as a monitoring device according to any one of claims 1 to 4.

6. A monitoring system that monitors whether the lifting operation of a suspended load is safe, using an image taken from above of the area around the suspended load being lifted by a crane, and distance information representing the distance between the crane and the suspended load being lifted. A camera unit attached to the trolley of the crane, which captures the image, A measuring unit, which is attached to the trolley adjacent to the imaging unit and measures the distance information, An image processing unit detects the lifting target, surrounding objects located around the lifting target, a worker, an anti-pinch device, and an opening stopper from the aforementioned captured image, A first determination unit determines whether the opening stopper is installed within a preset range from the lifting target detected by the image processing unit, and whether the pinch prevention body is installed within a preset range from the surrounding objects. A second determination unit that uses the distance information to determine whether the lifted object is stopped at a predetermined height for a predetermined time or longer, A third determination unit that determines whether or not the worker is standing below the lifting target detected by the image processing unit, An alarm unit that outputs an alarm for the lifting operation based on the determination results of the first determination unit, the second determination unit, and the third determination unit, A monitoring system characterized by comprising the following features.

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