Lifting system and lifting method

Abstract

The present invention provides a lifting system and lifting method that can prevent dangerous situations from occurring when the cylinder extends or retracts. [Solution] The first control unit 82 extends the retracted cylinder 34 when the lower engaging portion 44 is engaged with the base portion 50 and the upper engaging portion 42 is not engaged with the base portion 50, then engages the upper engaging portion 42 with the base portion 50 and prevents the lower engaging portion 44 from engaging with the base portion 50, then retracts the extended cylinder 34, and then repeatedly engages the lower engaging portion 44 with the base portion 50 and prevents the upper engaging portion 42 from engaging with the base portion 50. In addition, a warning unit 88 is provided that warns the operator when predetermined conditions are met based on the imaging results from the first imaging unit 60, the third imaging unit 64, and the fourth imaging unit 66.

Description

Technical Field

[0001] The present disclosure relates to a lifting system and a lifting method.

Background Art

[0002] As a climbing mechanism used with a crane mounted thereon, one disclosed in, for example, Patent Document 1 is known. The climbing mechanism disclosed in Patent Document 1 and the like is configured to be able to move up and down along the outer surface of a tower.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the climbing mechanism disclosed in Patent Document 1 and the like, the position of the lock pin, the positions of the U-slot and the head pin, and the position of the side arm are each monitored by a camera, and an operator performs climbing work while viewing the video. However, in such climbing work, a dangerous state may still occur when the hydraulic cylinder is extended and retracted.

[0005] The present disclosure has been made in consideration of such points, and an object thereof is to provide a lifting system and a lifting method that can prevent a dangerous state from occurring when a cylinder extends and retracts.

Means for Solving the Problems

[0006] The lifting system of the present disclosure is A lifting system that lifts and lowers a lifting mechanism along a mast provided with a plurality of engaged portions arranged in a line along the longitudinal direction, The lifting mechanism is The aircraft and, A cylinder attached to the aforementioned aircraft and which extends and retracts along the longitudinal direction of the mast, A first engaging portion is provided near the first end of the cylinder and is selectively capable of engaging with the engaged portion, In the cylinder, a second engaging portion is provided near the second end on the opposite side of the first end in the longitudinal direction of the mast, and is selectively capable of engaging with the engaged portion, A first imaging unit for imaging the cylinder, A third imaging unit for imaging the first engagement portion, A fourth imaging unit for imaging the second engagement portion, It has, A control unit for controlling the cylinder, the first engaging portion, and the second engaging portion, wherein the control unit extends the cylinder, which is in a retracted state when the second engaging portion is engaged with the engaged portion and the first engaging portion is not engaged with the engaged portion, then engages the first engaging portion with the engaged portion and prevents the second engaging portion from engaging with the engaged portion, then retracts the cylinder, which is in an extended state, and then engages the second engaging portion with the engaged portion and prevents the first engaging portion from engaging with the engaged portion, and repeats this operation to raise and lower the lifting mechanism along the mast, The system is further characterized by including a warning unit that issues a warning to the operator when predetermined conditions are met, based on the imaging results from the first imaging unit, the third imaging unit, and the fourth imaging unit.

[0007] The lifting system of this disclosure is The system further includes an input unit for the operator to give commands to the control unit, The cylinder, the first engaging portion, and the second engaging portion may be controlled by the control unit based on commands input to the control unit by the input unit.

[0008] Furthermore, when the predetermined conditions are met, even if the input unit inputs a command to the control unit to extend or retract the cylinder, the control unit may perform control to restrict the movement of the cylinder.

[0009] The lifting system of this disclosure is The system may further include a determination unit that determines, based on at least one of the imaging results from the third imaging unit and the fourth imaging unit, whether the first engaging unit is engaged with the engaged unit and whether the second engaging unit is engaged with the engaged unit.

[0010] Furthermore, the control unit may determine whether the first engaging portion is engaged with the engaged portion and whether the second engaging portion is engaged with the engaged portion, respectively, based on the imaging results from at least one of the imaging results from the third imaging unit and the fourth imaging unit, as well as trained data generated by machine learning using information on whether the first engaging portion is engaged with the engaged portion or whether the second engaging portion is engaged with the engaged portion as training data.

[0011] The method of raising and lowering as disclosed herein is: A method for raising and lowering a lifting mechanism along a mast in which multiple engaging parts are arranged along the longitudinal direction, The aforementioned lifting mechanism is The aircraft and, A cylinder attached to the aforementioned aircraft and which extends and retracts along the longitudinal direction of the mast, A first engaging portion is provided near the first end of the cylinder and is selectively capable of engaging with the engaged portion, In the cylinder, a second engaging portion is provided near the second end on the opposite side of the first end in the longitudinal direction of the mast, and is selectively capable of engaging with the engaged portion, A first imaging unit for imaging the cylinder, A third imaging unit for imaging the first engagement portion, A fourth imaging unit for imaging the second engagement portion, has, when the second engaging portion is engaged with the engaged portion and the first engaging portion is not engaged with the engaged portion, the cylinder that is in a retracted state is extended, then the first engaging portion is engaged with the engaged portion while the second engaging portion is disengaged from the engaged portion, then the cylinder that is in an extended state is retracted, then by repeating the operation of engaging the second engaging portion with the engaged portion and disengaging the first engaging portion from the engaged portion, the elevating mechanism is moved up and down along the mast, A warning is issued to the operator when a predetermined condition is satisfied based on the imaging results from the first imaging unit, the third imaging unit, and the fourth imaging unit. [Advantageous Effects of Invention]

[0012] According to the elevating system and the elevating method of the present disclosure, it is possible to prevent a dangerous state from occurring when the cylinder extends and retracts. [Brief Description of Drawings]

[0013] [Figure 1] It is a side view schematically showing the configuration of the elevating system according to the embodiment of the present disclosure. [Figure 2] It is a side view showing the configuration of the mast in the elevating system shown in FIG. 1 and the elevating mechanism that moves up and down along the mast, and is a diagram showing the state when the cylinder of the elevating mechanism is retracted. [Figure 3] It is a side view showing the state when the cylinder of the elevating mechanism shown in FIG. 2 is extended. [Figure 4] It is a side view showing the configuration of the mast shown in FIG. 1 and the like. [Figure 5] It is a block diagram showing the functional configuration of the elevating system shown in FIG. 1 and the like. [Figure 6] It is a configuration diagram showing the configuration when the elevating mechanism shown in FIG. 2 and the like rises along the mast. [Figure 7]This diagram shows the configuration when the lifting mechanism shown in Figure 2, etc., rises along the mast, following the state shown in Figure 6. [Figure 8] This diagram shows the configuration when the lifting mechanism shown in Figure 2, etc., rises along the mast, following the state shown in Figure 7. [Figure 9] This diagram shows the configuration when the lifting mechanism shown in Figure 2, etc., rises along the mast, following the state shown in Figure 8. [Figure 10] This is a flowchart showing the operation of the lifting mechanism shown in Figure 2, etc., as it rises along the mast. [Modes for carrying out the invention]

[0014] Embodiments of this disclosure will be described below with reference to the drawings. Figures 1 to 10 are diagrams showing the lifting system 1 and the lifting mechanism 30 by the lifting system 1 according to this embodiment.

[0015] First, the overall configuration of the lifting system 1 will be explained using Figure 1. Figure 1 is a schematic side view showing the configuration of the lifting system 1 according to this embodiment. The lifting system 1 according to this embodiment is used as a so-called tower crane. A tower crane is a crane used to transport heavy objects to high places at construction sites and infrastructure construction projects, and due to its structure, it is one of the essential pieces of equipment for the construction of large buildings. The lifting system 1 used as a tower crane comprises a frame 10 fixed to the ground, a mast 20 attached to the top of the frame 10 and extending vertically, and a lifting mechanism 30 that performs lifting and lowering operations along the mast 20. In addition, an existing control panel 80 is installed as a control panel for controlling the operation of the lifting mechanism 30. Furthermore, a new control panel 90 can be installed separately from the existing control panel 80, which makes various decisions based on the imaging results of the imaging units 60, 62, 64, and 66, which will be described later.

[0016] The mast 20 is the main support member that supports the structure of the tower crane, and is commonly referred to as a post. The mast 20 is fixed to the top of the frame 10, and its height can be adjusted by sequentially connecting multiple mast members that extend vertically. The mast 20 generally has a hollow steel structure and has an appropriate cross-sectional shape (for example, a grid or box-shaped structure) to ensure strength and rigidity. The masts 20 are connected to each other using flanges and bolt connections, so that they can be easily extended or shortened according to the progress of the work. In addition, the mast 20 may be provided with rails or mast grooves to guide the movement of the lifting mechanism 30, which allows the lifting mechanism 30 to move vertically in a stable state.

[0017] As shown in Figure 4, the mast 20 is composed of a plurality of first rod-shaped members 22 extending vertically and a plurality of second rod-shaped members 24 extending horizontally, which are provided to span across each of the first rod-shaped members 22. The mast 20 is arranged in a grid pattern by these plurality of first rod-shaped members 22 and plurality of second rod-shaped members 24. The second rod-shaped members 24 are arranged at equal intervals in the vertical direction. A base portion 50 (engaged portion) is attached to the upper surface of each second rod-shaped member 24.

[0018] As shown in Figure 1, the lifting mechanism 30 comprises a machine body 32 and a lifting frame 33, and the lifting frame 33 is equipped with one or two cylinders 34. Note that only one cylinder 34 is shown in Figure 1. The cylinder 34 extends and retracts along the vertical direction, causing the lifting frame 33 to move up and down along the mast 20. The machine body 32 is attached to the top of the lifting frame 33. The machine body 32 has a slewing body that rotates relative to the lifting frame 33 and a boom extending from the slewing body. The slewing frame is equipped with a winch for lifting loads, allowing workers to move and lift loads by operating it. A detailed explanation of the configuration of the machine body 32 is omitted.

[0019] The details of the configuration of the lifting mechanism 30 will be explained using Figures 2 and 3. Figure 2 is a side view showing the configuration of the mast 20 and the lifting mechanism 30 that moves up and down along the mast 20 in the lifting system 1 shown in Figure 1, and shows the state when the cylinder 34 of the lifting mechanism 30 is retracted. Figure 3 is a side view showing the state when the cylinder 34 of the lifting mechanism 30 shown in Figure 2 is extended.

[0020] As shown in Figures 2 and 3, the lifting mechanism 30 has an upper lifting frame 36 and a lower lifting frame 38. The lower lifting frame 38 moves back and forth vertically relative to the upper lifting frame 36 by extending and retracting the cylinder 34. The upper lifting frame 36 is made up of a hollow cylindrical member, and a part of the lower lifting frame 38 is housed in the hollow portion of the upper lifting frame 36. The machine body 32 is attached to the upper surface of the upper lifting frame 36.

[0021] Furthermore, a manual engagement part 40 and an upper engagement part 42 are provided near the upper surface of the upper lifting frame 36. The manual engagement part 40 consists of a manual operating bolt and a manual locking pin. The manual operating bolt is manually moved horizontally and receives the load. The manual locking pin fixes the manual operating bolt in place so that it does not move. The upper engagement part 42 consists of an upper hydraulic bolt and a manual locking pin. The upper hydraulic bolt is moved horizontally by the first moving mechanism 46, which will be described later, and receives the load. The manual locking pin fixes the upper hydraulic bolt in place so that it does not move. The manual operating bolt of the manual engagement part 40 and the upper hydraulic bolt of the upper engagement part 42 are each movable horizontally between a first position that protrudes to the outside of the outer circumferential surface of the upper lifting frame 36 and a second position that is pushed inward from the first position to the upper lifting frame 36. The manual operation bolt of the manual engagement part 40 moves between the first and second positions manually by the operator. On the other hand, the upper hydraulic bolt of the upper engagement part 42 moves between the first and second positions automatically by the first movement mechanism 46 (see Figure 5). Furthermore, when a limit switch (not shown) is activated, the movement of the upper hydraulic bolt of the upper engagement part 42 automatically stops. The control of this first movement mechanism 46 is performed by the first control unit 82 of the existing control panel 80, which will be described later. Here, when the cylinder 34 moves up and down along the mast 20, and the manual operation bolt of the manual engagement part 40 and the upper hydraulic bolt of the upper engagement part 42 are both in the first position, the manual operation bolt of the manual engagement part 40 and the upper hydraulic bolt of the upper engagement part 42 do not come into contact with the mast 20 or the base part 50, nor do they come into contact with the mast 20 itself. On the other hand, when the manual lock of the manual engagement part 40 and the upper hydraulic lock of the upper engagement part 42 are pushed inward from the first position into the upper lifting frame 36 and move to the second position, the manual engagement part 40 and the upper engagement part 42 are placed on the base part 50 of the mast 20, respectively, and become capable of receiving loads.

[0022] Furthermore, a lower engagement portion 44 is provided near the lower surface of the lower lifting frame 38 of the cylinder 34. The lower engagement portion 44 consists of a lower hydraulic bolt and a manual locking pin. The lower hydraulic bolt moves horizontally and receives the load by a second movement mechanism 48, which will be described later. The manual locking pin fixes the lower hydraulic bolt in place so that it does not move. The lower hydraulic bolt of the lower engagement portion 44 is movable horizontally between a first position, which protrudes to the outside of the outer circumferential surface of the lower lifting frame 38, and a second position, which is pushed inward from the first position. This movement of the lower hydraulic bolt of the lower engagement portion 44 between the first and second positions is performed automatically by the second movement mechanism 48 (see Figure 5). The control of this second movement mechanism 48 is performed by the first control unit 82 of the existing control panel 80, which will be described later. Here, when the cylinder 34 moves up and down along the mast 20, if the lower hydraulic latch of the lower engaging portion 44 is in the first position, the lower hydraulic latch of the lower engaging portion 44 does not come into contact with the base portion 50 of the mast 20, nor does it come into contact with the mast 20 itself. On the other hand, when the lower hydraulic latch of the lower engaging portion 44 is pushed inward from the first position into the upper lifting frame 36 and moves to the second position, the lower engaging portion 44 is placed on the base portion 50 of the mast 20 and becomes capable of receiving loads.

[0023] In this embodiment, the state in which the manual engaging portion 40, the upper engaging portion 42, and the lower engaging portion 44 are placed on the base portion 50 is referred to as each of these engaging portions 40, 42, and 44 being engaged with the base portion 50 (the engaged portion). In other words, in this embodiment, the manual engaging portion 40, the upper engaging portion 42, and the lower engaging portion 44 are each selectively engageable with the base portion 50.

[0024] Furthermore, the lifting mechanism 30 is provided with a first imaging unit 60 for imaging the cylinder 34, a second imaging unit 62 for imaging the manual operation bolt of the manual engagement unit 40, a third imaging unit 64 for imaging the upper hydraulic bolt of the upper engagement unit 42, and a fourth imaging unit 66 for imaging the lower hydraulic bolt of the lower engagement unit 44. Note that the second imaging unit 62 for imaging the manual operation bolt of the manual engagement unit 40 may be omitted. The first imaging unit 60, the second imaging unit 62, the third imaging unit 64, and the fourth imaging unit 66 are each composed of surveillance cameras such as video cameras. The images themselves captured by the first imaging unit 60, the second imaging unit 62, the third imaging unit 64, and the fourth imaging unit 66, or information determined based on these images, are transmitted to the second control unit 92 of the newly installed control panel 90, which will be described later. Furthermore, although Figures 2 and 3 show the first imaging unit 60, second imaging unit 62, third imaging unit 64, and fourth imaging unit 66 in positions away from the lifting mechanism 30 for convenience, in reality the first imaging unit 60, second imaging unit 62, third imaging unit 64, and fourth imaging unit 66 are each attached to the lifting mechanism 30 and move up and down along the mast 20 in conjunction with the lifting mechanism 30.

[0025] As described above, the first imaging unit 60 is configured to image the cylinder 34. The first imaging unit 60 may also determine whether the cylinder 34 is extended or retracted, and this determination result may be transmitted from the first imaging unit 60 to the second control unit 92. Alternatively, the first imaging unit 60 may image the portion of the lower lifting frame 38 that protrudes downward from the upper lifting frame 36 instead of the cylinder 34 itself. In this case, the first imaging unit 60 may determine whether the cylinder 34 is extended or retracted based on the length of the lower lifting frame 38 that protrudes downward from the upper lifting frame 36, calculated from the captured image, and this determination result may be transmitted from the first imaging unit 60 to the second control unit 92.

[0026] The second imaging unit 62 is configured to image the manual operation bolt of the manual engagement unit 40. The second imaging unit 62 may also determine, based on the image captured, whether the manual operation bolt of the manual engagement unit 40 is in the first position or the second position, and transmit this determination result from the second imaging unit 62 to the second control unit 92. As mentioned above, the installation of the second imaging unit 62 may be omitted.

[0027] The third imaging unit 64 is configured to image the upper hydraulic bolt of the upper engagement portion 42. The third imaging unit 64 may also determine, based on the image it has captured, whether the upper hydraulic bolt of the upper engagement portion 42 is in the first position or the second position, and transmit this determination result from the third imaging unit 64 to the second control unit 92.

[0028] The fourth imaging unit 66 is configured to image the lower hydraulic bolt of the lower engagement portion 44. The fourth imaging unit 66 may also determine, based on the image it has captured, whether the lower hydraulic bolt of the lower engagement portion 44 is in the first position or the second position, and transmit this determination result from the fourth imaging unit 66 to the second control unit 92.

[0029] Next, the configurations of the existing control panel 80 and the new control panel 90 for controlling the safe and proper operation of the cylinder 34 in the lifting mechanism 30 will be explained with reference to Figure 5. As shown in Figure 5, the existing control panel 80 is equipped with a first control unit 82, an input unit 84, a display unit 87, and a warning unit 88. The new control panel 90 is equipped with a second control unit 92, an input unit 85, a display unit 89, and a judgment unit 86. The first control unit 82 and the second control unit 92 are connected to each other so that they can communicate with each other wirelessly or via a wired connection.

[0030] The first control unit 82 is the main computing device responsible for controlling the operation of the cylinder 34 and includes a central processing unit (CPU), etc. The first control unit 82 processes signals from the input unit 84, etc., and plays a role in appropriately controlling the operation of the cylinder 34. Specifically, the first control unit 82 controls the extension and retraction movement of the cylinder 34 by transmitting control signals to the cylinder 34, and controls the movement of the upper hydraulic bolt of the upper engagement part 42 and the lower hydraulic bolt of the lower engagement part 44 between the first and second positions by sending commands to the first movement mechanism 46 and the second movement mechanism 48.

[0031] The input unit 84 has multiple main switches and operation buttons for the operator to operate the cylinder 34. The main switches and operation buttons are used to transmit control signals such as raising / lowering instructions, stopping, and emergency stopping of the cylinder 34 to the first control unit 82.

[0032] The display unit 87 consists of, for example, a monitor or lamps, and displays images captured by the first imaging unit 60, second imaging unit 62, third imaging unit 64, and fourth imaging unit 66, as well as the judgment results determined by the first imaging unit 60, second imaging unit 62, third imaging unit 64, and fourth imaging unit 66, on the monitor or the like. In addition, when a warning is issued by the warning unit 88, which will be described later, a warning may be displayed on the monitor of the display unit 87 or a warning lamp may light up.

[0033] The warning unit 88 issues a warning to the operator when predetermined conditions for the operation of the cylinder 34 are met. Specifically, if the upper hydraulic bolt or the lower hydraulic bolt is not in the correct position, the warning unit 87 issues a warning to the operator using a monitor, lamp, or other means, or an audible warning. This allows the operator to quickly recognize the abnormality and perform the work safely. Details of these predetermined conditions will be described later.

[0034] The second control unit 92 includes a central processing unit (CPU), etc. The second control unit 92 processes signals from the first imaging unit 60, the second imaging unit 62, the third imaging unit 64, the fourth imaging unit 66, etc. Furthermore, information such as images captured by each imaging unit 60, 62, 64, and 66, and the judgment results from each imaging unit 60, 62, 64, and 66 are transmitted from the second control unit 92 of the newly installed control panel 90 to the first control unit 82 of the existing control panel 80.

[0035] The input unit 85 is used by the operator to input various commands to the second control unit 92.

[0036] The display unit 89 consists of, for example, a monitor or lamps, and displays images captured by the first imaging unit 60, second imaging unit 62, third imaging unit 64, and fourth imaging unit 66, as well as the judgment results determined by the first imaging unit 60, second imaging unit 62, third imaging unit 64, and fourth imaging unit 66, on the monitor or the like. In addition, when a warning is issued by the warning unit 88, which will be described later, a warning may be displayed on the monitor of the display unit 87 or a warning lamp may light up.

[0037] The judgment unit 86 performs a judgment process to ensure the safety of the lifting mechanism 30. Specifically, the judgment unit 86 monitors whether the upper hydraulic bolt of the upper engaging part 42 and the lower hydraulic bolt of the lower engaging part 44 are properly positioned on the base 50, based on the imaging results from at least one of the imaging results from the third imaging unit 64 and the fourth imaging unit 66. In this case, the judgment unit 86 may make a judgment using the images themselves that were captured by the third imaging unit 64 and the fourth imaging unit 66, respectively, or it may make a judgment based on the judgment results made by the third imaging unit 64 and the fourth imaging unit 66. The judgment unit 86 then detects the state of each bolt based on the images captured by the third imaging unit 64 and the fourth imaging unit 66, and only after confirming that all are in the correct position does the first control unit 82 allow the extension and retraction operation of the cylinder 34. This prevents the cylinder 34 from operating incorrectly when the upper hydraulic bolt of the upper engaging part 42 or the lower hydraulic bolt of the lower engaging part 44 is in an improper position.

[0038] As described above, the existing control panel 80 has a first control unit 82, an input unit 84, a display unit 87, and a warning unit 88 to safely and efficiently manage the operation of the cylinder 34. The new control panel 90 has a second control unit 92, an input unit 85, a display unit 89, and a judgment unit 86 to utilize information such as images captured by each imaging unit 60, 62, 64, and 66, and the judgment results from each imaging unit 60, 62, 64, and 66. By coordinating these functions with each other, the safety of the extension and retraction operation of the cylinder 34 can be improved. The control unit shown in the claims includes the first control unit 82 and the second control unit 92. Here, the functions of the control unit shown in the claims may be performed by only one of the first control unit 82 and the second control unit 92.

[0039] Figure 1 illustrates a configuration in which the existing control panel 80 is installed outside the lifting mechanism 30. On the other hand, the new control panel 90 is installed on the machine body 32. The new control panel 90 may also be installed outside the lifting mechanism 30.

[0040] Next, the operation of the lifting system 1, which has the above configuration, will be explained using Figures 6 to 10. Figures 6 to 9 are configuration diagrams showing the configuration when the lifting mechanism 30 shown in Figure 2 etc. rises along the mast 20, and Figure 10 is a flowchart showing the operation when the lifting mechanism 30 shown in Figure 2 etc. rises along the mast 20. Note that the operation described below is performed by the first control unit 82 of the existing control panel 80 transmitting control signals to each component of the lifting mechanism 30 to control the operation of each component.

[0041] To raise and lower the lifting mechanism 30 along the mast 20, the operator first turns on the main switch in the input section 84 of the existing control panel 80, and then presses the push button on the operation button in the input section 84. This activates the lifting mechanism 30.

[0042] In the initial state, the manual operation bolt of the manual engagement part 40, the upper hydraulic bolt of the upper engagement part 42, and the lower hydraulic bolt of the lower engagement part 44 are all in the second position. When raising the lifting mechanism 30 along the mast 20 from this state, the cylinder 34 is extended slightly, and the manual operation bolt of the manual engagement part 40 and the upper hydraulic bolt of the upper engagement part 42 are moved from the second position to the first position, thereby disengaging the manual operation bolt of the manual engagement part 40 and the upper hydraulic bolt of the upper engagement part 42 from the base part 50 (Step S1 in Figures 6 and 10).

[0043] Next, the cylinder 34 is extended significantly so that the lower lifting frame 38 protrudes outward from inside the upper lifting frame 36 (step S2 in Figure 10). As a result, the upper lifting frame 36 rises, as shown in Figure 7. At this time, the position of the lower lifting frame 38 does not change because the lower hydraulic bolt of the lower engaging part 44 is in the second position. Next, the upper hydraulic bolt of the upper engaging part 42 is moved from the first position to the second position, and then the cylinder 34 is slightly retracted to place the upper hydraulic bolt of the upper engaging part 42 on the base 50 (step S3 in Figure 10). Here, the base 50 on which the upper hydraulic bolt of the upper engaging part 42 is placed is located above the base 50 on which the upper hydraulic bolt of the upper engaging part 42 was placed in the initial state.

[0044] Next, after slightly retracting the cylinder 34, the lower hydraulic bolt of the lower engaging portion 44 is moved from the second position to the first position, thereby disengaging the lower hydraulic bolt of the lower engaging portion 44 from the base portion 50 (step S4 in Figures 8 and 10).

[0045] Next, the cylinder 34 is retracted significantly so that the lower lifting frame 38 is housed inside the upper lifting frame 36 (step S5 in Figure 10). As a result, as shown in Figure 9, the cylinder 34 is retracted and the lower lifting frame 38 rises. At this time, the position of the upper lifting frame 36 does not change because the upper hydraulic bolt of the upper engaging part 42 is placed on the base part 50 and the upper engaging part 42 is in the second position. Next, the lower hydraulic bolt of the lower engaging part 44 is moved from the first position to the second position, and then the cylinder 34 is extended slightly to place the lower hydraulic bolt of the lower engaging part 44 on the base part 50 (step S6 in Figure 10). Here, the base part 50 on which the lower hydraulic bolt of the lower engaging part 44 is placed is located above the base part 50 on which the lower hydraulic bolt of the lower engaging part 44 was placed in the initial state.

[0046] By performing steps S1 to S6 in Figure 10 once, the lifting mechanism 30 rises by the distance between each base portion 50 on the mast 20. If the lifting mechanism 30 has finished rising ("YES" in step S7 of Figure 10), the manual operation bolt of the manual engagement part 40 is moved from the second position to the first position, and after placing the manual engagement part 40 on the base portion 50, it is fixed with the manual lock pin. This prevents the manual engagement part 40 from coming off the base portion 50. In this way, the lifting operation of the lifting mechanism 30 along the mast 20 is completed. On the other hand, if the lifting mechanism 30 has not finished rising ("NO" in step S7 of Figure 10), the steps S1 to S6 in Figure 10 are repeated.

[0047] Furthermore, when the lifting mechanism 30 is lowered along the mast 20, the operation of lowering the lifting mechanism 30 is repeated by the distance between each base portion 50 on the mast 20, similar to the upward operation of the lifting mechanism 30 described above. Since this downward operation of the lifting mechanism 30 along the mast 20 is similar to the upward operation of the lifting mechanism 30 along the mast 20, a detailed explanation will be omitted.

[0048] Furthermore, in the lifting system 1 of this embodiment, while the operations of steps S1 to S7 in Figure 10 described above are being performed, the cylinder 34 is imaged by the first imaging unit 60, the manual engagement unit 40 is imaged by the second imaging unit 62, the upper engagement unit 42 is imaged by the third imaging unit 64, and the lower engagement unit 44 is imaged by the fourth imaging unit 66. As a result, the first control unit 82 detects the extension and retraction state of the cylinder 34, the position of the manual operation bolt of the manual engagement unit 40, the position of the upper hydraulic bolt of the upper engagement unit 42, and the position of the lower hydraulic bolt of the lower engagement unit 44, respectively. The images captured by the first imaging unit 60, the second imaging unit 62, the third imaging unit 64, and the fourth imaging unit 66, as well as the judgment results determined by the first imaging unit 60, the second imaging unit 62, the third imaging unit 64, and the fourth imaging unit 66, are displayed on a monitor or the like. Furthermore, the determination unit 86 determines whether the upper engagement portion 42 and the lower engagement portion 44 are in the appropriate positions, based on the position of the upper hydraulic bolt of the upper engagement portion 42 and the position of the lower hydraulic bolt of the lower engagement portion 44.

[0049] Here, the above determination by the determination unit 86 may be made using trained data generated by machine learning. More specifically, trained data is generated by performing machine learning, using at least one of the imaging results from the third imaging unit 64 and the fourth imaging unit 66, as well as information on whether the upper hydraulic bolt of the upper engagement part 42 or the lower hydraulic bolt of the lower engagement part 44 is placed on the base part 50, as training data, with images captured by the third imaging unit 64 or the fourth imaging unit 66 as input and the determination result of whether the lower hydraulic bolt of the upper engagement part 42 or the lower engagement part 44 is placed on the base part 50 as output. Based on this trained data, the determination unit 86 makes a determination from the images captured by the third imaging unit 64 or the fourth imaging unit 66 on whether the hydraulic bolt of the upper engagement part 42 or the lower engagement part 44 is placed on the base part 50.

[0050] The warning unit 88 issues a warning to the operator when predetermined conditions are met, based on the imaging results from the first imaging unit 60, the third imaging unit 64, and the fourth imaging unit 66. The predetermined conditions are as follows: (1) Based on the imaging results from the first imaging unit 60 and the third imaging unit 64, when the cylinder 34, which is in an extended state, is greatly retracted (step S5 in Figure 10), the determination unit 86 determines that the upper hydraulic bolt of the upper engagement portion 42 is not in the second position. (2) Based on the imaging results from the first imaging unit 60 and the fourth imaging unit 66, when the cylinder 34, which is in an extended state, is greatly retracted (step S5 in Figure 10), the determination unit 86 determines that the lower hydraulic bolt of the lower engagement portion 44 is not in the first position. (3) Based on the imaging results from the first imaging unit 60 and the third imaging unit 64, when the cylinder 34 is extended from its retracted state (step S2 in Figure 10), the determination unit 86 determines that the upper hydraulic bolt of the upper engagement portion 42 is not in the first position. (4) Based on the imaging results from the first imaging unit 60 and the third imaging unit 64, when the cylinder 34 is extended from its retracted state (step S2 in Figure 10), the determination unit 86 determines that the lower hydraulic bolt of the lower engagement portion 44 is not in the second position.

[0051] In the cases described in (1) to (4) above, if the cylinder 34 is extended or retracted significantly, the upper hydraulic bolt of the upper engaging portion 42 on the moving upper lifting frame 36 or the lower hydraulic bolt of the lower engaging portion 44 on the moving lower lifting frame 38 may collide with the second rod-shaped member 24 of the mast 20, etc., due to being in the second position, potentially causing accidents such as damage to the upper hydraulic bolt of the upper engaging portion 42 or the lower hydraulic bolt of the lower engaging portion 44. In particular, as shown in step S2 of Figure 10, when extending the cylinder 34 to raise the upper lifting frame 36, if the cylinder 34 is extended without moving the upper hydraulic bolt of the upper engaging portion 42 from the second position to the first position, the upper hydraulic bolt of the upper engaging portion 42 may collide with the second rod-shaped member 24 of the mast 20. Furthermore, as shown in step S5 of Figure 10, when retracting the cylinder 34 to raise the lower lifting frame 38, if the cylinder 34 is retracted without moving the lower hydraulic bolt of the lower engaging part 44 from the second position to the first position, the lower hydraulic bolt of the lower engaging part 44 may collide with the second rod-shaped member 24 of the mast 20. In response to this, the warning unit 88 can prevent such accidents by issuing a warning to the operator when predetermined conditions are met, based on the imaging results from the first imaging unit 60, the third imaging unit 64, and the fourth imaging unit 66.

[0052] Furthermore, in this embodiment, even if the input unit 84 inputs a command to extend or retract the cylinder 34 to the first control unit 82 when the predetermined conditions described above are met, the first control unit 82 controls the operation of the cylinder 34 to restrict its movement. This prevents the cylinder 34 from moving even if the operator tries to extend or retract the cylinder 34 using the input unit 84 when the upper hydraulic bolt of the upper engaging portion 42 or the lower hydraulic bolt of the lower engaging portion 44 is in an inappropriate position.

[0053] According to the lifting system 1 and lifting method of this embodiment, which have the above configuration, the lifting mechanism 30 includes a machine body 32, a cylinder 34 attached to the machine body 32 that extends and retracts along the longitudinal direction of the mast 20, an upper engaging portion 42 (first engaging portion) provided near the upper end (first end) of the cylinder 34 and selectively engaging with the base portion 50 (engaged portion), a lower engaging portion 44 (second engaging portion) provided near the lower end (second end) of the cylinder 34 on the opposite side of the upper end in the longitudinal direction of the mast 20 and selectively engaging with the base portion 50, a first imaging unit 60 for imaging the cylinder 34, a third imaging unit 64 for imaging the upper engaging portion 42, and a fourth imaging unit 66 for imaging the lower engaging portion 44. Furthermore, the first control unit 82 extends the retracted cylinder 34 when the lower engaging portion 44 is engaged with the base portion 50 and the upper engaging portion 42 is not engaged with the base portion 50, then engages the upper engaging portion 42 with the base portion 50 while preventing the lower engaging portion 44 from engaging with the base portion 50, then retracts the extended cylinder 34, then engages the lower engaging portion 44 with the base portion 50 while preventing the upper engaging portion 42 from engaging with the base portion 50, and repeats this operation to raise and lower the lifting mechanism 30 along the mast 20. In addition, a warning unit 88 is provided that warns the operator when predetermined conditions are met based on the imaging results from the first imaging unit 60, the third imaging unit 64, and the fourth imaging unit 66. With such a lifting system 1, it is possible to prevent the cylinder 34 from becoming dangerous when it extends or retracts. More specifically, it is possible to prevent the upper engaging portion 42 or the lower engaging portion 44 from colliding with the mast 20 and being damaged.

[0054] Conventionally, the engagement state of the upper engagement portion 42 with the base portion 50 and the engagement state of the lower engagement portion 44 with the base portion 50 were visually confirmed by the operator. However, this was prone to human error. Furthermore, since the need to engage the upper engagement portion 42 with the base portion 50 and the need to engage the lower engagement portion 44 with the base portion 50 changes depending on the extension and retraction state of the cylinder 34, even if the operator was checking the engagement state of the upper engagement portion 42 with the base portion 50 and the engagement state of the lower engagement portion 44 with the base portion 50, a misjudgment of the extension and retraction state of the cylinder 34 could cause the upper engagement portion 42 or the lower engagement portion 44 to collide with the mast 20 and be damaged. In contrast, in this embodiment, based on the imaging results from the first imaging unit 60, the third imaging unit 64, and the fourth imaging unit 66, the warning unit 88 issues a warning to the operator when predetermined conditions are met, thereby minimizing the possibility of such accidents and ensuring a higher level of safety.

[0055] Furthermore, in the lifting system 1 and lifting method of this embodiment, as described above, an input unit 84 is provided for the operator to give commands to the first control unit 82, and the cylinder 34, the upper engaging part 42 (first engaging part), and the lower engaging part 44 (second engaging part) are controlled by the first control unit 82 based on the commands input to the first control unit 82 by the input unit 84.

[0056] Furthermore, in the lifting system 1 and lifting method of this embodiment, as described above, even if the input unit 84 inputs a command to the first control unit 82 to extend or retract the cylinder 34 when the predetermined conditions described above are met, the first control unit 82 controls the movement of the cylinder 34 to restrict it. This prevents the cylinder 34 from moving even if the operator tries to extend or retract the cylinder 34 using the input unit 84 when the upper engaging portion 42 or the lower engaging portion 44 is in an inappropriate position.

[0057] Furthermore, in the lifting system 1 and lifting method of this embodiment, as described above, a determination unit 86 is provided that determines whether the upper engaging portion 42 (first engaging portion) is engaged with the base portion 50 (engaged portion) and whether the lower engaging portion 44 (second engaging portion) is engaged with the base portion 50, based on the imaging results of at least one of the imaging results from the third imaging unit 64 and the fourth imaging unit 66. In this case, the determination unit 86 can automatically determine whether the upper engaging portion 42 is engaged with the base portion 50 and whether the lower engaging portion 44 is engaged with the base portion 50.

[0058] Furthermore, in the lifting system 1 and lifting method of this embodiment, as described above, the first control unit 82 determines whether the upper engaging part 42 is engaged with the base portion 50 and whether the lower engaging part 44 is engaged with the base portion 50, based on trained data generated by machine learning, which uses at least one of the imaging results from the third imaging unit 64 and the fourth imaging unit 66, as well as information on whether the upper engaging part 42 (first engaging part) is engaged with the base portion 50 (engaged part), or whether the lower engaging part 44 (second engaging part) is engaged with the base portion 50, as training data. In this case, the accuracy of the determination by the determination unit 86 can be further improved by using trained data generated by machine learning. Also, when using trained data generated by machine learning, it becomes possible to determine whether the upper engaging part 42 is engaged with the base portion 50 and whether the lower engaging part 44 is engaged with the base portion 50, even if the installation positions of each imaging unit 60, 64, and 66 in the lifting mechanism 30 are at arbitrary positions.

[0059] Furthermore, the lifting system 1 and lifting method according to this embodiment are not limited to the above-described configuration, and various modifications can be made.

[0060] The above description describes a mast-climbing tower crane, but this embodiment is not limited to this configuration. Another configuration may be a floor-climbing tower crane. In a floor-climbing tower crane, a steel member called a bell support is used instead of a frame 10 fixed to the ground.

[0061] Furthermore, in the above example, the position of the lifting mechanism 30 relative to the mast 20 was described by placing the upper hydraulic bolt of the upper engaging portion 42 or the lower hydraulic bolt of the lower engaging portion 44 on the base portion 50 when the upper engaging portion 42 or the lower engaging portion 44 is in the second position. However, the means for fixing the position of the lifting mechanism 30 relative to the mast 20 are not limited to this method. If the mast 20 is provided with a plurality of engaged portions arranged along its longitudinal direction, and the lifting mechanism 30 is provided with a plurality of engaging portions that engage with each engaged portion, the position of the lifting mechanism 30 relative to the mast 20 may be fixed by an engagement method other than the engagement method described above.

[0062] Furthermore, the screen displayed on the monitor of the display unit 87 may be configured to allow switching between images captured by the first imaging unit 60, the second imaging unit 62, the third imaging unit 64, and the fourth imaging unit 66, or to enable multi-screen display, by using a dedicated application. By realizing such a highly user-friendly interface, the burden on the operator can be reduced and monitoring efficiency can be improved.

[0063] Furthermore, when the determination unit 86 determines whether the upper engaging portion 42 (first engaging portion) is engaged with the base portion 50 (engaged portion) and whether the lower engaging portion 44 (second engaging portion) is engaged with the base portion 50, it is not necessary to use pre-trained data generated by machine learning. [Explanation of Symbols]

[0064] 1. Lifting System 10 mounting bases 20 Mast 22 First rod-shaped member 24 Second rod-shaped member 30 Lifting mechanism 32 aircraft 33 Lifting Frame 34 cylinders 36 Upper lifting frame 38 Lower lifting frame 40 Manual engagement part 42 Upper engaging portion 44 Lower engagement part 46 1st movement mechanism 48 Second movement mechanism 50 Base 60 First Imaging Unit 62 Imaging Unit 2 64 Third Imaging Unit 66. Imaging Section 4 80 Existing control panel 82 First Control Unit 84 Input section 86 Judgment Department 87 Display section 88 Warning section 90 Newly installed control panel 92 Second Control Unit

Claims

1. A lifting system for raising and lowering a lifting mechanism along a mast, in which multiple engaging parts are arranged along the longitudinal direction, The aforementioned lifting mechanism is The aircraft and, A cylinder attached to the aforementioned aircraft and which extends and retracts along the longitudinal direction of the mast, A first engaging portion is provided near the first end of the cylinder and is capable of selectively engaging with the engaged portion, In the cylinder, a second engaging portion is provided near the second end on the opposite side of the first end in the longitudinal direction of the mast, and is selectively capable of engaging with the engaged portion, A first imaging unit for imaging the cylinder, A third imaging unit for imaging the first engagement portion, A fourth imaging unit for imaging the second engagement portion, It has, A control unit for controlling the cylinder, the first engaging portion, and the second engaging portion, wherein the control unit extends the cylinder, which is in a retracted state when the second engaging portion is engaged with the engaged portion and the first engaging portion is not engaged with the engaged portion, then engages the first engaging portion with the engaged portion and prevents the second engaging portion from engaging with the engaged portion, then retracts the cylinder, which is in an extended state, then engages the second engaging portion with the engaged portion and prevents the first engaging portion from engaging with the engaged portion, and repeats this operation to raise and lower the lifting mechanism along the mast, A lifting system further comprising a warning unit that issues a warning to the operator when predetermined conditions are met, based on the imaging results from the first imaging unit, the third imaging unit, and the fourth imaging unit.

2. The system further includes an input unit for the operator to give commands to the control unit, The lifting system according to claim 1, wherein the cylinder, the first engaging portion, and the second engaging portion are controlled by the control unit based on a command input to the control unit by the input unit.

3. The lifting system according to claim 2, wherein when the predetermined conditions are met, the input unit inputs a command to the control unit to extend or retract the cylinder, and the control unit controls the movement of the cylinder to restrict it.

4. The lifting system according to claim 1, further comprising a determination unit that determines whether the first engaging portion is engaged with the engaged portion and whether the second engaging portion is engaged with the engaged portion, based on the imaging results of at least one of the imaging results from the third imaging unit and the fourth imaging unit.

5. The lifting system according to claim 4, wherein the control unit determines whether the first engaging portion is engaged with the engaged portion and whether the second engaging portion is engaged with the engaged portion, based on the imaging results from at least one of the imaging results from the third imaging unit and the fourth imaging unit, and trained data generated by machine learning using information on whether the first engaging portion is engaged with the engaged portion or whether the second engaging portion is engaged with the engaged portion as training data.

6. A method for raising and lowering a lifting mechanism along a mast in which multiple engaging parts are arranged along the longitudinal direction, The aforementioned lifting mechanism is The aircraft and, A cylinder attached to the aforementioned aircraft and which extends and retracts along the longitudinal direction of the mast, A first engaging portion is provided near the first end of the cylinder and is capable of selectively engaging with the engaged portion, In the cylinder, a second engaging portion is provided near the second end on the opposite side of the first end in the longitudinal direction of the mast, and is selectively capable of engaging with the engaged portion, A first imaging unit for imaging the cylinder, A third imaging unit for imaging the first engagement portion, A fourth imaging unit for imaging the second engagement portion, It has, The lifting mechanism is raised and lowered along the mast by repeating the following actions: when the second engaging portion is engaged with the engaged portion and the first engaging portion is not engaged with the engaged portion, extend the retracted cylinder; then engage the first engaging portion with the engaged portion while preventing the second engaging portion from engaging with the engaged portion; then retract the extended cylinder; and then engage the second engaging portion with the engaged portion while preventing the first engaging portion from engaging with the engaged portion. A lifting and lowering method that issues a warning to an operator when predetermined conditions are met, based on the imaging results from the first imaging unit, the third imaging unit, and the fourth imaging unit.

Images