Device for detecting the swing angle and height of a crane's hoisting gear

Abstract

To provide a suspension tool swing angle and suspension tool height detection device for a crane capable of facilitating maintenance of a camera without hindering the visual field of the camera while preventing the interference of a wire rope of the crane with the camera.SOLUTION: A camera CM for performing successive photographing toward a vertical lower side is installed on a side lower surface of a suspension position of a wire rope WR on a crane. A plurality of markers MK are arranged with regularity on a top surface of a suspension tool HK suspended by the wire rope WR. The swing angle and height of the suspension tool HK are detected by measuring a distance L1 between the plurality of markers reflected on a video, which is projected by the camera CM.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a device for detecting the swing angle and height of a hoisting device used in applications such as a detection device for anti-sway control of a crane, a safety device for preventing collisions or pinching of a suspended load, and a confirmation device for automatic control. [Background technology]

[0002] Devices that detect the swing angle and height of a crane's hoisting equipment generally use a method that mechanically detects the swing angle of the wire rope, or a method that detects the hook's inclination angle and acceleration and transmits these values ​​as a signal to the crane via a power supply device.

[0003] However, among the mechanisms used in these devices, the mechanical parts and power supply device parts require maintenance due to wear and tear, so there is a demand for a method of optically detecting these parts without contact. For example, the devices disclosed in Patent Documents 1 to 4 introduce a method of detecting the swing angle of the hoisting device by viewing a marker on the top of the hoisting device with a camera from above the crane. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 60-2590 [Patent Document 2] JP 2000-255975 A [Patent Document 3] JP 2001-10778 A [Patent Document 4] JP 2004-18196 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, in the method of detecting the swing angle and height of a hoisting device by installing a camera on a crane and continuously photographing a marker attached to the hoisting device, there are problems such as the risk of the crane's wire rope interfering with the camera or obstructing the camera's view, as well as the problem that camera maintenance is difficult.

[0006] In consideration of the problems associated with the above-mentioned conventional devices for detecting the sway angle and height of a crane's hoisting gear, a first object of the present invention is to provide a device for detecting the sway angle and height of a crane's hoisting gear, in which the crane's wire rope does not interfere with the camera or obstruct the camera's view, and which allows for easy camera maintenance.

[0007] A second object of the present invention is to provide a device for detecting the sway angle and height of a crane's hoisting gear, which solves the above-mentioned first object and is capable of accurately detecting the sway angle and height of the crane's hoisting gear. [Means for solving the problem]

[0008] In order to solve the first problem above, the device for detecting the sway angle and height of a crane hoisting device of the present invention is characterized in that a camera that continuously takes images vertically downward is installed on the underside of the side of the hanging position of the wire rope on the crane, and multiple markers are arranged with a regular pattern on the top surface or upper side surface of the hoisting device suspended by the wire rope, and the sway angle and height of the hoisting device are detected by measuring the distance between the multiple markers projected in the image projected by the camera. In this camera installation location, the position of the sling hanging vertically from the wire rope is captured diagonally downward from the camera, and moves diagonally across the screen as the sling is wound up and down. Therefore, the line of movement is stored as reference data, and the swing angle and height of the hoisting device are measured based on the difference from that reference data, making it possible to measure the swing angle and height of the hoisting device when the camera is in an obliquely shifted position.

[0009] In this case, an inspection door can be provided on the landing part of the inspection scaffolding of the side club, away from the wire rope paid out from the wire drum of the crane, and a camera can be installed underneath it facing downward. The wire rope of the crane does not interfere with the camera or obstruct the camera's view, and camera maintenance can be easily performed.

[0010] In addition, in order to solve the second problem described above, the crane hoisting gear sway angle and hoisting gear height detection device of the present invention is characterized in that, when an image is taken downward from a camera installed on a crane and an object other than a marker having a similar shape to one of a plurality of markers arranged with a regularity on the hoisting gear appears in the captured image, it has the function of determining that only an object whose shape connecting the center points of all captured images similar to those markers is close to the shape connecting the center points of the markers arranged with a regularity on the hoisting gear is a marker attached with a regularity to the hoisting gear.

[0011] In addition, by connecting the vertices of a polygonal shape formed by the center points of multiple markers attached to a hanging device that is located diagonally from the center point of the camera's captured image, between the image data of the polygonal shape at the highest position when the hanging device is hung vertically and the image data of the polygonal shape at the lowest position, it is possible to provide a function for creating reference data for the shape and dimensions of the marker when the hanging device is in a vertical position at any height.

[0012] In addition, the angle of swing of the sling from the vertical state can be detected from the degree to which the polygonal shape formed by the center points of multiple markers attached to the sling has deformed from the shape of the reference data polygonal shape when the sling is in the vertical direction at the current time of measurement.

[0013] In addition, the position of the polygonal shape formed by the center points of multiple markers attached to the sling can be compared with the position of the reference data for the polygonal shape when the sling is in the vertical direction to determine the direction in which the sling is swinging.

[0014] In addition, when some of the multiple markers attached to the sling fall into a blind spot of a wire rope or the like and become invisible, the swing angle and height of the sling can be continuously calculated by drawing virtual markers for the markers that are no longer visible next to the markers that are still visible.

[0015] In addition, two cameras can be installed on the club, and normally one camera is used to photograph the marker attached to the sling and calculate the swing angle and height of the sling. When the marker attached to the sling disappears from the field of view of the one camera normally used, the camera is switched to the other sub-camera, and the data is switched to the image from that sub-camera and detection processing data for the field of view seen by the sub-camera, so that the swing angle and height of the sling can be continuously calculated. Effect of the Invention

[0016] According to the crane hoisting gear sway angle and hoisting gear height detection device of the present invention, the crane wire rope does not interfere with the camera or obstruct the camera's view, camera maintenance can be performed easily, and the sway angle and height of the crane's hoisting gear can be accurately detected. This allows the development of detection devices for anti-sway control of cranes, safety devices to prevent collisions with suspended loads, pinching, etc. This makes it easier to equip cranes with devices that detect the swing angle and height of hoists, which are used in applications such as equipment and automatic control confirmation devices, thereby improving the safety and operability of the cranes. [Brief description of the drawings]

[0017] [Figure 1] 1A and 1B are explanatory diagrams of a crane equipped with a detection device for detecting the sway angle and height of a hoisting gear of a crane according to the present invention, in which (a) is a plan view and (b) is a front view. [Diagram 2] FIG. 1 is an explanatory diagram of a large crane equipped with a detection device for the sway angle and height of a hoisting tool of a crane according to the present invention. [Diagram 3]A view of the marker on the sling from the camera on the club. [Figure 4] This is a view of the marker attached to the hoisting device of a large crane as seen from a camera on the club. [Diagram 5] This is a camera view of the marker when the sling is raised and lowered in a vertical position. [Figure 6] FIG. 13 is an explanatory diagram of a combination arrangement of markers. [Figure 7] FIG. 13 is an explanatory diagram of the change in shape of the marker that appears in the captured image when the sling swings. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0018] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of the detection device for the sway angle and height of a hoisting tool of a crane according to the present invention will be described based on examples with reference to the drawings.

[0019] FIG. 1 shows one embodiment of a crane equipped with a device for detecting the sway angle and height of a hoisting gear of a crane according to the present invention. Motors IM and reducers GR for the hoisting and traverse devices are arranged on the club CB, and two wire ropes WR are wound down from the wire drum DR and hung on one sheave SH on the club CB via two sheaves attached to a hoisting device HK such as a hook block, creating a so-called standard four-rod club CB. The club CB moves in the traverse direction Y along the crane girder CG, which moves in the traveling direction X along the runway girder of the building, and when the wire drum DR is rotated, the hoisting device HK moves in the hoisting direction (lowering direction) Z, forming a standard overhead traveling crane that operates on three axes.

[0020] When this overhead traveling crane operates in the traveling direction X or lateral direction Y, the hoisting tool HK suspended by the wire rope WR swings in the direction in which the hoisting tool HK moves in the traveling direction X or lateral direction Y with a pendulum length period of the hanging length of the wire rope WR. In order to reduce work-related accidents and positioning errors caused by this load swing, there was a demand for a device that could easily detect the swing angle and pendulum length to detect the swing angle and pendulum length and suppress the load swing or prevent work-related accidents.

[0021] The crane's hoisting gear sway angle and hoisting gear height detection device of the present invention is a non-contact detection device that has a camera CM attached facing vertically downward from above the club CB, a marker MK attached to the top surface of the hoisting gear, and detects the hoisting gear sway angle and hoisting gear height based on the state of the marker MK projected onto the image captured by the camera CM.

[0022] In this case, it is desirable to install the camera CM on the vertical line of the marker MK in terms of tracking the marker MK, but the vertical line of the hoisting gear HK is surrounded by wire rope WR, and when the hoisting gear HK swings, the wire rope WR interferes with the camera CM, which creates a risk of damaging the camera CM. In addition, at this location, there is a direct acting overwinding prevention device that activates the weight limit switch LS by lifting the weight WG when the hoisting gear HK is wound up to the upper limit position, making it difficult to install the camera CM. Furthermore, this location causes lubricating oil filled in the wire rope WR to scatter, so if the camera CM is installed at this location, the scattered oil will adhere to the lens of the camera CM, and frequent maintenance of the camera CM will be required, but there is a large wire drum DR above the camera CM. Because of this, the camera cannot be reached from the club's central backfield, meaning that maintenance scaffolding has to be frequently erected. For this reason, the crane's hoisting gear sway angle and hoisting gear height detection device of the present invention, as shown in Figure 1(b), is provided with an inspection door HC on the landing part of the inspection scaffolding of the club CB on the side away from the wire rope WR unwound from the wire drum DR, and a camera CM is installed below it facing downwards, thereby avoiding interference with the wire rope WR and making maintenance easy.

[0023] Figure 2 shows a large overhead traveling crane with a large number of wire ropes WR. For overhead traveling cranes with many hangings, if the weight WG is passed through the wire rope WR in a direct acting overwinding prevention device, problems such as the weight WG interfering with or becoming entangled with the adjacent wire rope WR occur, so the weight bar WL method is often used. In this case, since the weight bar WL straddles the top of the hoisting device HK at the upper limit position, if the camera CM is attached to the underside of the club CB on the vertical line of the hoisting device, the weight bar WL will significantly obstruct the view of the camera CM, making it impossible to see the top of the hoisting device HK at all. Therefore, the camera CM is installed at a position away from the side of the wire drum DR, as with the crane in Figure 1.

[0024] As shown in Figures 1 and 2, when the camera CM is mounted to the side away from the wire drum DR, the image seen from the camera CM will be the image shown in Figure 3 in the case of Figure 1, and the image shown in Figure 4 in the case of Figure 2, and in either case the hoisting device HK and marker MK will be displayed at a position diagonally offset from the camera installation point CP. For the crane with the structure shown in FIG. 1, as shown in FIG. 3, a marker MK is attached to the edge of the upper surface of the hoisting tool HK, avoiding the portion where the weight WG hits the upper surface of the hoisting tool HK. In addition, in the case of a small hoisting device HK as shown in Figure 3, if a marker MK is attached to the outside of the wire rope WR, as in the crane with the structure in Figure 2 below, the marker MK will get in the way when handling the hoisting device HK and the weight balance of the hoisting device HK will be poor, so it is preferable to attach it to the inside of the wire rope WR. As shown in Figure 4, for the crane with the structure in Figure 2, the weight bar WL contacts somewhere on the entire surface of the inside of the wire rope WR on the top surface of the hoisting device HK, so the marker MK is attached to the outside of the wire rope WR, and a balance load BW for weight balance is attached to its diagonal surface.

[0025] In order to detect the swing angle and height of the hoisting device HK using the marker MK on the hoisting device HK, which is visible from the camera CM on the crane, a reference point must be determined, and reference data for the reference point is created and recorded based on the video data showing the hoisting device HK at a certain reference height vertically. In this case, if the camera CM is installed above the vertical line of the marker MK, the marker MK will be displayed in the center of the image of the camera CM regardless of what height the hoisting device HK is at on the vertical line, making it a relatively simple system. However, in this embodiment, the camera CM is attached to the side away from the wire drum DR where it can actually be installed, so the marker MK is viewed from an angle, as shown in Figure 3 or Figure 4, and the position at which the marker MK is displayed moves as the hoisting device HK is wound up and down.

[0026] As shown in Figure 3 or Figure 4, when the hoisting device HK is moved vertically in the field of view where the camera CM views the marker MK diagonally, the image of the marker MK captured by the camera CM moves diagonally from the highest hoisting device vertical position ZP1, through the intermediate height hoisting device vertical position ZP2, to the lowest hoisting device vertical position ZP3, as shown in Figure 5, and the position, size, and apparent shape change linearly. Therefore, when the sling HK moves vertically, the polygon shape connecting the center points of the multiple markers MK at each height changes in size and shape diagonally, which is called the polygon shape. A line of change in the vertices is connected and stored as the initial reference data for the vertical position of the sling HK. When the sling HK is at any height, the line of change in the vertices of the polygonal shape is generated as reference data for the polygonal shape at the vertical position of the marker MK at that height, making it possible to detect the swing angle and height of the sling HK. Furthermore, since the line connecting the highest hoisting fixture vertical position ZP1 and the lowest hoisting fixture vertical position ZP3 does not change linearly due to distortion of the image captured by the camera CM, it is desirable to store the hoisting fixture vertical position ZP2 at an intermediate height position at multiple height points. In this way, the state of the marker MK viewed diagonally from the camera CM when the sling HK moves vertically is used as reference data, and by observing the difference from that reference data, it is possible to detect the swing angle and height of the sling HK in the field of view of the camera CM from a diagonal direction, making it possible to install the camera in a location on the club CB that is easy to set up.

[0027] Incidentally, in the device for detecting the sway angle and height of a crane according to the present invention, the markers MK attached to the hoisting tool HK are characterized in that a plurality of markers MK are regularly arranged, as shown in Fig. 6. In this embodiment, three circular markers MK are regularly arranged with an equal distance between the markers L1, and the three circular markers MK are regularly arranged so that when the center points of the three circular markers MK are connected, they form an equilateral triangle with the length of one side being the distance between the markers L1. In the crane's sway angle and sway height detection device of the present invention, the distance and angle between the camera CM and the marker MK is calculated by measuring the inter-marker distance L1 on each side of a polygonal shape connecting the center points of each of the multiple markers MK displayed in the image captured by the camera CM, and thereby the sway angle and height of ...

[0028] Here, if one tries to determine the distance between the camera CM and the marker based on the size of a single marker MK, there is a position where the focus of the camera CM shifts when the hoisting device HK moves in the hoisting direction (lowering direction) Z, and the shift in focus causes the outline of the marker MK to become blurred, resulting in an error because the size of the marker MK is detected as being larger than it actually is. Incidentally, even if the focus of the camera CM shifts and the outline of the marker MK becomes blurred, the center point of the marker MK determined from the image does not shift. Therefore, as shown in Figure 5, by measuring the distance L1 between the markers, the height of the suspension device, which is the distance between the camera CM and the marker MK, can be measured without being affected by the focus shift of the camera CM.

[0029] In addition, in factories and warehouses where overhead cranes are used, there are many circular and rectangular objects scattered among the equipment, products, and scraps under the cranes. When taking a picture from the camera CM above the club CB, the marker MK and objects of a similar shape are also captured in the picture. In this embodiment, all center points of circular objects shown in the image are picked up, and the three points among those points that are most closely arranged to form an equilateral triangle are recognized as the center points of the marker MK of the hanging device HK, thereby excluding other objects with similar shapes.By arranging multiple groups of markers MK in a regular pattern, it is possible to correctly capture only the marker MK.

[0030] However, if the hoisting gear HK swings significantly from the state shown in Figures 3 and 4, or if the hoisting gear HK rotates and twists, the marker MK will get in the shadow of the wire rope WR and will be lost. If there is only one marker MK, the device will stop functioning if one marker MK is lost, but in the device for detecting the hoisting gear sway angle and hoisting gear height of a crane of the present invention, multiple markers MK are regularly arranged, so that even if some markers MK are lost, it is possible to track other markers MK that remain visible and are regularly combined with the lost marker MK, and a virtual marker can be drawn on the computer next to the marker MK being tracked by using information such as the arrangement rule, the shape of the lost marker MK before it disappeared, and the movement speed value of the marker MK, so that even if some markers MK are lost, the hoisting gear swing angle and height can be continuously detected. I try to do so.

[0031] Using FIG. 7, the manner in which the marker MK on the sling HK is seen depending on the relative position angle between the camera CM fixed to the club CB and the sling HK will be described. When the markers MK attached to the sling HK are viewed from directly below with the camera at the vertical position NP, the shape enclosed by the lines connecting the three center points of the three markers MK appears to be an equilateral triangle. At this time, if the hoist HK moves in the forward direction +X or reverse direction -X of the travel direction X, or in the forward direction +Y or reverse direction -Y of the lateral direction Y, or in a combined state of the travel direction X and the lateral direction Y, the shape drawn by the center point of the marker MK, which was an equilateral triangle, is projected as a deformed triangle in the camera image. The angle from the camera can be detected by the degree of deformation of this triangle.

[0032] Incidentally, the vertical position ZP of the sling HK, where the sling HK is suspended vertically from the fulcrum of the wire rope WR of the club CB, is in a position that is diagonally shifted from the vertical position NP of the camera, and the triangle formed by the center point of the marker MK has already been deformed due to the oblique view. Therefore, a triangle for the position of the hoisting device vertical position ZP is generated from the initial reference data, and the inclination of the hoisting device HK is calculated based on the degree of deformation from the triangle of the reference data. Here, as described above, the triangle at the hoist vertical position ZP is deformed depending on the height of the hoist, as shown in Fig. 5. Therefore, the swing angle is detected based on the degree of deformation from the triangle generated from the reference data at that height. The angle can be detected from the position of the marker MK in the image projected by the camera CM, but because the image captured by the camera contains lens distortion, it is possible to detect the shake angle more accurately by detecting the degree of deformation of the triangle formed by the center point of the marker MK.

[0033] Here, the height of the hoisting device HK is detected by the length of one side of the triangle formed by the center point of the marker MK. However, since the triangle is deformed when viewed at an angle, the triangle is corrected to an equilateral triangle and then the distance of one side is detected, thereby making it possible to detect the distance between the camera CM and the marker MK and thus the height of the hoisting device HK.

[0034] As shown in Figure 7, the triangle drawn by the marker MK changes shape when the viewing angle is applied, and the same triangle also appears on the diagonal opposite that angle. In other words, the angle is calculated from the degree of deformation of the triangle, and the direction in which the sling is moving is determined by the area on the screen where the marker MK appears in the camera image.

[0035] Here, a sub-camera CS can be installed in addition to the camera CM to reduce the risk of the marker MK getting lost in the shadow of the wire rope WR, or the system can be made redundant to improve system reliability. In this case, the swing angle and height of the sling are normally detected only by the main camera CM, but if the marker MK disappears or an abnormality is detected in the main camera, the camera switches to the sub-camera. At this time, since the viewing angle of the marker MK as seen from the main camera CM and the sub-camera CS is different, the reference data of the marker MK at the hoisting device vertical position ZP in Figure 5 is different between the main camera CM and the sub-camera CS, and the way the marker MK is reflected due to the swing angle is also different between the main camera CM and the sub-camera CS, so it is necessary to have individual data for each. Normally, the swing angle and height of the sling HK are detected using only the main camera CM as a system, and if the main camera CM loses the marker MK or a malfunction occurs, the image and detection processing data from the main camera CM can be switched to the image and detection processing data from the sub-camera CS to continue detection.

[0036] Here, the shape of the markers MK is not limited to a circle, but may be a square or a star, and the multiple markers are not limited to being arranged such that the shape drawn by the center points of the markers MK forms an equilateral triangle (two markers can only draw a line and not a surface, and four or more markers form a regular polygon, so the distance between adjacent points and diagonal points will be different, so it can be said that the most desirable arrangement and number of markers is an equilateral triangle in which the center point distance of all markers MK is the same value).As long as the multiple markers MK are arranged with some regularity, there are no limitations on the number or arrangement method.

[0037] In addition, in this embodiment, the hoisting device HK is described assuming a hook block that is typically used in cranes, but the shape of the hoisting device HK is not limited to that, and may be one having a gripping mechanism or one having an suction mechanism.

[0038] The above describes the detection device for the sway angle and hoisting height of a crane based on an embodiment of the present invention. However, the present invention is not limited to the configuration described in the above embodiment, and the configuration can be modified as appropriate without departing from the spirit of the present invention. [Industrial Applicability]

[0039] The crane hoisting gear sway angle and hoisting gear height detection device of the present invention does not allow the crane wire rope to interfere with the camera or obstruct the camera's view, allows easy camera maintenance, and can accurately detect the crane's sway angle and height. Therefore, the device can be widely used as a detection device for anti-sway control of a crane, a safety device to prevent collisions or pinching of a suspended load, and an automatic control confirmation device, etc., to detect the sway angle and height of a hoisting gear. In particular, the camera can be installed anywhere on the club plane, and by using multiple markers, it is possible to distinguish between the markers and other items of similar shape, eliminating problems such as errors due to marker focus deviation and losing sight of the marker, and further improving the accuracy of angle detection by the deformation of the shape drawn by the center point of the marker, making it useful for industrial use. [Explanation of symbols]

[0040] Commercial Camera CS Sub Camera MK Marker CB Club HK hanging equipment WR Wire Rope LS weight limit switch WG weight WL weight bar SH Sheaves CG crane girder HC Inspection Door IM motor GR reducer DR Wire Drum BW Balance load CP camera installation point L1 Marker Distance NP camera vertical position ZP Vertical position of the hoist ZP1 Highest vertical position of the hoist ZP2 Vertical position of the lifting fixture at mid-height position ZP3 Lowest vertical position of the hoist X Traveling direction Y traverse direction Z Winding direction (winding direction)

Claims

1. A device for detecting the swing angle and height of a crane hoisting tool, comprising: a camera that continuously captures images vertically downward on the lower lateral surface of the suspension position of the wire rope on the crane; a number of markers that are regularly arranged on the upper or upper lateral surface of the hoisting tool suspended by the wire rope; and a device for detecting the swing angle and height of the hoisting tool by measuring the distance between the multiple markers projected on the image captured by the camera; This device detects the swing angle and height of a crane's hoisting gear, characterized in that an inspection door is provided on the landing part of the inspection scaffold of the side club, away from the wire rope that is unwound from the wire drum of the crane, and a camera is installed below the inspection door facing downward.

2. A device for detecting the swing angle and height of a crane hoisting tool, comprising: a camera that continuously captures images vertically downward on the lower lateral surface of the suspension position of the wire rope on the crane; a number of markers that are regularly arranged on the upper or upper lateral surface of a hoisting tool suspended by the wire rope; and a device for detecting the swing angle and height of the hoisting tool by measuring the distance between the multiple markers projected on the image captured by the camera; This device for detecting the sway angle and height of a crane hoisting gear is characterized in that, when an image is taken of a downward view from a camera installed on a crane, and an object other than a marker having a similar shape to one of a plurality of markers arranged with a regularity on the hoisting gear appears in the captured image, the device has the function of determining that only an object whose shape connecting the center points of all captured images similar to those markers is close to the shape connecting the center points of the markers arranged with a regularity on the hoisting gear is a marker attached with a regularity to the hoisting gear.

3. A device for detecting the swing angle and height of a crane hoisting tool, comprising: a camera that continuously captures images vertically downward on the underside of the side of the suspension position of the wire rope on the crane; a number of markers that are regularly arranged on the top or upper side of the hoisting tool suspended by the wire rope; and a device for detecting the swing angle and height of the hoisting tool by measuring the distance between the multiple markers projected on the image captured by the camera; The polygonal shape formed by the center points of the multiple markers attached to the sling that are located diagonally from the center point of the camera's captured image is connected by lines of the vertices of each polygonal shape between the image data of the polygonal shape at the highest position where the sling is hung vertically and the image data of the polygonal shape at the lowest position, and it is possible to obtain a vertical image of the sling at any height. A device for detecting the sway angle and height of a crane hoisting gear, characterized in that it has a function for creating reference data for the shape and dimensions of a marker when in the upright position.

4. A device for detecting the swing angle and height of a crane hoisting tool, comprising: a camera that continuously captures images vertically downward on the underside of the side of the hanging position of the wire rope on the crane; a number of markers that are regularly arranged on the top or upper side of the hoisting tool suspended by the wire rope; and a device for detecting the swing angle and height of the hoisting tool by measuring the distance between the multiple markers projected on the image captured by the camera; This device detects the swing angle and height of a crane hoisting tool, characterized in that the device detects the swing angle from the vertical state based on the degree to which the polygonal shape formed by the center points of multiple markers attached to the hoisting tool at the current time of measurement has changed from the reference data shape of the polygonal shape when the hoisting tool is in the vertical direction.

5. A device for detecting the swing angle and height of a crane hoisting tool, comprising: a camera that continuously captures images vertically downward on the underside of the side of the suspension position of the wire rope on the crane; a number of markers that are regularly arranged on the top or upper side of the hoisting tool suspended by the wire rope; and a device for detecting the swing angle and height of the hoisting tool by measuring the distance between the multiple markers projected on the image captured by the camera; This device for detecting the swing angle and height of a crane hoisting equipment is characterized in that the direction in which the hoisting equipment is swinging is determined by comparing the position of a polygonal shape formed by the center points of multiple markers attached to the hoisting equipment as seen by a camera with the position of reference data for the polygonal shape when the hoisting equipment is in the vertical direction.

6. A device for detecting the swing angle and height of a crane hoisting tool, comprising: a camera that continuously captures images vertically downward on the underside of the side of the hanging position of the wire rope on the crane; a number of markers that are regularly arranged on the top or upper side of the hoisting tool suspended by the wire rope; and a device for detecting the swing angle and height of the hoisting tool by measuring the distance between the multiple markers projected on the image captured by the camera; This device for detecting the swing angle and height of a crane hoisting gear is characterized in that when some of the multiple markers attached to the hoisting gear enter the blind spot of a wire rope or the like and become invisible, virtual markers for the markers that have become invisible are drawn next to the markers that are visible, thereby continuously calculating the swing angle and height of the hoisting gear.

7. A device for detecting the swing angle and height of a crane hoisting tool, comprising: a camera that continuously captures images vertically downward on the underside of the side of the hanging position of the wire rope on the crane; a number of markers that are regularly arranged on the top or upper side of the hoisting tool suspended by the wire rope; and a device for detecting the swing angle and height of the hoisting tool by measuring the distance between the multiple markers projected in the image projected by the camera, This device for detecting the sway angle and height of a crane hoisting equipment is characterized in that two cameras are provided on the club, and normally one camera is used to photograph the marker attached to the hoisting equipment and calculate the swing angle and height of the hoisting equipment, and when the marker attached to the hoisting equipment disappears from the field of view of the one camera normally used, it switches to the other sub-camera, switches the data to the image from the sub-camera and detection processing data for the field of view seen by the sub-camera, and continues to calculate the swing angle and height of the hoisting equipment.

Images