Baton Lifting System

Abstract

To provide a batten lifting system capable of appropriately determining the real-time state of a batten and appropriately controlling the lifting and lowering of the batten.SOLUTION: A batten lifting system according to an embodiment includes a batten, a sensor and a lift controller. The batten can be raised and lowered, and the sensor detects the state of the batten. The lift controller controls the lifting and lowering of the batten based on the detection results by the sensor.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] SUMMARY OF THE INVENTION Embodiments of the present invention relate to a baton lifting system. [Background technology]

[0002] Baton lifting systems equipped with batons are used in studios, stages, etc. In a baton lifting system, the baton is movable (raised and lowered) in the vertical direction (vertical direction) while suspending either lighting equipment or sound equipment, and is suspended by, for example, a wire. The wire suspending the baton is then wound onto or unwound from a winding device such as a winch, causing the baton to rise or fall.

[0003] When using a baton, it is necessary to properly determine the occurrence of abnormalities in the baton, such as tilting (biasing), getting caught on an obstacle, or colliding with an obstacle. That is, it is necessary to properly determine the real-time state of the baton when the baton is being raised or lowered, and when the baton's raising or lowering stops. It is also necessary to properly control the raising or lowering of the baton based on the real-time state of the baton. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2007-141458 Summary of the Invention [Problem to be solved by the invention]

[0005] The problem to be solved by the present invention is to provide a baton raising and lowering system that can appropriately determine the real-time state of the baton and appropriately control the raising and lowering of the baton. [Means for solving the problem]

[0006] According to an embodiment, the baton lifting system includes a baton, Wires, pulleys, The baton is equipped with a sensor and a lifting / lowering control unit. The wire is connected to a baton. The wire is hung on a pulley, and the wire hung on the pulley extends downward in the height direction to the baton. The sensor is The baton is attached to the pulley, and the distance in the height direction from the baton to the attachment position on the pulley, which is the reference height, is Baton status as The lifting / lowering control unit controls the lifting / lowering of the baton based on the detection result of the sensor. [Effects of the Invention]

[0007] According to the present invention, a baton raising and lowering system can be provided that can appropriately determine the real-time state of the baton and appropriately control the raising and lowering of the baton. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a schematic diagram illustrating an example of a baton lifting system according to a first embodiment. [Figure 2] FIG. 2 is a schematic block diagram illustrating a control system for the baton lifting system of FIG. [Figure 3] FIG. 3 is a schematic diagram illustrating parameters detected by each of the sensors in the first embodiment. [Figure 4] FIG. 4 is a flowchart schematically illustrating an example of processing performed by the lift control unit of the processing execution unit of the control device in the first embodiment. [Figure 5] FIG. 5 is a schematic diagram illustrating an example of a baton lifting system according to the second embodiment. [Figure 6] FIG. 6 is a flowchart schematically illustrating an example of processing performed by the lift control unit of the processing execution unit of the control device in the second embodiment. [Figure 7] FIG. 7 is a schematic block diagram illustrating a control system of a baton lifting system according to the third embodiment. [Figure 8] FIG. 8 is a flowchart schematically illustrating an example of processing performed by a processing execution unit of a control device in the third embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] The baton lifting system (1) of this embodiment includes a baton (12), a sensor (11), and a lifting / lowering control unit (25). The baton (12) can be raised and lowered, and the sensor (11) detects the state of the baton (12). The lifting / lowering control unit (25) controls the lifting / lowering of the baton (12) based on the detection results of the sensor (11). This allows the real-time state of the baton (12) to be appropriately determined, making it possible to appropriately control the lifting / lowering of the baton (12).

[0010] In the baton lifting system (1) of this embodiment, the sensor (11) is attached to the baton (12). The sensor (11) detects at least one of acceleration along each of three mutually intersecting axes (X, Y, Z) and angular velocity around each of the three axes (X, Y, Z) at the attachment position on the baton (12). By determining the state of the baton (12) based on the acceleration and / or angular velocity detected by the sensor (11), the occurrence of an abnormality in the baton (12) can be more appropriately determined.

[0011] In the baton lifting system (1) of this embodiment, the lifting control unit (25) decelerates or stops the movement of the baton (12) along the height direction (V) based on the magnitude of at least one of the acceleration along each of the three axes (X, Y, Z) and the angular velocity about each of the three axes (X, Y, Z) being greater than a threshold value. This allows for more appropriate determination of the occurrence of an abnormality in the baton (12) and more appropriate determination of the real-time status of the baton (12). Then, based on the appropriate determination result regarding the status of the baton (12), the lifting and lowering of the baton (12) is more appropriately controlled.

[0012] In the baton lifting system (1) of the embodiment, the sensor (11) detects the distance in the height direction (V) from the baton (12) to a reference height (Aref), which serves as a reference. This makes it possible to calculate a determination parameter for determining the state of the baton (12) using the parameter detected by the sensor (11).

[0013] In the baton lifting system (1) of this embodiment, the sensor (11) detects the distance in the height direction (V) from each of a plurality of positions of the baton (12) to a reference height (Aref) for each of the plurality of positions that are different from one another. The lifting control unit (25) slows down or stops the movement of the baton (12) along the height direction (V) based on the difference in the distance to the reference height (Aref) between the plurality of positions being greater than a threshold value. This allows for more appropriate determination of the occurrence of an abnormality in the baton (12) and more appropriate determination of the real-time status of the baton (12). Then, based on the appropriate determination result regarding the status of the baton (12), the lifting and lowering of the baton (12) is more appropriately controlled.

[0014] In the baton lifting system (1) of the embodiment, the lifting control unit (25) slows down or stops the movement of the baton (12) along the height direction (V) based on the fact that the sensor (11) cannot detect the distance to the reference height (Aref). This allows for more appropriate determination of the occurrence of an abnormality in the baton (12). Furthermore, detection failures of the sensor (11) can also be appropriately determined.

[0015] The baton lifting system (1) of this embodiment further includes a photographing unit (71) and a data management unit (72). The photographing unit (71) photographs the location where the baton (12) is placed. The data management unit (72) stores the video captured by the photographing unit (71) based on the detection results of the sensor (11). This makes it possible to appropriately understand the status of the baton (12) and the location where the baton (12) is placed before, during, and after the occurrence of an abnormality from the stored video.

[0016] Hereinafter, embodiments will be described with reference to the drawings.

[0017] (First embodiment) FIG. 1 shows an example of a baton lifting system 1 according to a first embodiment. The baton lifting system 1 is used, for example, in a studio or a stage. As shown in FIG. 1 and other figures, the location where the baton lifting system 1 is used defines a height direction (direction indicated by arrow V) corresponding to the vertical direction, a first horizontal direction (direction indicated by arrow H) intersecting (perpendicular or approximately perpendicular) the height direction, and a second horizontal direction (direction perpendicular or approximately perpendicular to the plane of the paper in FIG. 1) intersecting (perpendicular or approximately perpendicular) both the height direction and the first horizontal direction. In one example, in the location where the baton lifting system 1 is used, the first horizontal direction corresponds to the lateral direction, and the second horizontal direction corresponds to the depth direction.

[0018] Figure 2 explains the control system of the baton lifting system 1 of Figure 1. As shown in Figures 1 and 2, the baton lifting system 1 includes a control device (lifting control device) 10, a sensor 11, a baton 12, and a winding machine 13 such as a winch. Either lighting equipment or audio equipment is suspended from the baton 12. The baton 12 is also movable (can be raised and lowered) along the height direction (vertical direction). Therefore, the direction in which the baton 12 is raised and lowered coincides with or approximately coincides with the height direction.

[0019] In a location where the baton lifting system 1 is used, the baton 12 is suspended from a ceiling or the like by a wire 15. In one example, such as FIG. 1, the baton 12 is suspended via two wires 15. Furthermore, the two wires 15 are connected to the baton 12 at positions spaced apart from each other in a first horizontal direction. In the example baton lifting system 1 of FIG. 1, two pulleys 16 are provided, and the two pulleys 16 are not offset or are barely offset from each other in the height direction. Each of the wires 15 connected to the baton 12 extends from a winder 13. Each of the wires 15 extending from the winder 13 is hung on a corresponding one of the pulleys 16 and extends downward in the height direction from the corresponding one of the pulleys 16 to the baton 12.

[0020] In the baton lifting system 1, a winding machine 13 such as a winch is operated, and each of the wires 15 is wound onto or unwound from the winding machine 13. The baton 12 rises as each of the wires 15 is wound onto or unwound from the winding machine 13. On the other hand, the baton 12 falls as each of the wires 15 is unwound from the winding machine 13. Therefore, in this embodiment, the baton 12 moves in the vertical direction as the winding machine 13 is operated. Furthermore, in the baton lifting system 1, the movement speed of the baton 12 when it is raised or lowered, i.e., the movement speed of the baton 12 when it is raised or lowered, changes as the operating speed (rotational speed) of the winding machine 13 changes.

[0021] As shown in FIG. 2 and other figures, the control device 10 includes a process execution unit 21, a notification unit 22, and an operation unit 23, and the process execution unit 21 includes a lift control unit 25. The process execution unit 21 executes processes related to the lifting and lowering of the baton 12. The lift control unit 25 executes at least a portion of the processes executed by the process execution unit 21 and controls the lifting and lowering of the baton 12 as described below. In one example shown in FIG. 2 and other figures, the process execution unit 21 includes a processor or integrated circuit and a storage medium such as a memory. The processor or integrated circuit includes any of a central processing unit (CPU), an application specific integrated circuit (ASIC), a microcomputer, a field programmable gate array (FPGA), a digital signal processor (DSP), and the like. The process execution unit 21 may include only one integrated circuit or the like, or may include multiple integrated circuits or the like. The process execution unit 21 executes processes by executing programs or the like stored in a storage medium or the like.

[0022] In one example, at least a portion of the processing related to the raising and lowering of the baton 12, including the control of the raising and lowering of the baton 12, is executed by a processing device provided outside the control device 10. In another example, at least a portion of the processing related to the raising and lowering of the baton 12 is executed by a server in a cloud environment. In these cases, at least a portion of the processing described below related to the raising and lowering of the baton 12 is executed outside the control device 10. In other words, at least a portion of the processing executed by the processing execution unit 21 described below is executed outside the control device 10.

[0023] Notification unit 22 and operation unit 23 are composed of a user interface of control device 10, etc. Notification unit 22 notifies information related to the raising and lowering of baton 12, etc. Notification unit 22 notifies information by either a screen display or audio, etc. Information notified by notification unit 22 also includes warning information, etc. Furthermore, commands related to the raising and lowering of baton 12 are input into operation unit 23 by users of baton raising system 1, etc. Commands related to the raising and lowering of baton 12 include commands related to the speed of baton 12 during raising and lowering, commands to start the movement (ascending or descending) of baton 12, and commands to stop the movement of baton 12, etc. Note that in one example, either notification unit 22 or operation unit 23 may be composed of a user interface, etc. separate from control device 10.

[0024] The lifting / lowering control unit 25 controls the lifting and lowering of the baton 12 by controlling the operation of the winding machine 13. The lifting / lowering control unit 25 controls the lifting and lowering of the baton 12 based at least on commands input via the operation unit 23. For example, when a command regarding the movement speed of the baton 12 is input via the operation unit 23, the lifting / lowering control unit 25 adjusts the movement speed of the baton 12 during lifting and lowering by adjusting the operating speed of the winding machine 13 to a speed corresponding to the command. Furthermore, when a command to stop the movement of the baton 12 is input via the operation unit 23, the lifting / lowering control unit 25 stops the operation of the winding machine 13, thereby stopping the movement (rising or lowering) of the baton 12.

[0025] In addition, baton lifting system 1 defines a range of movement (lifting and lowering) of baton 12 in the height direction. Baton lifting system 1 is provided with a sensor or switch (not shown) that detects baton 12 located at the highest position in the range of movement, and a sensor or switch (not shown) that detects baton 12 located at the lowest position in the range of movement. When baton 12 is detected at the highest position in the range of movement, lifting control unit 25 stops the operation of winding machine 13 and stops the lifting of baton 12. This effectively prevents the baton from being lifted beyond the highest position in the range of movement. When baton 12 is detected at the lowest position in the range of movement, lifting control unit 25 stops the operation of winding machine 13 and stops the descent of baton 12. This effectively prevents the baton from being lowered beyond the lowest position in the range of movement.

[0026] In the baton lifting system 1, the sensor 11 detects parameters related to the state of the baton 12. Then, the lifting control unit 25 controls the operation of the winding machine 13 and controls the lifting and lowering of the baton 12 based on the detection results of the sensor 11 regarding the parameters related to the state of the baton 12. At this time, the lifting control unit 25 determines the real-time state of the baton 12 based on the detection results of the sensor 11.

[0027] The determination of the real-time state of baton 12 includes, for example, determining whether baton 12 is moving. If it is determined that baton 12 is moving, it is determined whether baton 12 is rising or falling. The determination of the real-time state of baton 12 also includes determining whether baton 12 is tilted (biased), whether baton 12 is caught on an obstacle, whether baton 12 is colliding with an obstacle, and the like, and determining whether an abnormality has occurred in baton 12. Then, lifting control unit 25 controls the lifting and lowering of baton 12 based on the determination result of the real-time state of the baton.

[0028] In one example, such as FIG. 1, three sensors 11A to 11C are attached to baton 12 as sensor 11. Therefore, sensors 11A to 11C are attached to baton 12 at a plurality of positions different from one another. Sensor 11A is attached to one end of baton 12 in the first horizontal direction. Sensor 11B is attached to baton 12 at the end opposite to the attachment position of sensor 11A in the first horizontal direction. Sensor 11C is attached to the center of baton 12 in the first horizontal direction, and is positioned between sensors 11A and 11B. Each of sensors 11A to 11C detects a parameter related to the state of baton 12 at the attachment position on baton 12 described above.

[0029] In this embodiment, each of the sensors 11 functions as a three-axis acceleration sensor and a three-axis gyro sensor. FIG. 3 explains parameters detected by each of the sensors 11. As shown in FIG. 3 and other figures, each of the sensors 11 defines three axes X, Y, and Z. The axis Y intersects (is perpendicular or substantially perpendicular to) the axis X, and the axis Z intersects (is perpendicular or substantially perpendicular to) both the axes X and Y. Therefore, the three axes X, Y, and Z intersect (is perpendicular or substantially perpendicular to) each other. In each of the sensors 11 attached to the baton 12, for example, the X axis is aligned along a first horizontal direction, and the Y axis is aligned along a second horizontal direction. In each of the sensors 11, the Z axis is aligned along the height direction (vertical direction).

[0030] Each of the sensors 11, functioning as a three-axis acceleration sensor, detects acceleration along each of the three axes X, Y, and Z at its attachment position on the baton 12. That is, each of the sensors 11 detects acceleration components along each of the axes X, Y, and Z at its attachment position on the baton 12. As a result, at each of the attachment positions of the sensors 11 on the baton 12, acceleration in each of three directions, for example, the first horizontal direction, the second horizontal direction, and the height direction, is detected. Note that the direction and magnitude of the acceleration along each of the axes X, Y, and Z are specified. For example, for acceleration along the axis X, one side of the axial direction of the axis X is positive, and the opposite side is negative.

[0031] Furthermore, each of the sensors 11 functioning as a triaxial gyro sensor detects angular velocity around each of the three axes X, Y, and Z (axis rotation directions) at its attachment position on the baton 12. That is, each of the sensors 11 detects, at its attachment position on the baton 12, the angular velocity around the X axis (in the direction of the arrow α), the angular velocity around the Y axis (in the direction of the arrow β), and the angular velocity around the Z axis (in the direction of the arrow γ). As a result, at each of the attachment positions of the sensors 11 on the baton 12, angular velocity around each of three axes, for example, an axis along the first horizontal direction, an axis along the second horizontal direction, and an axis along the height direction, is detected. Note that the direction and magnitude of the angular velocity around each of the X, Y, and Z axes are specified. For example, for the angular velocity around the X axis, one side of the direction of the arrow α is the positive direction, and the opposite side is the negative direction.

[0032] 4 shows an example of processing performed by the lift control unit 25 of the processing execution unit 21 of the control device 10. The processing in FIG. 4 is repeatedly performed over time while the baton 12 is moving (rising or descending) in the height direction, i.e., while the baton 12 is rising or descending. When the processing in FIG. 4 starts, the lift control unit 25 acquires the detection results of the accelerations and angular velocities described above from all of the sensors 11 attached to the baton 12 (S41). As a result, the lift control unit 25 acquires the accelerations along each of the three axes X, Y, and Z and the angular velocities around each of the three axes X, Y, and Z for each of the attachment positions of the sensors 11.

[0033] Then, lifting / lowering control unit 25 determines whether baton 12 is ascending or descending based on the detection results of acceleration along each of the three axes X, Y, and Z at each of sensors 11 (S42). In one example, for each of sensors 11, whether baton 12 is ascending or descending is determined based on the change over time in acceleration along axis Z at each of the attachment positions of sensors 11 to baton 12, with axis Z aligned along the height direction. For example, for each of sensors 11, acceleration along axis Z occurs from a state in which acceleration along axis Z is zero to an upward direction in the height direction (the positive side of the axial direction of axis Z), and the acceleration along axis Z returns to zero. Alternatively, for each of sensors 11, acceleration along axis Z occurs from a state in which acceleration along axis Z is zero to a downward direction in the height direction (the negative side of the axial direction of axis Z), and the acceleration along axis Z returns to zero, and the determination is made that baton 12 is descending.

[0034] Then, the lift control unit 25 determines whether the magnitudes of all of the accelerations and angular velocities detected by the sensors 11 attached to the baton 12 are equal to or less than the thresholds (S43). If the magnitudes of all of the detected accelerations and angular velocities are equal to or less than the thresholds (S43-Yes), the lift control unit 25 determines that the condition of the baton 12 is normal. Then, the lift control unit 25 maintains the speed of the baton 12 as it moves along its height at a real-time speed (S44).

[0035] On the other hand, if the magnitude of at least one of the detected acceleration and angular velocity is greater than the threshold value (S43-No), the lift control unit 25 determines that an abnormality has occurred in the baton 12. The lift control unit 25 then slows down or stops the movement of the baton 12 along the height direction (S45). At this time, the process execution unit 21, which includes the lift control unit 25, may cause the notification unit 22 to issue warning information indicating that an abnormality has occurred in the baton 12. Therefore, in this embodiment, the lift control unit 25 slows down or stops the movement of the baton 12 along the height direction based on the fact that the magnitude of at least one of the accelerations along each of the three axes X, Y, and Z and the angular velocities about each of the three axes X, Y, and Z is greater than the threshold value in one or more of the sensors 11 attached to the baton 12.

[0036] Here, when baton lifting system 1 is in use, baton 12 may tilt (become biased) due to, for example, baton 12 being tilted relative to an imaginary horizontal plane that is parallel or approximately parallel to the first horizontal direction and the second horizontal direction. Also, baton 12 may get caught on or collide with an obstacle. That is, when baton lifting system 1 is in use, an abnormality may occur in baton 12 due to baton 12 tilting (becoming biased), baton 12 getting caught on an obstacle, or baton 12 colliding with an obstacle.

[0037] When the above-described abnormality occurs in baton 12, an external force, such as a force from an obstacle, acts on baton 12. At this time, a certain amount of acceleration occurs in baton 12 in response to the external force. Therefore, based on the detection results of the acceleration along each of the three axes X, Y, and Z by each of sensors 11, it is possible to appropriately determine whether an abnormality has occurred in baton 12, such as tilting of baton 12 or the baton 12 getting caught on or colliding with an obstacle. Then, by determining whether the magnitude of the acceleration along each of axes X, Y, and Z for each of sensors 11 is equal to or less than a threshold, it is possible to appropriately determine whether an abnormality has occurred in baton 12.

[0038] Furthermore, if the above-described abnormality occurs in baton 12, swaying or vibration may occur in baton 12. In this case, a rotational force caused by the swaying or vibration acts on baton 12, and a certain magnitude of angular velocity is generated in baton 12 in response to the rotation of baton 12. Therefore, based on the detection results of the angular velocity about each of the three axes X, Y, and Z by each of sensors 11, it is possible to appropriately determine whether baton 12 has tilted, or whether baton 12 has gotten caught on or collided with an obstacle. Then, by determining whether the magnitude of the angular velocity about each of the axes X, Y, and Z by each of sensors 11 is equal to or less than a threshold, it is possible to appropriately determine whether an abnormality has occurred in baton 12.

[0039] In one example, even when baton 12 is stopped and not being raised or lowered, each of sensors 11 detects acceleration along each of three axes X, Y, and Z and angular velocity around each of three axes X, Y, and Z. Then, lifting / lowering control unit 25 determines whether an abnormality has occurred in baton 12 based on the acceleration and angular velocity of each of sensors 11. Even when baton 12 is stopped, if the magnitude of one or more of the detected accelerations and angular velocities is greater than a threshold, lifting / lowering control unit 25 determines that an abnormality has occurred in baton 12. Furthermore, if it is determined that an abnormality has occurred in baton 12 when baton 12 is stopped, lifting / lowering control unit 25 maintains baton 12 in a stopped state and does not raise or lower baton 12, even if a command to start moving baton 12 (raising or lowering) is input via operation unit 23 or the like.

[0040] Furthermore, in this embodiment, the acceleration and angular velocity detected by each of the sensors 11 are used to determine whether an abnormality has occurred in the baton 12. The acceleration and angular velocity, which are parameters detected by each of the sensors 11, are acquired by the lift control unit 25 as determination parameters for determining the state of the baton 12. The lift control unit 25 determines whether the magnitude (absolute value) of each of the acceleration and angular velocity detected by the sensors 11 attached to the baton 12, i.e., each of the determination parameters, is equal to or less than a threshold value.

[0041] Each of the judgment parameters is determined to be within the normal range if its magnitude is equal to or less than the threshold, and determined to be outside the normal range if its magnitude is greater than the threshold. Then, lifting control unit 25 determines that an abnormality has occurred in baton 12 based on the fact that one or more of the judgment parameters (accelerations along the three axes X, Y, and Z and angular velocities about the three axes X, Y, and Z) are outside the normal range. Therefore, while baton 12 is ascending or descending, the movement of baton 12 along the height direction is slowed down or stopped based on the fact that one or more of the judgment parameters are outside the normal range.

[0042] Furthermore, if any of the sensors 11 does not detect one or more of the accelerations and angular velocities, the lift control unit 25 determines that the sensors 11 that do not detect one or more of the accelerations and angular velocities are defective in detection. If any of the sensors 11 is determined to be defective in detection while the baton 12 is moving in the vertical direction, the lift control unit 25 slows down or stops the movement of the baton 12 in the vertical direction. Furthermore, if any of the sensors 11 is determined to be defective in detection while the baton 12 is stopped, the lift control unit 25 maintains the baton 12 in a stopped state even if a command to start the movement (ascending or descending) of the baton 12 is input via the operation unit 23 or the like.

[0043] In this embodiment, as described above, parameters related to the state of baton 12 are detected by sensor 11. Therefore, based on the parameters detected by sensor 11, lift control unit 25 and the like can appropriately determine whether an abnormality has occurred in baton 12, and can appropriately determine the real-time state of baton 12. Also, in this embodiment, lift control unit 25 controls the lifting and lowering of baton 12 based on the detection results of parameters related to the state of baton 12 by sensor 11. Therefore, the lifting and lowering of baton 12 is appropriately controlled in accordance with the real-time state of baton 12.

[0044] Furthermore, in this embodiment, the parameters (acceleration and angular velocity) detected by sensor 11 are used as judgment parameters for judging the state of baton 12. Then, based on whether any of the judgment parameters is outside the normal range, the movement of baton 12 along the height direction is slowed down or stopped. Whether an abnormality has occurred in baton 12 is judged based on whether the judgment parameter is within the normal range, so whether an abnormality has occurred in baton 12 is appropriately determined. Furthermore, even if an abnormality occurs in baton 12 while it is moving along the height direction, the movement of baton 12 is slowed down or stopped, thereby appropriately controlling the raising and lowering of baton 12 in response to the occurrence of the abnormality.

[0045] Furthermore, in this embodiment, each of the sensors 11 attached to the baton 12 detects acceleration along each of the three axes X, Y, and Z, and angular velocity around each of the three axes X, Y, and Z. The real-time state of the baton 12 is determined based on the acceleration and angular velocity detected by each of the sensors 11, and the raising and lowering of the baton 12 is controlled. As described above, when an abnormality occurs in the baton 12, such as when the baton 12 tilts or when the baton 12 gets caught on or collides with an obstacle, either the acceleration or the angular velocity detected by the sensor 11 tends to change significantly from a normal state when no abnormality occurs. Therefore, by determining the state of the baton 12 based on the acceleration and angular velocity detected by the sensor 11, the occurrence of an abnormality in the baton 12 can be more appropriately determined.

[0046] Furthermore, when baton 12 is moving in the vertical direction, the movement of baton 12 is decelerated or stopped based on the magnitude of at least one of the aforementioned acceleration and angular velocity detected by sensor 11 being greater than a threshold. When an abnormality occurs in baton 12, as described above, either the acceleration or angular velocity detected by sensor 11 tends to reach a certain magnitude. Therefore, by determining whether the magnitude of at least one of the acceleration and angular velocity detected by sensor 11 is greater than a threshold, the occurrence of an abnormality in baton 12 can be more appropriately determined, and the real-time status of baton 12 can be more appropriately determined. Then, based on the appropriate determination result regarding the status of baton 12, the raising and lowering of baton 12 can be more appropriately controlled.

[0047] (Modification of the first embodiment) Note that multiple sensors 11 do not need to be attached to baton 12; in one modified example, only one sensor 11 is attached to baton 12. In this case, sensor 11 also detects acceleration along each of the three axes X, Y, and Z and angular velocity around each of the three axes X, Y, and Z at the attachment position on the baton. Then, if the magnitude of one or more of the accelerations and angular velocities detected by sensor 11 is greater than a threshold, lift control unit 25 determines that an abnormality has occurred in baton 12.

[0048] In another modified example, each of the one or more sensors 11 does not detect angular velocity, but detects only acceleration along each of the three axes X, Y, and Z. That is, each of the sensors 11 does not function as a triaxial gyro sensor, but functions only as a triaxial acceleration sensor. In this case, the lift control unit 25 determines that an abnormality has occurred in the baton 12 based on the magnitude of one or more of the accelerations detected by the sensor 11 being greater than a threshold value. In another modified example, each of the one or more sensors 11 does not detect acceleration, but detects only angular velocity around each of the three axes X, Y, and Z. That is, each of the sensors 11 does not function as a triaxial acceleration sensor, but functions only as a triaxial gyro sensor. In this case, the lift control unit 25 determines that an abnormality has occurred in the baton 12 based on the magnitude of one or more of the angular velocities detected by the sensor 11 being greater than a threshold value.

[0049] In another modified example, the process execution unit 21 etc. calculates the difference between the multiple sensors 11 for one or more of the acceleration and angular velocity described above. Then, the lift control unit 25 determines that an abnormality has occurred in the baton 12 based on the fact that one or more of the calculated differences described above are greater than a threshold value. Therefore, in this modified example, a parameter calculated using parameters detected by the sensors 11 is acquired by the lift control unit 25 as a judgment parameter for judging the state of the baton 12. Then, the lift control unit 25 determines whether the difference between the multiple sensors 11 for one or more of the acceleration and angular velocity, i.e., the judgment parameter, is equal to or less than a threshold value. In this modified example, each judgment parameter (difference) is determined to be within a normal range if it is equal to or less than a threshold value, and is determined to be outside the normal range if it is greater than the threshold value.

[0050] For example, if an abnormality occurs in baton 12 due to tilting of baton 12 with respect to the first horizontal direction, one of sensors 11A and 11B generates an acceleration in the positive direction of the Z axis, and the other of sensors 11A and 11B generates an acceleration in the negative direction of the Z axis. This increases the difference between sensors 11A and 11B in terms of acceleration along the Z axis. Therefore, the occurrence of an abnormality in baton 12 can be appropriately determined based on whether the difference between sensors 11A and 11B in terms of acceleration along the Z axis is equal to or less than a threshold value. As described above, even if the difference between the multiple sensors 11 in terms of either the acceleration or angular velocity is used as a determination parameter as in this modification, the occurrence of an abnormality in baton 12 can be appropriately determined, and the real-time state of baton 12 can be appropriately determined.

[0051] Furthermore, in any of the above-described modified examples, similarly to the first embodiment, if it is determined that an abnormality has occurred in baton 12 while baton 12 is moving in the vertical direction, lift control unit 25 slows down or stops the movement of baton 12 in the vertical direction. If it is determined that an abnormality has occurred in baton 12 while baton 12 is stopped, lift control unit 25 maintains baton 12 in a stopped state and does not raise or lower baton 12, even if a command to start the movement (raising or lowering) of baton 12 is input via operation unit 23, etc.

[0052] (Second embodiment) Next, a second embodiment will be described. In the second embodiment, the following modifications are made to the first embodiment. In the following explanation, parts that are the same as those in the first embodiment will be omitted. Figure 5 shows the baton lifting system 1 of this embodiment. As shown in Figure 5, in this embodiment, the baton lifting system 1 also comprises a control device 10, a sensor 11, a baton 12, a winding machine 13, a wire 15, and a pulley 16. In this embodiment, the lifting control unit 25 of the control device 10 controls the operation of the winding machine 13 to control the lifting and lowering (movement along the height direction) of the baton 12.

[0053] However, in this embodiment, each of the sensors 11 does not detect either the acceleration or angular velocity described above. Furthermore, in the example of FIG. 5, the sensor 11 provided in the baton lifting system 1 is not attached to the baton 12. In the example of FIG. 5, two sensors 11A and 11B are provided as the sensor 11, and each of the sensors 11 is attached to a corresponding one of the two pulleys 16. Furthermore, in the example of the baton lifting system 1 of FIG. 5, the two sensors 11A and 11B are not misaligned or are barely misaligned with respect to each other in the height direction. Furthermore, the positions of the sensors 11A and 11B in the height direction (lifting direction) are defined as a reference height Aref.

[0054] In this embodiment, each of the sensors 11 detects (measures) the distance in the height direction from the baton 12 to the reference height Aref. Each of the sensors 11 functions as an infrared sensor, an ultrasonic sensor, or the like. Each of the sensors 11 transmits infrared rays or ultrasonic waves downward in the height direction toward the baton 12. The infrared rays or ultrasonic waves transmitted from each of the sensors 11 are reflected by the baton 12, and each of the sensors 11 receives the reflected infrared rays or ultrasonic waves. Each of the sensors 11 detects the distance in the height direction between the baton 12 and the reference position Aref based on the elapsed time from transmission to reception of the infrared rays or ultrasonic waves, or the like.

[0055] In this embodiment, the sensor 11 is used to detect the height distance from each of a plurality of positions on the baton that are different from one another to the reference height Aref. In the example shown in FIG. 5, sensor 11A detects the height distance D1 from position E1 on the baton 12 to the reference height Aref, and sensor 11B detects the height distance D2 from a position E2 on the baton that is different from position E1 to the reference height Aref. Position E1 is located at one end of the baton 12 in the first horizontal direction. Position E2 is located at the end of the baton 12 opposite position E1 in the first horizontal direction.

[0056] 5, the multiple positions for which the distance to the reference height Aref is to be detected are located apart from one another in the first horizontal direction on the baton 12. However, this is not limited to this. In one example, the multiple positions for which the distance to the reference height Aref is to be detected are located apart from one another in the second horizontal direction on the baton 12. In another example, the multiple positions for which the distance to the reference height Aref is to be detected are located apart from one another in the first horizontal direction and the second horizontal direction on the baton 12.

[0057] FIG. 6 shows an example of processing performed by the lifting / lowering control unit 25 of the processing execution unit 21 of the control device 10 in this embodiment. The processing of FIG. 6 is repeatedly performed over time while the baton 12 is moving (rising or lowering) in the height direction, i.e., while the baton 12 is being raised or lowered. When the processing of FIG. 6 starts, the lifting / lowering control unit 25 determines whether all sensors 11 have detected the distance in the height direction from the baton to the reference height Aref (S61). If all sensors 11 have detected the distance (S61—Yes), the lifting / lowering control unit 25 acquires the detection results of each of the sensors 11 (11A, 11B) regarding the distance to the reference height Aref (S62). As a result, the distance in the height direction from each of the multiple positions (E1, E2, etc.) of the baton 12 to the reference height Aref is acquired.

[0058] Then, based on the distance detection results of each of the sensors 11, the lift control unit 25 calculates the difference in the distance to the reference height Aref between the multiple positions of the baton 12 (S63). At this time, for example, the difference between the distance D1 from position E1 to the reference height Aref and the distance D2 from position E2 to the reference height Aref is calculated. The lift control unit 25 then determines whether the difference in the distance to the reference height Aref between the multiple positions of the baton 12 is equal to or less than a threshold value (S64). If the calculated difference is equal to or less than the threshold value (S43—Yes), the lift control unit 25 determines that the condition of the baton 12 is normal. The lift control unit 25 then maintains the speed of the baton 12 moving along the height direction at a real-time speed (S65).

[0059] On the other hand, if the calculated difference is greater than the threshold value (S64-No), the lift control unit 25 determines that an abnormality has occurred in the baton 12. Then, the lift control unit 25 slows down or stops the movement of the baton 12 along the height direction (S66). Therefore, in this embodiment, the lift control unit 25 slows down or stops the movement of the baton 12 along the height direction based on the fact that the difference in the distance to the reference height Aref between multiple positions (e.g., E1, E2) is greater than the threshold value.

[0060] Furthermore, if the distance to the reference height Aref is not detected (measured) by any of the sensors 11 (S61-No), the lift control unit 25 determines that either an abnormality in the baton 12 or a detection failure in the sensor 11 has occurred. Then, the lift control unit 25 slows down or stops the movement of the baton 12 along the height direction (S66). Therefore, in this embodiment, the lift control unit 25 slows down or stops the movement of the baton 12 along the height direction based on the fact that the distance to the reference height Aref cannot be detected by any of the sensors.

[0061] If the above-described abnormality occurs in the baton 12, the baton 12 may tilt with respect to the imaginary horizontal plane, as described above. In this case, due to the tilt of the baton 12, multiple positions on the baton 12 that are separated from one another in at least one of the first horizontal direction and the second horizontal direction are displaced from one another in the height direction. As a result, the distances to the reference height Aref differ from one another at the above-described multiple positions on the baton 12. Therefore, based on the difference in the distance to the reference height Aref between the multiple positions on the baton 12, it is possible to appropriately determine whether the baton 12 has tilted, or whether an abnormality has occurred in the baton 12, such as the baton 12 getting caught on or colliding with an obstacle. Then, by determining whether the difference in the distance to the reference height Aref between the multiple positions on the baton 12 is equal to or less than a threshold, it is possible to appropriately determine whether an abnormality has occurred in the baton 12.

[0062] Furthermore, if the above-mentioned abnormality occurs in the baton 12, the infrared rays or ultrasonic waves emitted from one of the sensors 11 may not be reflected by the baton 12 due to shaking or vibration of the baton 12. In this case, one of the sensors 11 does not receive the infrared rays or ultrasonic waves and does not detect (measure) the distance from the baton 12 to the reference height Aref. Therefore, based on whether or not each of the sensors 11 detects the distance to the reference height Aref, it is possible to appropriately determine whether the baton 12 has tilted, or whether an abnormality has occurred in the baton 12, such as the baton 12 getting caught on or colliding with an obstacle.

[0063] In one example, even when baton 12 is stopped and not being raised or lowered, each of sensors 11 detects the distance in the height direction from baton 12 to reference height Aref. Then, lifting / lowering control unit 25 determines whether an abnormality has occurred in baton 12 based on the difference in the distance to reference height Aref between multiple positions of baton 12. Even when baton 12 is stopped, if the difference is greater than the threshold, lifting / lowering control unit 25 determines that an abnormality has occurred in baton 12. Furthermore, if it is determined that an abnormality has occurred in baton 12 when baton 12 is stopped, lifting / lowering control unit 25 controls the raising and lowering of baton 12 as described above in the first embodiment, etc.

[0064] Furthermore, in this embodiment, the difference in distance to reference height Aref between multiple positions of baton 12 is used to determine whether an abnormality has occurred in baton 12. Therefore, in this embodiment, a parameter calculated using parameters detected by sensor 11 is acquired by lift control unit 25 as a determination parameter for determining the state of baton 12. Then, lift control unit 25 determines whether the difference in distance to reference height Aref between multiple positions of baton 12, i.e., the determination parameter, is equal to or less than a threshold value. In this embodiment, each determination parameter (difference) is determined to be within the normal range if it is equal to or less than the threshold value, and is determined to be outside the normal range if it is greater than the threshold value.

[0065] In this embodiment, as described above, parameters related to the state of baton 12 are detected by sensor 11, and lifting / lowering control unit 25 controls the lifting / lowering of baton 12 based on the detection results of sensor 11 of the parameters related to the state of baton 12. Therefore, similar to the first embodiment, the real-time state of baton 12 can be appropriately determined, and the lifting / lowering of baton 12 is appropriately controlled in accordance with the real-time state of baton 12.

[0066] In this embodiment, parameters calculated using the parameters detected by sensor 11 are used as judgment parameters for determining the state of baton 12. If any of the judgment parameters is outside the normal range, the movement of baton 12 along the height direction is slowed or stopped. Therefore, in this embodiment, it is also possible to appropriately determine whether an abnormality has occurred in baton 12. Even if an abnormality occurs in baton 12 while moving along the height direction, the movement of baton 12 is slowed or stopped, thereby appropriately controlling the elevation of baton 12 in response to the abnormality. In this embodiment, sensor 11 detects the distance in the height direction from baton 12 to reference height Aref. Therefore, the parameters detected by sensor 11 can be used to calculate the aforementioned judgment parameters for determining the state of baton 12.

[0067] Furthermore, in this embodiment, while the baton 12 is moving in the vertical direction, the movement of the baton 12 is slowed or stopped based on the fact that the difference in the distance to the reference height Aref between multiple positions of the baton 12 is greater than a threshold value. When an abnormality occurs in the baton 12, as described above, the distances to the reference height Aref tend to differ among multiple positions of the baton 12 that are separated from each other in the horizontal direction. Therefore, by determining whether the difference is greater than a threshold value, the occurrence of an abnormality in the baton 12 can be more appropriately determined, and the real-time status of the baton 12 can be more appropriately determined. Then, based on the appropriate determination result regarding the status of the baton 12, the raising and lowering of the baton 12 can be more appropriately controlled.

[0068] Furthermore, in this embodiment, when the baton 12 is moving in the vertical direction, the movement of the baton 12 in the vertical direction is slowed down or stopped based on the fact that the sensor 11 cannot detect the distance to the reference height Aref. When an abnormality occurs in the baton 12, as described above, the sensor 11 tends to have difficulty detecting the distance to the reference height Aref due to the swaying of the baton 12, etc. Therefore, by determining the occurrence of an abnormality in the baton 12 based on whether the sensor 11 can detect the aforementioned distance, the occurrence of an abnormality in the baton 12 can be more appropriately determined. Furthermore, a detection failure of the sensor 11, etc. can also be appropriately determined.

[0069] Furthermore, in this embodiment, the occurrence of tilting of the baton 12 is determined based on the difference in the distance to the reference height Aref between multiple positions of the baton 12. Therefore, even if the tilt of the baton 12 does not become large enough to loosen the wire 15, i.e., even if the tilt of the baton 12 is relatively small, it can be appropriately determined that the baton 12 is tilting.

[0070] (Modification of the second embodiment) In a modification of the second embodiment, the multiple sensors 11 are attached to the baton 12. In this modification, each of the sensors 11 also detects the distance along the height direction from the baton 12 to the reference height Aref. The multiple sensors 11 then detect the distance from each of multiple positions on the baton 12 that are different from one another to the reference height Aref.

[0071] In this modification, the position of the ceiling or other location where the baton raising and lowering system 1 is used in the vertical direction is defined as the reference height Aref. Each of the sensors 11 transmits infrared or ultrasonic waves toward the ceiling and receives the infrared or ultrasonic waves reflected by the ceiling. Each of the sensors 11 then detects the distance in the vertical direction between the baton 12 and the reference position Aref based on the elapsed time from transmission to reception of the infrared or ultrasonic waves, etc. In this modification, as in the second embodiment, the real-time state of the baton 12 is determined based on the difference in the distance to the reference height Aref between multiple positions of the baton 12, and the raising and lowering of the baton 12 is controlled.

[0072] (Third embodiment) Next, a third embodiment will be described. In the third embodiment, the following modifications are made to the first embodiment. In the following explanation, parts that are the same as those in the first embodiment will be omitted. Figure 7 explains the control system of the baton lifting system 1 of this embodiment. As shown in Figure 7 and other figures, in this embodiment, the baton lifting system 1 also comprises a control device 10, a sensor 11, a baton 12, and a winding machine 13. The control device 10 comprises a lifting control unit 25, which controls the operation of the winding machine 13 to control the lifting and lowering (movement along the height direction) of the baton 12.

[0073] However, in this embodiment, a photographing unit 71 such as a camera is provided. The photographing unit 71 takes photographs in a location where the baton 12 is set up, such as a studio or stage. The photographing unit 71 is installed on the ceiling, a wall, or the baton 12 itself in the location where the baton 12 is set up. In one example, the photographing unit 71 takes photographs from a position vertically above the baton 12. Note that only one photographing unit 71 may be provided, or multiple photographing units 71 may be provided.

[0074] Furthermore, in this embodiment, the process execution unit 21 of the control device 10 includes a data management unit 72 and a data storage unit 73 in addition to the lift control unit 25. The data storage unit 73 functions as a storage medium, and the data management unit 72 manages data related to the baton 12, as will be described later, by executing at least a part of the processing executed by the process execution unit 21. The data management unit 72 acquires the video captured by the shooting unit 71. The data management unit 72 also acquires the date and time when the video was captured along with the captured video.

[0075] Furthermore, the data management unit 72 can acquire information indicating the name and type of the baton 12 as data related to the baton 12. The data management unit 72 can acquire information indicating the type, number, weight, etc. of equipment hung from the baton 12, such as lighting equipment and audio equipment.

[0076] The data management unit 72 also acquires information regarding the control of the operation of the winding machine 13 by the lift control unit 25, i.e., information regarding the control of the lifting and lowering of the baton 12 by the lift control unit 25. The data management unit 72 also acquires the detection results of the sensors 11 of the aforementioned parameters related to the state of the baton 12. For this reason, the data management unit 72 acquires information indicating the real-time state of the baton 12 and information related to the real-time state of the baton 12, etc. For example, the data management unit 72 acquires information indicating whether the baton 12 is stopped, and, if the baton 12 is moving, acquires information indicating whether it is ascending or descending. The data management unit 72 also acquires information indicating whether an abnormality has occurred in the baton 12. If an abnormality has occurred in the baton 12, the data management unit 72 acquires information indicating which sensor 11 detected the abnormality in the baton 12, etc.

[0077] In this embodiment, as in the previously described embodiments, the lift control unit 25 acquires parameters detected by the sensor 11 or parameters calculated using the parameters detected by the sensor 11 as judgment parameters for judging the state of the baton 12. The lift control unit 25 then determines that an abnormality has occurred in the baton 12 based on the fact that one or more of the judgment parameters are outside the normal range. Furthermore, if the lift control unit 25 determines that an abnormality has occurred in the baton 12 while the baton 12 is moving in the height direction, the lift control unit 25 slows down or stops the movement of the baton 12 in the height direction, as in the previously described embodiments.

[0078] Fig. 8 shows an example of processing performed by the processing execution unit 21 of the control device 10 in this embodiment. The processing in Fig. 8 is performed repeatedly over time while the baton 12 is moving (rising or descending) in the height direction, i.e., while the baton 12 is ascending or descending. In the example in Fig. 8, each of the sensors 11 detects acceleration along each of the three axes X, Y, and Z and angular velocity around each of the three axes X, Y, and Z (in the direction around the axis) at the attachment position on the baton 12, similar to the first embodiment and the like.

[0079] In the example process of FIG. 8 , similarly to the process of FIG. 4 , the lift control unit 25 and the like of the process execution unit 21 perform the processes of S41 to S45. Therefore, if the magnitude of at least one of the detected acceleration and angular velocity is greater than the threshold value (S43-No), the lift control unit 25 determines that an abnormality has occurred in the baton 12. Then, if it is determined that an abnormality has occurred in the baton 12, the lift control unit 25 slows down or stops the movement of the baton 12 along the height direction (S45). Also, in the example of FIG. 8 , if it is determined that an abnormality has occurred in the baton 12, the data management unit 72 stores, in the data storage unit 73, the video captured by the video capture unit 71 during a predetermined period including the time when the abnormality was detected (S81). Note that the predetermined period is a period during which the captured video is to be stored. The start point of the predetermined period is before the time when the abnormality was detected, and the end point of the predetermined period is after the time when the abnormality was detected.

[0080] Furthermore, if it is determined that an abnormality has occurred in the baton 12, the data management unit 72 stores log information related to the detected abnormality in the data storage unit 73, in addition to the video footage captured during the predetermined period. The log information related to the abnormality is stored in association with the captured video footage. Therefore, even if video footage is stored in the data storage unit 73 for multiple abnormalities that occurred at different times, it is possible to identify the corresponding log information for each of the multiple videos.

[0081] The log information regarding the abnormality includes information indicating the date and time when the abnormality in the baton 12 was detected. The date and time when the abnormality was detected can be identified based on the period during which the saved video was captured. The log information may also include information indicating the name and type of the baton 12 in which the abnormality occurred, as well as information indicating the type, number, and weight of the equipment suspended from the baton 12 in which the abnormality occurred. The log information also includes information indicating which sensor 11 detected the abnormality in the baton 12.

[0082] The log information includes information indicating the state of baton 12 when the abnormality was detected, information related to the state of baton 12 when the abnormality was detected, etc. Therefore, the log information includes information indicating whether baton 12 was ascending or descending when the abnormality was detected, information related to the movement speed (ascending speed or descending speed) of baton 12 when the abnormality was detected, etc.

[0083] In this embodiment, as in the above-described embodiments, the lifting / lowering control unit 25 controls the lifting / lowering of the baton 12 based on the detection results of the sensor 11 of the parameters related to the state of the baton 12. Therefore, the lifting / lowering of the baton 12 is appropriately controlled in accordance with the real-time state of the baton 12.

[0084] Furthermore, in this embodiment, when an abnormality in the baton 12 is detected by any of the sensors 11, the data management unit 72 saves the video captured by the filming unit 71 for a predetermined period of time, including the time the abnormality was detected. This allows users of the studio, stage, or other location where the baton 12 is installed to properly understand the situation of the baton 12 and the location where the baton 12 is installed before, during, and after the occurrence of the abnormality from the saved video. For example, even if equipment in a studio or other location is damaged due to an abnormality in the baton 12, users of the studio can properly understand the damage to the equipment from the saved video.

[0085] In this embodiment, in addition to the video captured during a predetermined period, including the time when the abnormality was detected, log information regarding the abnormality that occurred is also saved. Therefore, users of the location where the baton 12 is installed can more appropriately understand the situation at the time of the abnormality and the circumstances before, during, and after the occurrence based on the saved video and log information. Furthermore, the abnormality that occurred can be appropriately analyzed based on the log information.

[0086] (Modification of the third embodiment) Note that, as in the third embodiment and the like, the process of saving the video captured during a predetermined period including the time when the abnormality was detected and the log information related to the abnormality that occurred can be applied as appropriate to any control configuration that determines the occurrence of an abnormality in the baton 12 based on the detection result of the sensor 11. In one modified example, as in the second embodiment and the like, the difference in the distance to the reference height Aref between multiple positions of the baton 12 is used to determine the occurrence of an abnormality in the baton 12. In this case, as in the third embodiment and the like, when an abnormality in the baton 12 is detected, the data management unit 72 saves, in the data storage unit 73, the video captured during a predetermined period including the time when the abnormality was detected and the log information related to the abnormality that occurred.

[0087] According to at least one of these embodiments, a sensor detects the state of the baton, and the raising and lowering of the baton is controlled based on the detection result of the sensor. This makes it possible to provide a baton raising and lowering system that can appropriately determine the real-time state of the baton and appropriately control the raising and lowering of the baton.

[0088] Although several embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be embodied in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included within the scope and spirit of the invention, and are also included in the scope of the invention and its equivalents as defined in the claims. The following are additional notes. [1] With a liftable baton; a sensor for detecting a state of the baton; an elevation control unit that controls elevation and lowering of the baton based on the detection result of the sensor; A baton lifting system comprising: [2] the sensor is attached to the baton; The sensor detects at least one of acceleration along each of three mutually intersecting axes and angular velocity around each of the three axes at a position where the sensor is attached to the baton. [1] Baton lifting system. [3] The lifting control unit slows down or stops the movement of the baton along the height direction based on the magnitude of at least one of the acceleration along each of the three axes and the angular velocity around each of the three axes being greater than a threshold value. [2] Baton lifting system. [4] The baton lifting system of [1], wherein the sensor detects the vertical distance from the baton to a reference height. [5] The sensor detects a distance in the height direction from each of a plurality of positions of the baton that are different from one another to the reference height; the lifting control unit decelerates or stops the movement of the baton along the height direction based on a difference in the distance to the reference height between the plurality of positions being greater than a threshold value. [4] Baton lifting system. [6] A baton lifting system according to [4] or [5], wherein the lifting control unit slows down or stops the movement of the baton along the height direction based on the fact that the distance to the reference height cannot be detected by the sensor. [7] A photography unit that takes photos at the location where the baton is installed; a data management unit that stores the video captured by the image capture unit based on the detection result of the sensor; The baton lifting system of any one of [1] to [6], further comprising: [Explanation of symbols]

[0089] 1...Baton lifting system, 10...Control device (lifting control device), 11 (11A, 11B, 11C)...Sensor, 12...Baton, 13...Winding machine, 21...Processing execution unit, 25...Lifting control unit, 71...Photographing unit, 72...Data management unit, 73...Data storage unit.

Claims

1. a liftable baton; a wire connected to the baton; a pulley on which the wire is hung and which extends the hung wire downward in the height direction to the baton; a sensor attached to the pulley and configured to detect the distance in the height direction from the baton to a position where the baton is attached to the pulley, which is a reference height, as the state of the baton; an elevation control unit that controls elevation of the baton based on the detection result of the sensor; A baton lifting system comprising:

2. the sensor detects a distance in the height direction from each of a plurality of positions of the baton that are different from one another to the reference height; the lifting control unit decelerates or stops the movement of the baton along the height direction based on a difference in the distance to the reference height between the plurality of positions being greater than a threshold value. The baton lifting system of claim 1.

3. The baton lifting system of claim 1 or 2, wherein the lifting control unit slows down or stops the movement of the baton along the height direction based on the fact that the distance to the reference height cannot be detected by the sensor.

4. a photography unit that takes photographs at a location where the baton is installed; a data management unit that stores the video captured by the image capturing unit based on the detection result of the sensor; The baton lifting system of any one of claims 1 to 3, further comprising:

Images