Boom length estimation device and crane system

Abstract

To provide a boom length estimation device capable of estimating the length of a boom with less time and labor.SOLUTION: A boom length estimation device (100) estimates the length of a boom (12) that includes a plurality of unit booms (121). This device comprises an acquisition unit (51) that acquires information relating to the unit booms (121), and acquires, from the information acquired by the acquisition unit, a combination of types of the unit booms, a connection order of the unit booms or a length of each of the unit booms.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a boom length estimation device that estimates the length of a crane boom, and a crane system. [Background technology]

[0002] Patent Document 1 describes a device that detects boom length by measuring the resistance of a conductor stretched along the boom. In this device, each unit boom is provided with a separate conductor and a connector connected to the end of the conductor, and when multiple unit booms are connected together, the conductors are electrically connected via the connector. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Special Publication No. 56-30319 Summary of the Invention [Problem to be solved by the invention]

[0004] In the device for detecting the length of the boom in Patent Document 1, when connecting unit booms, the conductor wires must be connected with connectors, which is time-consuming.

[0005] An object of the present invention is to provide a boom length estimation device and a crane system that can estimate the boom length with minimal effort. [Means for solving the problem]

[0006] ( 1 ) The present invention Rubu The frame length estimation device is A boom length estimation device for estimating the length of a boom of a crane including a plurality of unit booms, an acquisition unit that acquires information related to the plurality of unit booms, a combination of types of the plurality of unit booms, a connection order of the plurality of unit booms, or lengths of the plurality of unit booms is acquired from the information acquired by the acquisition unit; the acquisition unit is an imaging unit that images the plurality of unit booms, Furthermore, the boom length estimation device an estimation unit that estimates the length of the boom using the image captured by the imaging unit, The photographing unit is positioned at a location on the crane that is higher than the top end of the boom when the boom is lowered. ( 2 ) Another boom length estimation device according to the present invention comprises: A boom length estimation device for estimating the length of a boom of a crane including a plurality of unit booms, an acquisition unit that acquires information related to the plurality of unit booms, a combination of types of the plurality of unit booms, a connection order of the plurality of unit booms, or lengths of the plurality of unit booms is acquired from the information acquired by the acquisition unit; the acquisition unit is an information acquisition unit that acquires usage information of the connecting member, an estimation unit that estimates a length of the boom based on the acquired usage information, Prepare further.

[0007] The crane system according to the present invention comprises: The boom length estimation device is provided. [Effects of the Invention]

[0008] According to the present invention, the length of the boom can be estimated with little effort. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a diagram showing a boom length estimation device and a crane according to a first embodiment of the present invention. FIG. [Figure 2] FIG. [Figure 3]FIG. 10 is a diagram showing a modified boom length estimation device and a crane. [Figure 4] FIG. 4 is a diagram showing a boom length estimation device and a crane according to a second embodiment of the present invention. [Figure 5] FIG. 10 is a diagram showing a boom length estimation device according to a third embodiment of the present invention. [Figure 6] 1A to 1C are explanatory diagrams showing first to third examples (A) to (C) of the relationship between the length of the boom and the usage state of the connecting member. [Figure 7] FIG. 10 is a diagram showing a crane according to a fourth embodiment. [Figure 8] FIG. 10 is an explanatory diagram showing an example of calculation of the amount of deflection. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, each embodiment of the present invention will be described in detail with reference to the drawings.

[0011] (Embodiment 1) FIG. 1 is a diagram showing a boom length estimation device and a crane according to a first embodiment of the present invention. A configuration in which the crane 1 and the boom length estimation device 100 are combined corresponds to a crane system according to the present invention. The crane 1 of the first embodiment includes a boom 12, a crane main body 20 that supports the boom, and a control unit 30 disposed in the crane main body 20. The crane main body 20 includes an upper rotating body 21 that rotatably supports the boom 12, and a lower structure 22 that rotatably supports the upper rotating body 21. The upper rotating body 21 includes a cab 21A where an operator is positioned to perform operation, and a mast 21C. The mast 21C supports a pulley 21B around which a wire rope for supporting the boom 12 is hung. The mast 21C is conceptually a non-swinging A-frame mast (gantry mast). The lower structure 22 may be a crawler-equipped traveling body or a fixed structure.

[0012] The control unit 30 includes a display unit 31 that displays information to the operator, a notification unit 32 that notifies the operator by display, sound, or both, an input operation unit 33 that inputs setting information from the operator, an estimation unit 34 that receives captured images and estimates the length of the boom 12, an operation monitoring unit 35 that monitors the operation of the crane 1 to ensure that it does not exceed a limit, and an information input unit 36 ​​that receives information from the mobile terminal 50. The information input unit 36 ​​may be configured to receive information by wireless communication or wired communication, or may be configured to receive information via a storage medium.

[0013] The control unit 30 is a computer equipped with a CPU (Central Processing Unit), a storage device that stores a control program, and an interface that inputs and outputs signals between the control unit 30 and each device of the crane 1. The control unit 30 is placed in the control room or driver's cab of the crane 1. The estimation unit 34 and the operation monitoring unit 35 may be software modules that are realized by the CPU executing a control program. Note that the estimation unit 34 of the control unit 30 may be provided in an external computer (such as a server computer) that is connected to the mobile terminal 50 or the computer of the crane 1 via a communication network, and may be configured to operate in cooperation with each other via communication.

[0014] The boom length estimation device 100 according to the first embodiment includes the above-described control unit 30 and a mobile terminal 50 including an image capturing unit 51. The image capturing unit 51 corresponds to an example of an acquisition unit according to the present invention.

[0015] The mobile terminal 50 has a photographing unit 51 that takes photographs. The owner of the mobile terminal 50 can photograph the boom 12 via the photographing unit 51 at a location away from the crane 1 and send the photographed image to the estimation unit 34 via the information input unit 36. The photographing unit 51 of the mobile terminal 50 may also be used as a photographing unit for measuring the working status of other construction machines at the work site. Note that the mobile terminal 50 may have the same functional configuration as the estimation unit 34, and may be configured to send the results of estimation by the estimation unit of the mobile terminal 50 to the control unit 30 via the information input unit 36.

[0016] FIG. 2 is a perspective view showing a unit boom.

[0017] The boom 12 is configured by connecting multiple unit booms 121 via connecting members (e.g., connecting pins). The multiple unit booms 121 include, as types of unit booms 121, a lower boom 121a rotatably connected to the crane body 20, an upper boom 121b having a point sheave 13, and an intermediate boom 121c connected between the lower boom 121a and the upper boom 121b. The point sheave 13 is a pulley on which a wire rope for suspending a load is hung. The intermediate boom 121c includes multiple types of intermediate booms 121c with different lengths. Hereinafter, the lower boom 121a, the upper boom 121b, and the multiple types of intermediate booms 121c will be referred to as multiple unit booms 121. The length of the boom 12 can be changed by changing the number of unit booms 121 connected and the type of unit booms 121 connected. Changing the length of the boom 12 changes the limit values ​​of several operating parameters, such as the moment that can be applied to the boom 12.

[0018] The estimation unit 34 receives the captured image of the connected booms 12, identifies which unit booms 121 are connected, and estimates the length of the booms 12.

[0019] The multiple unit booms 121 have identification marks M that identify the type of each unit boom 121. The identification marks M may be identification members m1 such as stickers or labels provided for type identification, or may be characteristic points such as the shape, number, and arrangement pattern of components m2 to m5 that have functions other than the function of identifying the type (components that ensure the strength of the unit boom such as cross members, diagonal members, and welded parts, components necessary for connection such as joint parts, and components for attaching other equipment to the boom 12 such as stays). The identification marks M have different characteristics for each length of the unit boom 121.

[0020] The estimation unit 34 stores in advance identification data for image recognition of the above-mentioned identification marks M, relationship data indicating the relationship between each identification mark M and the type of unit boom 121, and length information for each type of unit boom 121. The estimation unit 34 performs pattern recognition processing of the above-mentioned identification marks M from the captured image to determine the type of each unit boom 121 used in the boom 12. After determining the type, the estimation unit 34 reads out length information for each of the multiple unit booms 121 used in the boom 12 and estimates the length of the boom 12 by combining the lengths. Alternatively, the estimation unit 34 may have a machine-learned artificial intelligence unit that inputs a captured image having the identification marks M and outputs the length of the boom 12, and the length may be estimated by the artificial intelligence unit.

[0021] After estimating the length of the boom 12, the estimation unit 34 sends the estimated value of the length to the operation monitoring unit 35. Furthermore, the estimation unit 34 displays the estimated value of the length on the display unit 31. The display output may be continued from after the estimation until the capacity setting of the crane 1, which will be described later, is completed, or may be continued until the crane 1 is in operation.

[0022] The operation monitoring unit 35 performs capacity settings for the crane 1, such as before crane operation or during initial setup after the crane 1 is assembled. In capacity setting, data such as the length of the boom 12 and the number of stages of the counterweight mounted are input, and the operation monitoring unit 35 sets limit values ​​for several operation parameters of the crane 1 (such as the moment limit value of the boom 12) based on this information. During crane operation, the operation monitoring unit 35 monitors the operation of the crane 1 to ensure that each operation parameter of the crane 1 does not exceed the set limit value. If a certain operation parameter is about to exceed the limit value, the operation monitoring unit 35 restricts the operation of the crane 1 so that the limit value is not exceeded, or outputs warning information from the alarm unit 32.

[0023] When setting the capacity of the crane 1, the operator inputs length information of the boom 12 to the operation monitoring unit 35 via the input operation unit 33. Furthermore, the operation monitoring unit 35 receives length information of the boom 12 estimated from the estimation unit 34. If the length information input by the operator does not match the estimated length information, the operation monitoring unit 35 outputs warning information indicating the mismatch from the notification unit 32. Note that the operation monitoring unit 35 may receive the length information of the boom 12 from the estimation unit 34 and set the capacity of the crane 1 based on this information.

[0024] As described above, according to the crane 1 and boom length estimation device 100 of the first embodiment, the estimation unit 34 identifies each unit boom 121 based on a photographed image of the boom 12 and estimates the length of the boom 12. Therefore, compared to the conventional example in which conductor connectors are connected when connecting the unit booms 121, the length of the boom 12 can be estimated with less effort.

[0025] Furthermore, according to the boom length estimation device 100 of the first embodiment, the photographing unit 51 can photograph the multiple unit booms 121 included in the boom 12 at a location away from the crane 1. Therefore, a large area of ​​the boom 12, such as the entire boom 12, can easily be included in one photographed image. Such a photographed image makes it easier for the estimation unit 34 to identify each unit boom 121.

[0026] The photographing unit that photographs the boom 12 at a location away from the crane 1 is not limited to the photographing unit 51 of the mobile terminal 50, but may be, for example, a photographing unit (such as a digital camera) dedicated to photographing the boom 12. In this case, a drive unit that can translate, rotate, or both the photographing unit and the drive unit may be provided, and the boom 12 may be controlled by driving the drive unit so that it fits into the photographed image.

[0027] Furthermore, according to the boom length estimation device 100 of the first embodiment, the photographing unit 51 is included in the mobile terminal 50. Therefore, by moving the mobile terminal 50, it is possible to photograph the boom 12 from various directions, and it is also possible to include the entire boom 12 in a single photographed image by taking a long-distance photograph, or to include the identification mark M of each unit boom 121 in detail in a photographed image by taking a close-up photograph. These photographed images make it easier for the estimation unit 34 to identify each unit boom 121.

[0028] Furthermore, according to the crane 1 and boom length estimation device 100 of the first embodiment, the unit boom 121 has an identification mark M, and the estimation unit 34 determines the length of the boom 12 based on the identification of the identification mark M. Therefore, even if the entire boom 12 is not included in a single captured image, it is possible to estimate the length of the boom 12, and restrictions on photographing the boom 12 are less likely to arise. Furthermore, by identifying the identification mark M, the accuracy of estimating the length of the boom 12 can be improved.

[0029] Furthermore, according to the crane 1 and boom length estimation device 100 of the first embodiment, the identification mark M of the unit boom 121 is different for each length of the unit boom 121. Therefore, the estimation unit 34 can determine the length of each unit boom 121 simply by identifying the identification mark M, and can estimate the length of the boom 12 easily and with high accuracy by combining the individual lengths.

[0030] (Variation) Fig. 3 is a diagram showing a modified boom length estimation device and crane. The modified boom length estimation device 100 includes, instead of or in addition to the portable terminal 50 having the photographing unit 51 of the portable terminal 50, photographing units 41a to 41c attached to components of the crane 1. The other components are the same as those in the embodiment of Fig. 1. The crane 1 may include all or any one of the photographing units 41a to 41c.

[0031] The photographing units 41a to 41c are, for example, two-dimensional cameras having an optical system and an area image sensor, or three-dimensional cameras having multiple area image sensors. The photographing units 41a to 41c are attached via a drive unit 42 that can translate, rotate, or perform both of these actions on the photographing units 41a to 41c. The drive unit 42 allows the photographing range of the photographing units 41a to 41c to be changed even if the boom 12 elevation angle changes or the boom 12 becomes longer, so that the entire boom 12 can be captured in one or more photographed images. The photographed images of the boom 12 obtained by the photographing units 41a to 41c are sent to the estimation unit 34.

[0032] The photographing units 41a and 41b are positioned higher than the upper end of the boom 12 when the boom 12 is lowered. "Lowered" refers to a state in which the boom 12 is at a hoisting angle of zero degrees (horizontal angle) or less when the crane 1 is placed on level ground. Before crane operation, during initial setup when the crane 1 is assembled and the capacity of the crane 1 is set, the boom 12 is often in a lowered position. By positioning the photographing units 41a and 41b as described above, it becomes possible to take photographs that make it easy to identify the identification marks M on each unit boom 121 when the boom 12 is lowered. Therefore, when photographing the boom 12 during initial setup of the crane 1 and the estimation unit 34 estimates its length, it is easy to obtain photographed images suitable for estimation.

[0033] The photographing unit 41a is attached to the upper part of the cab 21A (preferably, the front side of the upper part). The photographing unit 41b is attached to the upper part of the mast 21C (preferably, the front side of the upper part). The front side means the tip side of the boom 12 in the lowered position. The mast 21C corresponds to an example of a pulley support unit according to the present invention. By arranging the photographing units 41a and 41b as described above, it is possible to photograph the boom 12 in the lowered position and obtain a photographed image in which the identification mark M of each unit boom 121 is easily identified. Furthermore, the positioning of the photographing unit 41b makes it easy to fit the entire boom 12 or a large area of ​​the boom in a single photographed image.

[0034] The photographing unit 41c is attached to the tip of the boom 12 and is also used as a suspended load photographing unit that photographs monitoring footage of the suspended load. The photographing unit 41c may be used to photograph the boom 12 for length estimation when the boom 12 is in an upright position. This dual use reduces the amount of equipment and wiring required to estimate the length of the boom 12, thereby reducing the component costs of the crane 1 and the length estimation device 100.

[0035] The modified crane 1 and boom 12 length estimation device 100 can also estimate the length of the boom 12 with less effort than the conventional example in which a conductor connector is connected when the unit booms 121 are connected.

[0036] (Embodiment 2) 4 is a diagram showing a boom length estimation device and a crane according to a second embodiment of the present invention. The crane and the length estimation device for the boom 12 according to the second embodiment differ in the information used to estimate the length, the means for acquiring this information, and the length estimation method used by the estimation unit 34, but the other components are the same as those of the first embodiment.

[0037] The crane 1A and length estimation device of embodiment 2 include a positioning unit 45 located at the tip of the boom 12 and a positioning unit 46 located at the crane body 20. The combination of the crane 1A and the boom length estimation device corresponds to the crane system of the present invention. The positioning units 45, 46 correspond to an example of an acquisition unit of the present invention. The positioning units 45, 46 are positioning devices that receive signals from, for example, positioning satellites and calculate position information. The positioning units 45, 46 acquire position information of the locations where the positioning units 45, 46 are located, i.e., position information of the tip of the boom 12 and position information of the crane body 20, and send the acquired position information to the estimation unit 34.

[0038] The estimation unit 34 estimates the length of the boom 12 from the difference between the position information of the tip of the boom 12 and the position information of the crane body 20.

[0039] If the upper boom 121b has only one length, the positioning unit 45 may be disposed at a predetermined location on the upper boom 121b, such as at the base (connecting portion) or midpoint of the upper boom 121b, rather than at the tip of the boom 12. Alternatively, the positioning unit 45 may be disposed on a connecting member (for example, a connecting pin) that connects the upper boom 121b to another unit boom 121.

[0040] Furthermore, when the lower boom 121a has only one length, the positioning unit 46 may be disposed at any location on the lower boom 121a, rather than on the crane body 20. Alternatively, the positioning unit 46 may be disposed on a connecting member (for example, a connecting pin) that connects the lower boom 121a to another unit boom 121.

[0041] In such an arrangement, information on the length from positioning unit 45 to the tip of boom 12 and information on the length from positioning unit 46 to the rotation end of boom 12 are registered in advance in estimation unit 34. Based on the position information of positioning units 45, 46, estimation unit 34 can estimate the length of boom 12 using pre-registered information on the length from the rotation end of boom 12 to positioning unit 46, the distance from positioning unit 46 to positioning unit 45, and pre-registered information on the length from positioning unit 45 to the tip of boom 12.

[0042] If the hoisting angle of the boom 12 can be changed when estimating the length of the boom 12, the positioning unit 46 of the crane body 20 may be omitted. In this case, the positioning unit 45 located on the upper boom 121b sends position information measured at three or more times when the hoisting angle of the boom 12 is different to the estimation unit 34. Furthermore, the estimation unit 34 calculates the rotation center of the boom 12 from the position information measured at three or more times when the hoisting angle of the boom 12 is different, and estimates the length of the boom 12 from the rotation center and the measured position information. With this configuration, the positioning unit 45 is not limited to a positioning device that can measure absolute positions on Earth, but may also be a positioning device that measures relative positions from acceleration, etc.

[0043] The crane 1A and boom 12 length estimation device of the second embodiment can also estimate the length of the boom 12 with less effort than the conventional example in which a conductor connector is connected when the unit booms 121 are connected.

[0044] (Embodiment 3) Fig. 5 is a diagram showing a boom length estimation device according to a third embodiment of the present invention. Fig. 6 is an explanatory diagram of first example (A) to third example (C) showing the relationship between the boom length and the usage status of the connecting member. The length estimation device 100B of the crane and boom 12 according to the third embodiment differs in the information used to estimate the length, the means for acquiring this information, and the length estimation method used by the estimation unit 34, but the other components are the same as those of the first embodiment. A configuration in which a crane and boom length estimation device 100B are combined corresponds to the crane system according to the present invention.

[0045] The crane and length estimation device 100B of the third embodiment has a storage section 80 in which a plurality of connecting members (for example, connecting pins) 71 for connecting a plurality of unit booms 121 together are stored when the connecting members 71 are not in use.

[0046] The multiple connecting members 71 include multiple sections of connecting members 71 that are classified according to the lengths of the unit booms 121 to be connected. Each section of the connecting members 71 is determined by the length of the two unit booms 121 to be connected. For example, of the two unit booms 121 to be connected, the connecting members 71 are classified according to the length of the unit boom 121 closest to the rotation end and the length of the unit boom 121 closest to the tip, such as "3-6" for 3 m and 6 m, or "6-3" for 6 m and 3 m. Each section of the connecting members 71 is provided with an indication mark N1 that identifies the section. Instead of the indication mark N1, the connecting members 71 may have a shape that identifies the lengths of the unit booms to be connected. The shape may function when connecting the unit booms 121 so that only unit booms of the corresponding length can be connected.

[0047] The storage section 80 has a plurality of storage spaces corresponding to the plurality of sections of the connecting members 71, and is configured so that a connecting member 71 of a certain section is stored in the storage space of the corresponding section. When an attempt is made to store a connecting member 71 of a different section in a storage space of a certain section, a warning may be output, or the shape of the storage space may be such that it cannot be stored.

[0048] The storage unit 80 is provided with a detection unit 82 that detects the usage status of the connecting members 71. The detection unit 82 may be, for example, a sensor that detects the presence or absence of connecting members 71 provided in the storage space of each connecting member 71, or a weighing scale that measures the total weight of connecting members 71 stored in each storage space. Based on the detection by the detection unit 82, usage information indicating how much of each section of connecting member 71 has been used is sent from the storage unit 80 to the estimation unit 34. The storage unit 80 is arranged in the crane 1 (for example, in its tool closet). The detection unit 82 corresponds to an example of an acquisition unit and an information acquisition unit of the present invention.

[0049] The estimation unit 34 estimates the length of the boom 12 from the usage information of the connecting members 71. The following describes a case where the lower boom 121a and the upper boom 121b have only one length (for example, 6 m). As shown in FIG. 6(A), when one set of connecting members 71 in the "6-3" category, one set of connecting members 71 in the "3-9" category, and one set of connecting members 71 in the "9-6" category are used, the length of the unit boom 121 being used can be uniquely determined by calculating the order in which the connecting members 71 of each category are arranged so that one end and the other end are 6 m. The order in which the connecting members 71 are arranged corresponds to information indicating the order in which the multiple unit booms 121 are connected. The estimation unit 34 calculates the order in which the connecting members 71 are arranged, calculates the length of the unit booms 121 being used, and adds up the calculated lengths to estimate the length of the boom 12. Similarly, in the cases of FIGS. 6(B) and 6(C), the estimation unit 34 can estimate the length of the boom 12 from the usage information of the connecting member 71.

[0050] If there are multiple types of lower booms 121a with different lengths, the connecting members 71 may be classified according to the length of the two unit booms to be connected and whether they are for connecting the lower booms 121a. If there are multiple types of upper booms 121b with different lengths, the connecting members 71 may be classified according to the length of the two unit booms to be connected and whether they are for connecting the upper booms 121b. By adopting such classifications, the estimation unit 34 can estimate the length of the boom 12 based on the usage information of the connecting members 71, even if there are multiple types of lower booms 121a and upper booms 121b with different lengths.

[0051] The crane and boom 12 length estimation device 100B of the third embodiment can also estimate the length of the boom 12 with less effort than the conventional example in which a conductor connector is connected when the unit booms 121 are connected.

[0052] (Embodiment 4) In the cranes 1 and 1A of the first to third embodiments described above, the length of the boom 12 is set and input, and the operation monitoring unit 35 determines limit values ​​for several operation parameters based on the information about the length of the boom 12. However, as the boom 12 becomes longer and the load of the suspended load increases, the boom 12 bends. Therefore, the amount of deflection of the boom 12 may be measured, and the operation monitoring unit 35 may determine limit values ​​for several operation parameters including the effects of the deflection, and monitor each operation parameter.

[0053] FIG. 7 is a diagram showing a crane 1C according to a fourth embodiment, which includes a boom deflection measurement device. The crane 1C and deflection measurement device 100C of the fourth embodiment include a distance measurement unit 61 located at the tip of the boom 12 and a calculation unit 63 that calculates the amount of deflection of the boom 12 based on the distance measurement results of the distance measurement unit 61. The crane 1C and deflection measurement device 100C also include a boom hoisting angle detection unit 62 that measures the rotation angle (hoisting angle) around the rotation axis at the end of the boom 12. The calculation unit 63 calculates the amount of deflection of the boom 12 using the measurement results of the boom hoisting angle detection unit 62. The calculation unit 63 is provided as a software module in the control unit 30 of the crane 1C. The control unit 30 is located in the control room or driver's cab of the crane 1C.

[0054] The distance measuring unit 61 is, for example, a laser displacement meter, and measures the distance between the tip of the boom 12 and a reflective surface (for example, the ground) vertically below. The elevation angle detecting unit 62 may be an angle sensor or an inertial measurement unit (IMU).

[0055] 8 is an explanatory diagram showing an example of how to calculate the amount of deflection. The calculation unit 63 receives the distance H0 to the reference plane S below the vertical plane measured by the distance measuring unit 61 when the boom 12 is at a hoisting angle θ and is unloaded (no suspended load), and the distance H1 to the reference plane S below the vertical plane measured by the distance measuring unit 61 when the boom 12 is at the same hoisting angle θ and is loaded (with suspended load).

[0056] The calculation unit 63 first calculates the amount of descent ΔH (=H0-H1) of the tip of the boom 12 due to deflection. The deflection angle α of the boom 12 changes depending on the distance δ1 between the two points A0 and A1 of the tip of the boom 12 (the distance between the two points when there is no deflection) and is calculated based on the linear elastic equation f D Using a known equation, it can be calculated as in the following equation (1). α=f D (δ1) (1) In addition, the distance δ1 between the two points of the tip portions A0 and A1, the amount of deflection δ0, the lengths L0 and L1 of the components along the hoisting angle θ of the boom 12 when there is no deflection and when there is deflection, and the hanging point radius R of the boom 12 are related by the following equations (2) to (4). L1=L0-δ1 sinα (2) δ0=δ1 cosα (3) R=L1 cosθ + δ0 sinθ (4) Furthermore, since there is a predetermined relationship between the distance δ1 between the two points and the amount of descent ΔH of the tip due to deflection, the amount of deflection δ0 and the hanging point radius R of the boom 12 can be expressed as a function of the amount of descent ΔH from the above equations, as shown in the following equations (5) and (6). δ0=f C (ΔH) (5) R=f R (ΔH) (6)

[0057] The calculation unit 63 calculates the function f C , f R and this function f C , f R The calculation unit 63 applies the amount of descent ΔH due to deflection obtained from the measurement results of the distance measurement unit 61 to calculate the amount of deflection δ0 of the boom 12 and the suspension point radius R. The calculation unit 63 sends the calculated amount of deflection δ0 and suspension point radius R to the operation monitoring unit 35.

[0058] The deflection measurement device 100C described above calculates the deflection amount using the difference ΔH in distance between the tip of the boom 12 and the reference plane S below it in the unloaded state and the loaded state. Therefore, even if there is a depression in the reference plane S or a difference in elevation between the installation surface of the crane 1C and the reference plane S, the difference ΔH in distance to the reference plane S is not affected, and the deflection amount can be calculated. Therefore, the deflection amount can be calculated even if the crane 1C is not placed on a completely flat surface. Furthermore, because there are few obstacles between the tip of the boom 12 and the reference plane S, distance measurement by the distance measurement unit 61 is not easily obstructed. Furthermore, by recognizing the deflection amount, the control unit 30 of the crane 1 can accurately calculate the coordinates of the tip of the boom 12, thereby further improving the accuracy of control to suppress swing of the suspended load. Furthermore, because the control unit 30 can accurately calculate the suspension point radius R, the accuracy of estimating the movement path of the suspended load can be further improved.

[0059] The above describes the various embodiments of the present invention. However, the present invention is not limited to the above embodiments. For example, in the above embodiments, an example was shown in which the object of length estimation was a boom rotatably connected to the crane body 20. However, if the crane has a first boom (e.g., a tower boom) rotatably connected to the crane body and a second boom (e.g., a jib) rotatably connected to the first boom, the object of length estimation may be the first boom, the second boom, or both. In addition, the details shown in the embodiments can be modified as appropriate without departing from the spirit of the invention. [Explanation of symbols]

[0060] 1. 1C Crane 12. Boom 20 Crane body 21A Cab 21B Pulley 21C Mast 30 Control Unit 31 Display section 32 Information Department 33 Input operation section 34 Estimation part 35 Operation Monitoring Department 36 Information input section 41a~41c Photography Department 42 Drive unit 45, 46 Positioning unit 50 Mobile Devices 51 Photography Department 61 Ranging section 62 Elevation angle detection unit 63 Calculation section 71 Connecting member N1 display mark 80 Storage area 82 Detection unit 121 unit boom 100, 100B Length estimation device M Identification mark

Claims

1. A boom length estimation device for estimating the length of a boom of a crane including a plurality of unit booms, an acquisition unit that acquires information related to the plurality of unit booms, a combination of types of the plurality of unit booms, a connection order of the plurality of unit booms, or lengths of the plurality of unit booms is acquired from the information acquired by the acquisition unit; the acquisition unit is an imaging unit that images the plurality of unit booms, Furthermore, the boom length estimation device an estimation unit that estimates the length of the boom using the image captured by the imaging unit, The photographing unit is disposed at a position on the crane that is higher than the upper end of the boom when the boom is lowered. Boom length estimation device.

2. The photographing unit is also used as a suspended load photographing unit for monitoring the suspended load. The boom length estimation device according to claim 1.

3. The unit boom has an identification mark, the estimation unit estimates the length of the boom based on the identification of the identification mark, The boom length estimation device according to claim 1 or 2.

4. A boom length estimation device for estimating the length of a boom of a crane including a plurality of unit booms, an acquisition unit that acquires information related to the plurality of unit booms, a combination of types of the plurality of unit booms, a connection order of the plurality of unit booms, or lengths of the plurality of unit booms is acquired from the information acquired by the acquisition unit; the acquisition unit is an information acquisition unit that acquires usage information of the connecting member, an estimation unit that estimates a length of the boom based on the acquired usage information, A boom length estimation device is also provided.

5. the usage information includes length information of the two unit booms connected by the connecting member. The boom length estimation device according to claim 4.

6. the information acquisition unit acquires the usage information from a storage unit in which the connecting member is stored when not in use. The boom length estimation device according to claim 4 or 5.

7. A crane system equipped with a boom length estimation device described in claim 1 or claim 4.

Images