Crane control system and crane control method

Abstract

Provided are a crane equipment control system and a crane equipment control method that are capable of preventing an accident, a disaster, or the like caused by crane equipment. This crane equipment control system 100 comprises crane equipment 200, a detection device 300 that detects whether or not there is a person in a detection area below the crane equipment 200, and a control device 240 that controls the crane equipment 200 and the detection device 300. If the detection device 300 determines that there is a person in a specific area within the detection area, the control device 240 stops movement of the crane equipment 200 according to a positional relationship between the crane equipment 200 and the specific area, and then controls movement of the crane equipment 200 according to the positional relationship between the crane equipment 200 and the specific area.

Description

[Technical Field]

[0001] The present invention relates to a crane apparatus control system and a crane apparatus control method. [Background technology]

[0002] Crane devices have been used to lift heavy loads at work sites such as factories and warehouses. In order to prevent accidents and disasters (hereinafter referred to as "accidents") caused by crane devices at work sites, accident prevention devices that issue warnings, for example, have been proposed (see, for example, Patent Document 1).

[0003] In addition, workers working at the work site and those operating the crane equipment (hereinafter referred to as operators) follow safety rules such as not getting under the suspended load or standing in the direction of the crane equipment's movement. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 04-298497 Summary of the Invention [Problem to be solved by the invention]

[0005] However, accidents caused by cranes still occur. For example, when an operator operates a crane using a controller, the operator may mistakenly operate the controller. Misoperation can cause the crane to move toward the operator, potentially resulting in the operator being pinned between the load and a wall. Furthermore, there may be other workers in a position that the operator cannot see (a blind spot), and the operator may move the crane without noticing the worker in the blind spot, resulting in an accident such as contact or collision between the crane and the worker. Therefore, there is a need for a crane control system that prevents accidents caused by cranes from occurring, even when the operator makes an operation mistake or when other workers are in the operator's blind spot.

[0006] The present invention has been made in view of the above circumstances, and an exemplary object of the present invention is to provide a crane control system and a crane control method that can prevent accidents, disasters, and the like caused by crane apparatuses. [Means for solving the problem]

[0007] In order to solve the above-mentioned problems, the present invention has the following configuration.

[0008] (1) a crane device; a detection device that detects the presence or absence of a person in a detection area below the crane device; a control device that controls the crane device and the detection device; Equipped with When the detection device determines that a person is present in a specified area within the detection area, the control device stops the movement of the crane device in accordance with the positional relationship between the crane device and the specified area, and then controls the movement of the crane device in accordance with the positional relationship between the crane device and the specified area.

[0009] (2) A crane control method using the crane control system described in (1), a detection step of detecting whether or not a person is present in a predetermined area within the detection area by the detection device; a stopping step of stopping the movement of the crane apparatus by the control device in accordance with a positional relationship between the crane apparatus and the predetermined area when it is determined that a person is present in the detection step; a moving step of moving the crane apparatus according to a positional relationship between the crane apparatus and the predetermined area by the control device; A crane apparatus control method comprising:

[0010] Further objects and other features of the present invention will become apparent from the following description of preferred embodiments with reference to the accompanying drawings. [Effects of the Invention]

[0011] According to the present invention, it is possible to provide a crane control system and a crane control method that can prevent accidents, disasters, and the like caused by a crane apparatus. [Brief explanation of the drawings]

[0012] [Figure 1] FIG. 1 is a schematic diagram showing the overall configuration of a crane control system according to first to third embodiments. [Figure 2] FIG. 1 is a perspective view showing a crane apparatus according to first to third embodiments; [Figure 3] Schematic diagram showing a controller device of the crane apparatus according to the first to third embodiments. [Figure 4] Schematic diagram showing a crane apparatus and a detection device according to first to third embodiments. [Figure 5] Block diagram of a crane control system according to a first embodiment. [Figure 6] 1A is a schematic diagram illustrating an imaging area of ​​a first embodiment, and FIGS. 1B and 1C are schematic diagrams illustrating the relationship between a detection area and a moving direction of a crane device. [Figure 7] 1 is a flowchart showing a crane device control method according to a first embodiment. [Figure 8] (a) A schematic diagram illustrating a detection area of ​​the second embodiment, and (b) A schematic diagram illustrating a warning device of the third embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0013] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In the following description, a work site includes, for example, a factory, a warehouse, a construction site, a container terminal, etc., and also includes a place where a suspended load is stored for a certain period of time and an intermediate warehouse where a suspended load is temporarily stored. The suspended load also includes heavy objects such as coils that are lifted and moved by a crane apparatus. The suspended load may be stored indoors or outdoors, as long as there is equipment that can control the crane apparatus.

[0014] Furthermore, when the crane apparatus moves horizontally, a predetermined position at the work site is represented, for example, by two-dimensional coordinates (hereinafter referred to as "2D coordinates") and controlled by a known method. In this case, the 2D coordinates will be described as, for example, a Cartesian coordinate system; however, other coordinate systems, such as a polar coordinate system, may be used as long as they can identify a predetermined position in two-dimensional space. In the Cartesian coordinate system, a traveling direction (x direction) is defined as a first direction in a horizontal plane, and a traverse direction (y direction) is defined as a second direction in the horizontal plane that is approximately perpendicular to the first direction. A lifting direction (z direction) is also used as a third direction that is approximately perpendicular to the traveling direction and the traverse direction (i.e., the horizontal direction). Note that the direction of the traveling rails of the crane apparatus, which will be described later, is defined as the traveling direction, and the direction of the traverse rails is defined as the traverse direction.

[0015] [Embodiment 1] <Crane control system> The crane control system of the first embodiment is a system that, when a crane is moving in a predetermined direction and detects the presence of a person in a predetermined area, controls the crane so as not to move in the direction of the person. FIG. 1 is a schematic diagram illustrating the crane control system 100 of the first embodiment. FIG. 1 is a schematic plan view of a work site 900 viewed from the ceiling (not shown), showing the crane control system 100 of the first embodiment at the work site 900, a suspended load 800 placed on the floor 914, and a worker 700. Note that the suspended load 800 is represented by a black rectangle, but only a portion of it is labeled with a reference number. The worker 700 is depicted in a front view and a side view for clarity. In the following description, the worker 700 who operates the crane is specifically referred to as the "operator."

[0016] FIG. 1 also shows a direction symbol, a traveling direction (x direction), and a traversing direction (y direction). The work site 900 of the first embodiment is a facility in which the traveling direction is north-south and the traversing direction is east-west, but the arrangement of the traveling and traversing directions in north-south-east-west is not limited. The size ratios and relative distances of the components shown in FIG. 1 do not necessarily represent the actual size ratios and relative distances. Furthermore, the arrangement of the components is not limited to the state shown in FIG. 1. The crane control system 100 of the first embodiment includes a crane apparatus 200 and a detection device 300. The work site 900 has a floor 914.

[0017] <Crane equipment> 2 is a perspective schematic diagram showing the overall configuration of a crane apparatus 200 according to embodiment 1. The crane apparatus 200 is an apparatus, such as an overhead crane, for lifting and transporting a load 800 at a work site 900. Note that the crane apparatus 200 is not limited to an overhead crane, and may be a crane of another configuration.

[0018] The crane apparatus 200 has a saddle 210 as a first moving means, a crab 220 as a second moving means, a hoisting section (hoisting device) 230 as a third moving means, a control device 240, a drive unit 290 (see FIG. 5), and an operation unit 295 (see FIG. 3). At the installation location of the crane apparatus 200, there are also installed traveling rails 250 along which the saddle 210 travels in a traveling direction, and girders 260a and traverse rails 260b along which the crab 220 travels (traverses) in a traverse direction. In addition, a wire rope 270 and a hook unit 280 are also used to lift the load 800.

[0019] The saddle 210 is a movable body configured to be movable linearly along the traveling direction in a horizontal plane (indicated by the white arrow in the figure). A traveling rail 250 is laid so as to extend along the traveling direction, and the saddle 210 can be moved back and forth on the traveling rail 250 by a drive unit 290 based on a control command from a control device 240.

[0020] A girder 260a is installed on the saddle 210. The girder 260a extends in the lateral direction in a horizontal plane, and a lateral rail 260b is installed on top of the girder 260a and extends in the same direction as the girder 260a. Therefore, the lateral rail 260b can also move back and forth linearly along the traveling direction together with the saddle 210. The crab 220 is a movable body configured to be movable on the lateral rail 260b (white arrow in the figure). The crab 220 can move back and forth on the lateral rail 260b along the lateral direction by a drive unit 290 based on a control signal from the control device 240.

[0021] In the first embodiment, the saddle 210 is described as the first moving means and the club 220 as the second moving means, but this is not limiting. For example, the club 220 may be the first moving means that moves along a first direction (traveling direction), and the saddle 210 may be the second moving means that moves along a second direction (traverse direction). Whether the saddle 210 or the club 220 is the first moving means or the second moving means is a matter of definition and a design matter. Similarly, whether the first direction or the second direction is the x-direction or the y-direction is also a matter of definition and a design matter.

[0022] A hoisting unit 230 is installed on the crab 220. The hoisting unit 230 is capable of freely moving together with the crab 220 in the traveling direction and lateral direction within a horizontal plane. As shown in FIG. 2, the hoisting unit 230 has a hoist drum 232. The hoist drum 232 is a rotating body that can hoist and lower (indicated by the white arrow in the figure) a wire rope 270 for hoisting a load 800, and is connected to a motor that the drive unit 290 has, so that it can rotate forward and backward based on a control command from the control device 240.

[0023] A hook unit 280, which is a suspending means for suspending a load 800 or a sling wire (not shown) attached to the load 800, is moored to the wire rope 270. The hook unit 280 has a hook portion 282 for suspending the load 800 or the sling wire, and a sheave 284 for mooring the hook unit 280 to the wire rope 270. In the first embodiment, the hook unit 280 holds, for example, two sheaves 284 in parallel, and the wire rope 270 is wound around each of the sheaves 284. Note that the hook unit 280 may be any device as long as it is capable of hoisting and lowering the load 800, and may be replaced with, for example, a coil lifter.

[0024] The control device 240 controls the crane apparatus 200 and the detection device 300. The control device 240 can transmit and receive information to and from a control unit 330 (described later) of the detection device 300 via a wired or wireless communication network (not shown), and controls various operations of the crane apparatus 200. The control device 240 controls the vertical movement, horizontal movement, stopping, etc. of the crane apparatus 200 according to instructions input from the operation unit 295. The control device 240 includes, for example, a CPU, a ROM, a RAM, a timer, etc. The control device 240 controls the crane apparatus 200 by using the RAM as a temporary work area in accordance with various programs stored in the ROM, monitoring various timings with a timer, and performing various calculations with the CPU. Note that, in the first embodiment, the control device 240 is configured to include a CPU, but is not limited thereto. For example, the control device 240 may be a programmable logic controller (PLC), etc. Furthermore, the control device 240 may be an analog circuit such as a relay circuit. That is, the control device 240 may be configured to perform sequence control using software or hardware.

[0025] (Operation unit) The operation unit 295 is, for example, a controller device operated by an operator, and is used when operating the crane apparatus 200. The operation unit 295 is, for example, a wireless (for example, a telecontroller) or wired (for example, a pendant) controller device. Fig. 3 is a diagram showing the operation unit 295. Fig. 3(a) shows a case where the operation unit 295 is a controller device for operating the crane apparatus 200 wirelessly, such as a telecontroller, and Fig. 3(b) shows a case where the operation unit 295 is a controller device for operating the crane apparatus 200 wired, such as a pendant.

[0026] Each operation unit 295 has an up button 295a, a down button 295b, an east button 295c, a west button 295d, a south button 295e, and a north button 295f. When the up button 295a is pressed, the control device 240 causes the hoist drum 232 to wind up the wire rope 270 and move the hook unit 280 upward. The up button 295a is used, for example, when lifting (raising) the load 800. When the down button 295b is pressed, the control device 240 causes the hoist drum 232 to wind down the wire rope 270 and move the hook unit 280 downward. The down button 295b is used, for example, when lowering (lowering) the load 800.

[0027] When the east button 295c is pressed, the control device 240 moves the club 220 east in the east-west direction (traverse direction). When the west button 295d is pressed, the control device 240 moves the club 220 west in the east-west direction (traverse direction). In embodiment 1, the east button 295c and the west button 295d are used when moving the hook unit 280 (or the load 800) in the east-west direction. When the south button 295e is pressed, the control device 240 moves the saddle 210 south in the north-south direction (traveling direction). When the north button 295f is pressed, the control device 240 moves the saddle 210 north in the north-south direction (traveling direction). In embodiment 1, the south button 295e and the north button 295f are used when moving the hook unit 280 (or the load 800) in the north-south direction. In the following description, it is assumed that the operator operates the crane apparatus 200 while facing north.

[0028] The operation unit 295 also allows multiple buttons, for example, two buttons, to be pressed approximately simultaneously. For example, when the east button 295c and the north button 295f are pressed approximately simultaneously, the crane apparatus 200 moves in a northeasterly direction. That is, the crane apparatus 200 moves diagonally forward and to the right, with the hook unit 280 as the reference point, as seen from the operator. Furthermore, when the west button 295d and the south button 295e are pressed approximately simultaneously, the crane apparatus 200 moves in a southwesterly direction. That is, the crane apparatus 200 moves diagonally backward and to the left, with the hook unit 280 as the reference point, as seen from the operator.

[0029] Although the operation unit 295 has a configuration including buttons corresponding to up / down and north / south / east / west as shown in FIG. 3 , this configuration is not limiting. For example, instead of north / south / east / west, buttons may be left / right / front / back. The operation unit 295 may further include a start button for transmitting to the control device 240 a command to start control of the crane apparatus 200, an end button for transmitting to the control device 240 a command to end control of the crane apparatus 200, a lock button for prohibiting button operation, and the like. The operation unit 295 may also be a known input means (not shown), such as a keyboard or mouse. The operation unit 295 may also be a device that controls an object (the crane apparatus 200 in this case) using voice recognition such as a microphone, or a device that controls an object using an eye tracking device. The crane control system 100 may also include a display unit (not shown), such as a display that displays the status of the crane apparatus 200 and the detection device 300.

[0030] The drive unit 290 has known drive means and transmission means (not shown) such as a motor, a cylinder, a clutch, a gear, etc. for driving the saddle 210, the crab 220, and the hoist drum 232.

[0031] <Detection device> The detection device 300 detects the presence or absence of a person in a detection area (described later) below the crane apparatus 200. FIG. 4 is a front view showing the configuration of the crane apparatus 200 and the detection device 300, and also shows the lateral direction (east and west). The detection device 300 is disposed on the club 220 and has an imaging unit that captures images of the detection area below the club 220. The detection area is divided into multiple predetermined areas based on the position of the hook unit 280, and the detection device 300 detects the presence or absence of a person in each of the multiple predetermined areas. The detection device 300 has a camera 310, a support unit 312, an image analysis unit 320 (see FIG. 5), and a control unit 330 (see FIG. 5). The camera 310, which is the imaging unit, is attached to the crane apparatus 200 via the support unit 312. Specifically, two cameras 310a and 310b are attached to the club 220 of the crane apparatus 200 via supports 312a and 312b. It should be noted that the camera 310 may be attached directly to the crane apparatus 200 without using the support part 312 .

[0032] The imaging unit includes a first imaging unit disposed at one end of the club 220 in the lateral movement direction and a second imaging unit disposed at the other end of the club 220 in the lateral movement direction. Camera 310a, which is the first imaging unit, is attached to one end of the club 220 in the lateral movement direction (e.g., the right side (east side)) via support 312a so as to be able to image areas below the club 220, i.e., with its field of view facing downward. Camera 310b, which is the second imaging unit, is attached to the other end of the club 220 in the lateral movement direction (e.g., the left side (west side)) via support 312b so as to be able to image areas below the club 220, i.e., with its field of view facing downward. Cameras 310a and 310b each have a viewing angle (field of view) θ, for example. In FIG. 4, the ranges of the fields of view of cameras 310a and 310b are indicated by dashed lines. In the first embodiment, the camera 310a and the camera 310b have the same viewing angle θ, but the camera 310a and the camera 310b may have different viewing angles.

[0033] Furthermore, camera 310b is positioned so as to eliminate a blind spot for camera 310a. Camera 310a may also be positioned so as to eliminate a blind spot for camera 310b. For example, as shown in FIG. 4, cameras 310a and 310b are positioned so that their fields of view partially overlap. This allows the detection device 300 to detect a worker 700 even if the worker 700 is located below the hook portion 282. Note that if the hook portion 282 does not interfere with the detection of the worker 700, only one camera 310 may be provided. Furthermore, three or more cameras 310 may be provided. Information on images captured by the two cameras 310a and 310b (hereinafter referred to as image information) is transmitted to the image analysis unit 320.

[0034] When camera 310 receives an instruction to start capturing images from control unit 330, it starts capturing images within its field of view at predetermined time intervals (hereinafter referred to as "predetermined intervals"). When camera 310 receives an instruction to end capturing images from control unit 330, it ends capturing images. While capturing images at predetermined intervals, camera 310 transmits captured image information to image analysis unit 320.

[0035] Upon receiving image information captured by the cameras 310a and 310b, the image analysis unit 320 analyzes the received image information using, for example, a known method. The image analysis unit 320 transmits information about the two-dimensional area captured by the two cameras 310a and 310b (hereinafter referred to as area information) and information about the location of a person detected (or extracted) from the area information (hereinafter referred to as person information) to the control unit 330. The area information and person information include position information, i.e., x-coordinates and y-coordinates, compatible with the lateral direction and traveling direction of the crane apparatus 200. The person information also includes information indicating that no person was detected (no person). The image analysis unit 320 analyzes the image information within a time period shorter than the predetermined interval described above. Furthermore, the method by which the image analysis unit 320 analyzes the image information captured by the cameras 310a and 310b to obtain the area information and person information is assumed to be a known image analysis method, including, for example, a method using artificial intelligence, and therefore will not be described here. The detection device 300 is not limited to one having an imaging unit that captures images, but may be any device that can detect the presence or absence of a person in the detection area, such as a human presence sensor, that can sense a person.

[0036] The control unit 330 can transmit and receive information to and from the control device 240 of the crane apparatus 200 via a wired or wireless communication network (not shown), and controls various operations of the detection device 300 under the control of the control device 240. For example, when the control unit 330 receives information from the control device 240 of the crane apparatus 200 indicating that the crane apparatus 200 is to start moving, the control unit 330 controls the camera 310 to start capturing images at predetermined intervals. Also, for example, when the control unit 330 receives information from the control device 240 of the crane apparatus 200 indicating that the crane apparatus 200 is to end moving, the control unit 330 controls the camera 310 to end capturing images. The predetermined intervals are determined based on the time from when the detection device 300 detects the presence of a person in a predetermined area until the crane apparatus 200 is stopped by control described below, the movement speed of the crane apparatus 200, the position of the crane apparatus 200 when the detection device 300 detects the person, the position of the person, and the like.

[0037] The control unit 330 includes, for example, a CPU, a ROM, a RAM, a timer, etc. The control unit 330 controls the detection device 300 by using the RAM as a temporary work area in accordance with various programs stored in the ROM, monitoring various timings with a timer, and performing various calculations with the CPU.

[0038] In the first embodiment, the image analysis unit 320 and the control unit 330 are configured as separate units, but this is not limiting. The image analysis unit 320 and the control unit 330 may be configured as a single unit to perform all image analysis and control, or part of the functions of one unit may be performed by the other unit. Furthermore, while the image analysis unit 320 of the detection device 300 analyzes image information captured by the camera 310, this is not limiting. For example, image information captured by the camera 310 may be transmitted to the control device 240 of the crane apparatus 200, and the control device 240 may analyze the image information.

[0039] <Block diagram of the crane control system> 5 is a block diagram of the crane apparatus control system 100. When any button on the operation unit 295 is pressed, the control device 240 of the crane apparatus 200 controls the saddle 210, the crab 220, and / or the hoist drum 232 via the drive unit 290.

[0040] Based on a signal input from the operation unit 295, the control device 240 causes the hoist drum 232 to raise the hook unit 280 and the load 800. Based on a signal input from the operation unit 295, the control device 240 controls the drive unit 290 to transport the load 800 using the saddle 210 and the crab 220.

[0041] The control unit 330 of the detection device 300 controls the cameras 310a and 310b in accordance with instructions from the control device 240 of the crane device 200. The control unit 330 transmits the area information and person information received from the image analysis unit 320 to the control device 240. The image analysis unit 320 analyzes the image information captured by the cameras 310a and 310b, and transmits the area information and person information to the control unit 330.

[0042] It should be noted that both the control device 240 and the control unit 330 have known communication ports, communication interfaces, etc., and are used to send and receive information. A control device that controls the entire crane control system 100 may be provided separately from the control device 240 of the crane device 200 and the control unit 330 of the detection device 300, and further, the separately provided control device may analyze the image information.

[0043] <Crane control system control> Control device 240 of crane control system 100 of embodiment 1 performs the following control when detection device 300 determines that a person is present in a predetermined area within the detection area while crane device 200 is moving. That is, control device 240 stops the movement of crane device 200, and then controls the movement of crane device 200 in accordance with the positional relationship between crane device 200 and the predetermined area. Note that image analysis unit 320 of detection device 300 divides the area captured by cameras 310a, 310b into a plurality of predetermined areas.

[0044] (For each area) FIG. 6(a) is a schematic diagram illustrating an imaging area (described later) of the first embodiment. The frame indicated by a dashed-dotted line indicates an area 510a imaged by the camera 310a (hereinafter referred to as the imaging area). The imaging area 510a is an area included in the viewing angle θ of the camera 310a. The camera 310a transmits image information of the imaging area 510a to the image analysis unit 320. The frame indicated by a dashed-two-dotted line indicates an imaging area 510b imaged by the camera 310b. The imaging area 510b is an area included in the viewing angle θ of the camera 310b. Furthermore, a black circle 710 indicates an image of a person. The camera 310b transmits image information of the imaging area 510b to the image analysis unit 320.

[0045] The image analysis unit 320 of the detection device 300 combines the image information of the image capture area 510a transmitted from the camera 310a with the image information of the image capture area 510b transmitted from the camera 310b. The image analysis unit 320 divides the area (hereinafter referred to as the detection area 520) centered on the hook unit 280 into areas 1, 2, 3, and 4 within the combined image capture area (hereinafter referred to as the combined area 510c). Note that in FIG. 6(a), a circled number 1 is written in area 1, a circled number 2 in area 2, a circled number 3 in area 3, and a circled number 4 in area 4, and a direction symbol, travel direction, and traverse direction are also indicated. The image analysis unit 320 analyzes the presence or absence of a person in each of areas 1 to 4. It is assumed that the position of the hook unit 280 of the crane apparatus 200 within the combined area 510c has been adjusted in advance.

[0046] The divided multiple regions 1 to 4 are as follows: Region 1, the first region, is located in one direction in the running direction and in one direction in the lateral direction based on hook unit 280. Region 2, the second region, is located in one direction in the running direction and in the other direction in the lateral direction based on hook unit 280. Region 3, the third region, is located in the other direction in the running direction and in one direction in the lateral direction based on hook unit 280. Region 4, the fourth region, is located in the other direction in the running direction and in the other direction in the lateral direction based on hook unit 280.

[0047] Here, as described above, when the operator is operating the crane apparatus 200 while facing north, area 1 is a rectangular area extending northwest from the hook unit 280. Area 2 is a rectangular area extending northeast from the hook unit 280. Area 3 is a rectangular area extending southwest from the hook unit 280. Area 4 is a rectangular area extending southeast from the hook unit 280. That is, the detection area 520 is areas 1 to 4. Information about areas 1 to 4 is included in the area information and transmitted to the control device 240. Each area corresponds to an area of, for example, 3 m x 3 m on the floor surface 914 of the work site 900. Note that the size of the rectangle on the floor surface 914 corresponding to area 1, etc. is not limited to 3 m x 3 m, and is determined depending on the installation position and height of the camera 310 or the movement speed of the crane apparatus.

[0048] When the operator starts operating the operation unit 295, the control device 240 starts moving the crane apparatus 200 and starts image capture by the camera 310 at predetermined intervals via the control unit 330. The camera 310 transmits the captured image information to the image analysis unit 320. The image analysis unit 320 analyzes the image information transmitted from the camera 310. Here, for example, if the state at time t1 is as shown in FIG. 6(a), the image analysis unit 320 detects that a person is present in area 1. The image analysis unit 320 also detects that no person is present in areas 2, 3, and 4. The image analysis unit 320 transmits the area information and information on the presence or absence of people in areas 1 to 4 (the person information described above) to the control device 240.

[0049] Control device 240 controls crane apparatus 200 based on the information on the presence or absence of people in areas 1 to 4 transmitted from detection device 300. If there are no people in any of the areas, control device 240 moves crane apparatus 200 in the direction instructed via operation unit 295. If there is a person in at least one of the areas, control device 240 stops crane apparatus 200 in accordance with the positional relationship between the crane apparatus and the specified area.

[0050] Here, the directions in which crane apparatus 200 can move within detection area 520 can be divided into four. FIGS. 6(b) and 6(c) are schematic diagrams showing the relationship between detection area 520 and a movement area (shown by hatching) of crane apparatus 200, which will be described later. Hereinafter, the area corresponding to detection area 520 in which crane apparatus 200 can be moved in a predetermined direction will be referred to as a movement area. In FIG. 6(b), movement area 530N is an area in which crane apparatus 200 can move north, and movement area 530S is an area in which crane apparatus 200 can move south. In FIG. 6(c), movement area 530E is an area in which crane apparatus 200 can move east, and movement area 530W is an area in which crane apparatus 200 can move west.

[0051] When a person is present in a predetermined area, the control device 240 performs control as follows depending on the area. When a person is present in area 1, the control device 240 controls the saddle 210 so that it does not move in one direction in the traveling direction and the club 220 so that it does not move in one direction in the lateral direction. When a person is present in area 2, the control device 240 controls the saddle 210 so that it does not move in one direction in the traveling direction and the club 220 so that it does not move in the other direction in the lateral direction. When a person is present in area 3, the control device 240 controls the saddle 210 so that it does not move in the other direction in the traveling direction and the club 220 so that it does not move in one direction in the lateral direction. When a person is present in area 4, the control device 240 controls the saddle 210 so that it does not move in the other direction in the traveling direction and the club 220 so that it does not move in the other direction in the lateral direction.

[0052] For example, when the presence of a person in area 1 is detected as indicated by the black circle 710 in FIG. 6(a), the control device 240 stops the movement of the crane apparatus 200 in accordance with the positional relationship between the crane apparatus and the predetermined area. The control device 240 controls the crane apparatus 200 so that it cannot move to movement areas 530N and 530W, even if the operation unit 295 is operated (a button is pressed) after the crane apparatus 200 has stopped. Hereinafter, the control to prevent the crane apparatus 200 from moving to the predetermined movement area is also referred to as "prohibiting movement." In other words, the control device 240 controls the crane apparatus 200 so that it can move to movement area 530S or movement area 530E. Hereinafter, the control to allow the crane apparatus 200 to move to the predetermined movement area is also referred to as "allowing movement."

[0053] In this way, areas 1 to 4 are linked to whether movement of crane apparatus 200 to a specified movement area is prohibited or permitted when the presence of a person is detected within that area. Area 1 can be said to be an area where movement of crane apparatus 200 to movement areas 530N and 530W is prohibited, and movement of crane apparatus 200 to movement areas 530S and 530E is permitted. Area 2 can be said to be an area where movement of crane apparatus 200 to movement areas 530N and 530E is prohibited, and movement of crane apparatus 200 to movement areas 530S and 530W is permitted. Area 3 can be said to be an area where movement of crane apparatus 200 to movement areas 530S and 530W is prohibited, and movement of crane apparatus 200 to movement areas 530N and 530E is permitted. Area 4 can be said to be an area where movement of crane apparatus 200 to movement areas 530S and 530E is prohibited, and movement of crane apparatus 200 to movement areas 530N and 530W is permitted. In other words, after detecting the presence of a person in a predetermined area, control device 240 can be said to control the movement of crane apparatus 200 in accordance with the positional relationship between crane apparatus 200 and the predetermined area. Hereinafter, the restrictions on movement of crane apparatus 200 linked to each area are also referred to as prohibition rules.

[0054] If a person is detected in multiple areas, the sum of the above-mentioned prohibition rules can be calculated. For example, if a person is detected in both area 1 and area 2, movement to movement area 530N, movement area 530W, and movement area 530E is prohibited. For example, if a person is detected in both area 1 and area 4, movement to movement area 530N, movement area 530S, movement area 530W, and movement area 530E, i.e., all movement areas, is prohibited. For example, if a person is detected in area 1, area 2, and area 3, movement to all movement areas is also prohibited.

[0055] In this way, the control device 240 controls the crane apparatus 200 depending on the presence or absence of people in each area, based on image information captured by the camera 310 at predetermined intervals. The control device 240 keeps the crane apparatus 200 stopped if the operation unit 295 instructs the crane apparatus 200 to move into a prohibited movement area. The control device 240 moves the crane apparatus 200 to the permitted movement area if the operation unit 295 instructs the crane apparatus 200 to move into a permitted movement area. Furthermore, even if the movement of the crane apparatus 200 into an area where movement was prohibited, if the subsequent detection result by the detection device 300 shows that there are no people in that area (hereinafter, referred to as people have evacuated), movement of the crane apparatus 200 into that area is permitted.

[0056] <Crane device control method> FIG. 7 is a flowchart showing a crane control method using the crane control system 100 of the first embodiment. The crane control method includes a detection step, a stopping step, and a movement step. The detection step is a step in which the detection device 300 detects whether or not a person is present in a predetermined area within the detection region. The stopping step is a step in which, if it is determined in the detection step that a person is present, the control device 240 stops the movement of the crane apparatus 200 in accordance with the positional relationship between the crane apparatus 200 and the predetermined area. The movement step is a step in which the control device 240 moves the crane apparatus 200 in accordance with the positional relationship between the crane apparatus 200 and the predetermined area. In the following description, movement of the crane apparatus 200 into a prohibited movement area is also referred to as movement in a prohibited direction.

[0057] The control device 240 starts the processing from step (hereinafter referred to as S) 800 onwards, for example, when the power to the crane apparatus 200 is turned on. In S800, the control device 240 starts capturing images using the camera 310 via the control unit 330 of the detection device 300. In addition, the image analysis unit 320 analyzes the image captured by the camera 310 and transmits area information and person information to the control device 240. In S810, the control device 240 starts controlling the crane apparatus 200 when the operator starts operating the operation unit 295 (operation start). Here, the control device 240 may determine to start controlling the crane apparatus 200 when, for example, it receives an instruction to start controlling the crane apparatus 200 via the operation unit 295. Note that when operation is started, the state of the crane apparatus 200 includes both being stopped and being moving.

[0058] In S820, the control device 240 determines whether or not a person is present in a predetermined area within the detection area photographed by the camera 310, based on the analysis results of the image analysis unit 320 of the detection device 300. If the control device 240 determines in S820 that a person is present in the predetermined area, the process proceeds to S830, and if the control device 240 determines that no person is present in any area, the process proceeds to S850.

[0059] In S830, the control device 240 determines whether the movement direction of the crane device 200 operated by the operation unit 295 is a prohibited direction. If the control device 240 determines in S830 that the movement direction of the crane device 200 is a prohibited direction, the process proceeds to S840, and if the control device 240 determines that the movement direction is not a prohibited direction, the process proceeds to S850.

[0060] In S840, control device 240 restricts the movement of crane apparatus 200 or stops crane apparatus 200, and the process proceeds to S860. Here, restricting the movement of crane apparatus 200 includes not only the case where the destination of crane apparatus 200 is restricted while it is moving, but also the case where the destination of crane apparatus 200 is restricted when it is operated while it is stopped. Furthermore, stopping crane apparatus 200 means stopping crane apparatus 200 while it is moving.

[0061] In S850, the control device 240 moves the crane apparatus 200 in the operated direction. In S860, the control device 240 determines whether or not the operation by the operation unit 295 has ended. If the control device 240 determines in S860 that the operation by the operation unit 295 has ended, the process proceeds to S870; if the control device 240 determines that the operation has not ended, the process returns to S820. In S870, the control device 240 stops the crane apparatus 200, ends image capture by the camera 310, and ends the process. Note that even after the crane apparatus 200 has been stopped, if it is expected that the crane apparatus 200 will be used, the image capture by the camera 310 may continue without ending.

[0062] In this way, in crane control system 100, control device 240 determines whether or not a person is present in a predetermined area within detection area 520 using detection device 300 while crane apparatus 200 is moving. If control device 240 determines that a person is present in the predetermined area, it stops the movement of crane apparatus 200 in accordance with the positional relationship between crane apparatus 200 and the predetermined area. Thereafter, control device 240 controls the movement of crane apparatus 200 in accordance with the positional relationship between crane apparatus 200 and the predetermined area. In other words, if crane control system 100 determines that a person is present in the operation direction area of ​​the predetermined area, it stops the movement of crane apparatus 200 and then controls crane apparatus 200 not to proceed in the direction where the person is present.

[0063] As described above, according to the first embodiment, it is possible to provide a crane control system and a crane control method that can prevent accidents, disasters, and the like caused by a crane apparatus.

[0064] [Embodiment 2] In the second embodiment, the detection area 520 is divided into five areas. Areas 1 to 4 have the same configuration as in the first embodiment, and therefore their description will be omitted. However, among areas 1 to 4, areas that overlap with area 5, which will be described later, are subject to the prohibition or permission of area 5. Furthermore, since the configuration of the crane control system 100 is also the same as in the first embodiment, the same components are designated by the same reference numerals, and their description will be omitted.

[0065] Fig. 8(a) is a schematic diagram illustrating detection area 520a in embodiment 2. Area 5, indicated by the circled number 5, is an area substantially directly below hook unit 280, and is, for example, a circular area of ​​a predetermined radius centered substantially directly below hook unit 280, as shown in Fig. 8(a). Note that area 5 is not limited to a circular shape, and may be another shape such as a rectangle.

[0066] When the detection device 300 detects that there is a person substantially directly below the hook unit 280, in other words, in area 5, the control device 240 performs control as follows. The control device 240 controls the saddle 210 so as not to move in one or the other direction in the traveling direction, and the crab 220 so as not to move in one or the other direction in the lateral direction. In other words, the control device 240 prohibits movement of the crane apparatus 200 in all horizontal directions.

[0067] That is, when the detection device 300 detects that there is a person in area 5, the control device 240 prohibits movement to movement areas 530E, 530W, 530N, and 530S, i.e., movement in all directions. As a result, the crane apparatus 200 remains stopped unless the person retreats from area 5, regardless of how the operator operates the operation unit 295.

[0068] As described above, according to the second embodiment, it is possible to provide a crane control system and a crane control method that can prevent accidents, disasters, and the like caused by a crane apparatus.

[0069] [Embodiment 3] In the third embodiment, the crane control system 100 includes a warning device that is a warning means for warning of the approach of the crane device 200. FIG. 8(b) is a schematic diagram showing the warning device 400 of the third embodiment, showing a state similar to that of FIG. 6(a). When the detection device 300 detects that a person is in a predetermined area, the control device 240 issues a warning via the warning device 400 to request the person to leave the predetermined area. A specific example of the warning device 400 will be described below. The control device 240 may control the warning device 400 to issue a warning when it determines that a person is present in the determination process of S820 in FIG. 7. Furthermore, the control device 240 may control the warning device 400 to terminate the warning when it determines that the person has left the predetermined area, while the warning from the warning device 400 is maintained.

[0070] <Warning device> (illumination) The warning device 400 is, for example, a lighting unit 410 that illuminates a predetermined area. The control device 240 causes the lighting unit 410 to illuminate the predetermined area, thereby warning people to evacuate the predetermined area. The lighting unit 410 has a first lighting unit 410a that illuminates area 1, a second lighting unit 410b that illuminates area 2, a third lighting unit 410c that illuminates area 3, and a fourth lighting unit 410d that illuminates area 4. The color of the light emitted by the lighting unit 410 is not particularly limited and may be a color that attracts the attention of the worker 700, such as red. The light emitted by the lighting unit 410 may also be flashing. Furthermore, the number of lighting units 410 may be other numbers, and for example, even one lighting unit may be used as long as it is capable of illuminating the predetermined area. The control device 240 turns on the lighting unit 410 corresponding to an area where the detection device 300 detects the presence of a person, thereby warning people in that area to evacuate.

[0071] (sound or voice) The warning device 400 is, for example, a speaker 420 that is a sound output unit that outputs sound or voice. The control device 240 causes the speaker 420 to output sound or voice to warn people to evacuate from a predetermined area. The sound output from the speaker 420 may be, for example, a sound that warns people of danger, such as a siren. The voice output from the speaker 420 may be, for example, "A crane is approaching. Please leave that area," as long as it urges people to leave the area. Note that the warning device 400 may have both the lighting unit 410 and the speaker 420.

[0072] The warning device 400 is not limited to light or sound, and may be any device that alerts the worker 700 to a danger. For example, if the worker 700 always carries a mobile terminal or the like, the warning device may vibrate to alert the worker 700 to a danger.

[0073] As described above, according to the third embodiment, it is possible to provide a crane control system and a crane control method that can prevent accidents and disasters caused by a crane. The control device 240 can prompt people in a predetermined area to evacuate by using light, sound, etc.

[0074] Although the preferred embodiments of the present invention have been described above, the present invention is not limited to these and various modifications and changes are possible within the scope of the gist of the present invention. For example, the present invention includes the following gist.

[0075] [Objective 1] a crane device; a detection device that detects the presence or absence of a person in a detection area below the crane device; a control device that controls the crane device and the detection device; Equipped with When the detection device determines that a person is present in a specified area within the detection area, the control device stops the movement of the crane device in accordance with the positional relationship between the crane device and the specified area, and then controls the movement of the crane device in accordance with the positional relationship between the crane device and the specified area.

[0076] [Objective 2] The crane apparatus is a suspension means for suspending a suspended load; a first moving means capable of moving the hanging means in a first direction in the horizontal direction; second moving means capable of moving the hanging means in a second direction substantially perpendicular to the first direction in the horizontal direction; a third moving means capable of moving the hanging means in a third direction substantially perpendicular to the first direction and the second direction; and The detection device may be arranged on the second moving means, have an imaging unit that images the detection area below the second moving means, divide the detection area into a plurality of specified areas based on the position of the hanging means, and detect the presence or absence of a person in each of the plurality of divided specified areas.

[0077] [Objective 3] the imaging unit includes a first imaging unit arranged on one end side of the second moving means in the second direction, and a second imaging unit arranged on the other end side of the second moving means in the second direction, the second imaging unit is disposed so as to eliminate a blind spot of the first imaging unit, The detection device may divide the detection area included in the area imaged by the first imaging unit and the second imaging unit into a plurality of the predetermined areas.

[0078] [Objective 4] The divided predetermined regions include: a first region located in one direction in the first direction and in one direction in the second direction with respect to the hanging means; a second region located in one direction in the first direction and in another direction in the second direction with respect to the hanging means; a third region located in another direction in the first direction and in one direction in the second direction with respect to the hanging means; a fourth region located in the other direction in the first direction and in the other direction in the second direction with respect to the hanging means; and The control device When a person is present in the first area, control is performed so that the first moving means does not move in one direction in the first direction and so that the second moving means does not move in one direction in the second direction; When a person is present in the second area, control is performed so that the first moving means does not move in one direction in the first direction and the second moving means does not move in the other direction in the second direction; When a person is present in the third area, control is performed so that the first moving means does not move in another direction in the first direction and so that the second moving means does not move in one direction in the second direction; When a person is present in the fourth area, the first moving means may be controlled not to move in another direction in the first direction, and the second moving means may be controlled not to move in another direction in the second direction.

[0079] [Objective 5] When the detection device detects that a person is approximately directly below the hanging means, the control device may control the first moving means so that it does not move in one direction or the other direction of the first direction, and the second moving means so that it does not move in one direction or the other direction of the second direction.

[0080] [Objective 6] The apparatus may further include a notification unit that issues a notification when the detection device detects that a person is present in the predetermined area.

[0081] [Objective 7] the notification means is an illumination unit that illuminates the predetermined area, The control device may control the illumination unit to illuminate the predetermined area to provide a notification.

[0082] [Objective 8] the notification means is a sound output unit that outputs sound or voice, The control device may control the sound output unit to output the sound or the voice to notify the user.

[0083] [Objective 9] A crane apparatus control method using the crane apparatus control system described above, a detection step of detecting whether or not a person is present in a predetermined area within the detection area by the detection device; a stopping step of stopping the movement of the crane apparatus by the control device in accordance with a positional relationship between the crane apparatus and the predetermined area when it is determined that a person is present in the detection step; a moving step of moving the crane apparatus according to a positional relationship between the crane apparatus and the predetermined area by the control device; A crane apparatus control method comprising: [Explanation of symbols]

[0084] 100 Crane device control system 200 Crane device 210 Saddle 220 Club 230 Winding section 232 Winding drum 240 control device 250 running rail 260a Girder 260b Traverse rail 270 Wire rope 280 Hook unit 282 Hook part 284 Sheave 290 Drive unit 295 Operation unit 295a Up button 295b Down button 295c East button 295d West button 295e South Button 295f North Button 300 Detection device 310 Camera 310a Camera 310b Camera 312 Support part 312a Support part 312b Support section 320 Image analysis section 330 Control unit 400 Warning device 410 Lighting unit 420 Speaker 510a Imaging area 510b Imaging area 510c Synthesis area 520 Detection area 520a Detection area 530E Movement area 530N moving area 530S moving area 530W moving area 700 workers 800 Hanging load 900 Work site 914 Floor θ Field of view

Claims

1. A crane apparatus having a hanging means for hanging a load, a first moving means capable of moving the hanging means in a first direction in the horizontal direction, a second moving means capable of moving the hanging means in a second direction in the horizontal direction that is approximately perpendicular to the first direction, and a third moving means capable of moving the hanging means in a third direction that is approximately perpendicular to the first and second directions; a detection device that detects the presence or absence of a person in a detection area below the crane device; a control device that controls the crane device and the detection device; Equipped with when the detection device determines that a person is present in a predetermined area within the detection area, the control device stops the movement of the crane apparatus in accordance with a positional relationship between the crane apparatus and the predetermined area, and then controls the movement of the crane apparatus in accordance with the positional relationship between the crane apparatus and the predetermined area; the detection device is disposed on the second moving means and has an imaging unit that images the detection area below the second moving means, divides the detection area into a plurality of predetermined areas based on the position of the hanging means, and detects the presence or absence of the person in each of the plurality of divided predetermined areas; the imaging unit includes a first imaging unit arranged on one end side of the second moving means in the second direction, and a second imaging unit arranged on the other end side of the second moving means in the second direction so as to eliminate a blind spot of the first imaging unit, the detection device divides the detection area included in the area imaged by the first imaging unit and the second imaging unit into a plurality of the predetermined areas; The divided predetermined regions include: a first region located in one direction in the first direction and in one direction in the second direction with respect to the hanging means; a second region located in one direction in the first direction and in another direction in the second direction with respect to the hanging means; a third region located in another direction in the first direction and in one direction in the second direction with respect to the hanging means; a fourth region located in the other direction in the first direction and in the other direction in the second direction with respect to the hanging means; and The control device When a person is present in the first area, control is performed so that the first moving means does not move in one direction in the first direction and so that the second moving means does not move in one direction in the second direction; When a person is present in the second area, control is performed so that the first moving means does not move in one direction in the first direction and the second moving means does not move in the other direction in the second direction; When a person is present in the third area, the first moving means is controlled not to move in another direction in the first direction, and the second moving means is controlled not to move in one direction in the second direction; A crane apparatus control system that controls the first moving means so that it does not move in another direction in the first direction and the second moving means so that it does not move in another direction in the second direction when there is a person in the fourth area.

2. 2. The crane apparatus control system according to claim 1, wherein, when the detection device detects that a person is approximately directly below the suspension means, the control device controls the first movement means so that it does not move in one direction or the other direction of the first direction, and controls the second movement means so that it does not move in one direction or the other direction of the second direction.

3. 3. The crane control system according to claim 1, further comprising: a notification unit that issues a notification when the detection device detects that a person is present in the predetermined area.

4. the notification means is an illumination unit that illuminates the predetermined area, The crane control system according to claim 3 , wherein the control device controls the lighting unit to illuminate the predetermined area to provide a warning.

5. the notification means is a sound output unit that outputs sound or voice, The crane device control system according to claim 3 , wherein the control device controls the sound output unit to output the sound or the voice to give a warning.

6. A crane apparatus control method using the crane apparatus control system according to any one of claims 1 to 5, a detection step of detecting whether or not a person is present in a predetermined area within the detection area by the detection device; a stopping step of stopping the movement of the crane apparatus by the control device in accordance with a positional relationship between the crane apparatus and the predetermined area when it is determined that a person is present in the detection step; a moving step of moving the crane apparatus according to a positional relationship between the crane apparatus and the predetermined area by the control device; A crane apparatus control method comprising:

Images