A system, program, and method for managing cable unwinding length.

Abstract

To provide means for easily calculating the unwound length of a cable even when a measurement mechanism is retrofitted.SOLUTION: A system for specifying the unwound length of a cable includes a data acquisition unit 1411 for acquiring basic data including cable length data showing the entire length of a cable 123 of a crane 12 lifting and lowering a cargo, boom length data showing the length of a boom 121 of the crane 12, reel diameter data showing a diameter or a radius of a reel unit 1251 winding and unwinding the cable 123, cable diameter data showing a diameter or a radius of the cable 123, and outer shape data showing an outer shape of the cable 123 wound by the reel unit 1251. The system for specifying the unwound length of the cable includes a specification unit 1413 for specifying the length of the cable 123 unwound from the reel unit 1251 based on the acquired basic data.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to a system, a program, and a cable payout management method for specifying the cable payout length.

Background Art

[0002] In marine construction, structures are constructed by using work vessels such as gut boats and crane ships to throw stones and concrete blocks into the sea. The work vessel is provided with a crane, and operations such as material input and seabed ground excavation are performed by using a grab bucket or the like provided at the tip of a cable suspended by the crane. In this case, since the grab bucket may enter the water, it is impossible to visually confirm the depth at which the club bucket is located. Therefore, the position of the grab bucket is estimated by measuring the length of the cable by some means.

[0003] Patent Document 1 describes that the length of the wire (cable) to the suspended object is calculated based on the measurement result by the payout amount measuring means installed on the wire drum around which the wire (cable) is wound, and the position of the object is calculated.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] For example, by attaching a device for measuring the number of rotations to the drum around which the cable is wound, the payout length per rotation can be calculated, and by considering the elevation angle of the crane boom, the depth of the grab bucket in water or underground can be calculated.

[0006] If a device for measuring the drum's rotational speed is not installed during manufacturing, a measurement mechanism will need to be added later. However, since the measurement mechanism depends on the drum's structure, such as requiring multiple sensors to measure the unevenness of the drum's sides, installation is not easy.

[0007] In view of the above background, the present invention provides a means for easily determining the cable unwinding length even when a measuring mechanism is added later. [Means for solving the problem]

[0008] To solve the above-mentioned problems, the present invention provides cable length data indicating the total length of the cable of a crane used for lifting and lowering loads, reel diameter data indicating the diameter or radius of the reel used for winding and unwinding the cable, and cable diameter data indicating the diameter or radius of the cable. Based on the three-dimensional shape measured by scanning with a laser measuring instrument installed in a direction perpendicular or inclined to the longitudinal direction of the reel, or the two-dimensional image captured by a camera installed in a direction perpendicular or inclined to the longitudinal direction of the reel, the cable is generated. Winded onto the aforementioned reel whole part A system for determining the cable unwinding length is provided as a first embodiment, comprising: acquisition means for acquiring shape data representing the external shape of a reel; and determination means for calculating the length of the cable wound on the reel based on the reel diameter data, the cable diameter data and the shape data, and determining the length of the cable unwound from the reel based on the calculated length of the cable wound on the reel and the total length of the cable indicated by the cable length data.

[0009] According to the system of the first embodiment, the cable unwinding length can be determined with a simple configuration without the need to detect the rotation of the reel or the like.

[0010] In the system of the first embodiment, the identifying means identifies, based on the external shape data, the winding diameter, which is the diameter or radius of the portion of the cable wound onto the reel, and the unwinding position of the end of the portion of the cable wound onto the reel in the rotation axis direction of the reel, and uses the identified winding diameter and unwinding position to operate the reel Wrapped inA second embodiment may be adopted in which the length of the cable is determined.

[0011] According to the system of the second embodiment, the cable unwinding length can be determined based on the external shape data of the cable, and the installation of a device for measuring the unwinding length can be facilitated.

[0012] In the system of the first or second embodiment, the acquisition means is Boom length data indicating the length of the crane boom, before Note Elevation angle data showing the elevation angle of the frame. and The identifying means obtains the length of the cable unwound from the identified reel, The boom length indicated by the boom length data, The elevation and depression angle data mentioned above The aforementioned boom A third embodiment may be adopted in which the position of the load suspended by the crane is determined based on the elevation and depression angles.

[0013] According to the system of the third embodiment, the position of the suspended load (grab bucket) being lifted by the crane can be determined from the length of the identified unwinding cable.

[0014] In the third system, the laser scans the object and the object 3D Represents shape measurement Generate data The laser measuring instrument acquires measurement data representing the overall three-dimensional shape of the portion of the cable wound onto the reel, and the outer shape data is generated from the measurement data. The system includes a generation means, and the acquisition means is the generation of the generation means. The aforementioned external shape A configuration that acquires data may be adopted as a fourth aspect.

[0015] According to the system of the fourth embodiment, the length of the cable unwound from the reel can be determined without contacting the reel or the cable.

[0016] Furthermore, the present invention provides a computer with cable length data indicating the total length of the cable of a crane used for lifting and lowering loads, reel diameter data indicating the diameter or radius of the reel used for winding and unwinding the cable, and cable diameter data indicating the diameter or radius of the cable. Based on the three-dimensional shape measured by scanning with a laser measuring instrument installed in a direction perpendicular or inclined to the longitudinal direction of the reel, or the two-dimensional image captured by a camera installed in a direction perpendicular or inclined to the longitudinal direction of the reel, the cable is generated. The process of obtaining the outer shape data representing the outer shape of the whole part and the process of calculating the length of the cable wound around the reel based on the reel diameter data, the cable diameter data, and the outer shape data, and specifying the length of the cable unwound from the reel based on the calculated length of the cable wound around the reel and the total length of the cable indicated by the cable length data. A program for executing the process is provided as a fifth aspect.

[0017] According to the program of the fifth aspect, the length of the cable unwound can be easily specified without detecting the rotation of the reel or the like.

[0018] In the program of the fifth aspect, The computer contains boom length data indicating the length of the crane's boom, the process of obtaining the elevation angle data indicating the elevation angle of the Note boom, the length of the cable unwound from the specified reel, and The boom length indicated by the boom length data, the elevation angle indicated by the elevation angle data The aforementioned boom Based on this, a configuration in which a process of specifying the position of the load suspended by the crane is executed may be adopted as a sixth aspect.

[0019] According to the program of the sixth aspect, the length of the cable unwound can be specified based on the outer shape data of the cable, and the installation of a device for measuring the unwound length can be easily performed.

[0020] Further, the present invention provides a cable unwinding management method using the system according to any one of the first to fourth aspects as a seventh aspect.

[0021] According to the management method of the seventh aspect, the length of the cable unwound can be easily managed.

Brief Description of the Drawings

[0022] [Figure 1] The figure which showed the whole structure of the system for specifying the cable unwinding length which concerns on one Embodiment. [Figure 2] These figures illustrate the operation of a laser measuring instrument used in a system according to one embodiment. Figure 2(a) shows a horizontal scan by the laser, and Figure 2(b) shows a vertical scan by the laser. [Figure 3] A diagram showing the hardware configuration of an information processing device used in a system according to one embodiment. [Figure 4] A block diagram showing the functional configuration of an information processing device used in a system according to one embodiment. [Figure 5] This diagram illustrates the calculation of the length of a cable wound onto a drum reel in a system according to one embodiment. Figure 5(a) is a perspective view showing the appearance of a drum reel with a cable wound around it, and Figure 5(b) shows the relationship between the state in which the cable is wound and the cable diameter. [Figure 6] This diagram illustrates the calculation of the grab bucket position based on the boom elevation angle in a system according to one embodiment. Figure 6(a) shows a relatively large boom elevation angle, and Figure 6(b) shows a relatively small boom elevation angle. [Figure 7] A diagram showing the processing flow in an information processing device used in a system according to one embodiment. [Modes for carrying out the invention]

[0023] [Embodiment] A system 1 for determining the cable unwinding length according to one embodiment of the present invention is described below. Figure 1 is a diagram showing the overall configuration of system 1.

[0024] System 1 comprises a crane vessel 11 floating and stationary on the water surface S, and a crane 12 mounted on the crane vessel 11. The crane 12 is equipped with a boom 121, a pulley 122, and a cable 123, and is used to lift and lower a grab bucket 124, which is a suspended load (object to be suspended) attached to one end of the cable 123.

[0025] The boom 121 extends diagonally upward from the crane body and is capable of slewing and tilting in accordance with the crane body. A pulley 122 is located at the tip of the boom 121, and two cables 123, each with a grab bucket 124 attached to its lower end, are attached to it. The other end of each of the two cables 123 is wound onto two drum reels 125 fixed to the upper part of the crane body. Figure 1 shows the grab bucket 124 attached to the cable 123 suspended in the water below the water surface S.

[0026] The boom 121 is equipped with an inclinometer 126, which can measure the angle of inclination (elevation / depression angle) of the boom 121 relative to the horizontal direction. As the inclinometer, an electrolytic tilt sensor using a conductive fluid or a MEMS tilt sensor that utilizes the change in capacitance due to inclination can be used.

[0027] Furthermore, a laser measuring instrument 13 is installed on the crane 12 to measure the shape of the cable 123 wound onto the drum reel 125. The laser measuring instrument 13 only needs to measure the shape of the cable 123 wound onto one of the two drum reels 125. Furthermore, the positions of the drum reel 125 and the laser measuring instrument 13, which are installed on the crane 12, do not change due to the tilting motion of the boom 121.

[0028] An information processing device 14 is installed inside the crane vessel 11. The information processing device 14 comprises a computer and a display device (such as an LCD) and input device (such as a keyboard, mouse, and voice input) connected to the computer. The information processing device 14 may be located, for example, in the control room for operating the crane 12 or in the living quarters of the crane vessel 11, and the display device may be located separately from the computer in the control room for operating the crane 12 or in the living quarters of the crane vessel 11. The computer and display device of the information processing device 14 transmit information via wired or wireless means. The information processing device 14 determines the length of the cable 123 unwound from the drum reel 125 by acquiring measurement data from the laser measuring instrument 13 and the inclinometer 126, and further determines the height position from which the grab bucket 124 is suspended, thereby managing the unwinding state of the cable.

[0029] Figure 2 is a diagram illustrating the measurement of the shape of a cable 123 wound onto a drum reel 125 using a laser measuring instrument 13. The laser measuring instrument 13 is positioned in front of the drum reel 125. The laser measuring instrument 13 irradiates the drum reel 125, which is the object to be measured, with laser light C, and measures the distance and direction to the object by receiving the laser light that is reflected by the object and returns to the laser measuring instrument 13.

[0030] The laser measuring instrument 13 scans the drum reel 125 by irradiating the drum reel 125 with laser light C in multiple directions, both vertically and horizontally, in front of the drum reel 125. Figure 2(a) shows the horizontal scanning by the laser light C, and Figure 2(b) shows the vertical scanning by the laser light C.

[0031] For example, the laser measuring instrument 13 irradiates multiple laser beams C in a fan-shaped area in the horizontal direction, as shown in Figure 2(a). Then, as shown in Figure 2(b), it irradiates multiple laser beams C in a fan-shaped area in the vertical direction, sequentially at angles relative to the horizontal direction. In this way, the distance to each part irradiated by the laser beams C can be measured, and the three-dimensional shape of the drum reel 125 and the cable 123 wound around the drum reel 125 can be obtained.

[0032] In Figure 2, the drum reel 125 consists of a cylindrical reel section 1251 and disc-shaped side plates 1252, which are located at both ends of the reel section 1251 and have a larger diameter than the reel section 1251. The cable 123 is wound sequentially from one end of the reel section 1251 to the other end, forming multiple layers.

[0033] Figure 3 shows the hardware configuration of the information processing device 14. The information processing device 14 includes a processor 141, memory 142, and interface 143. These components are connected to each other in a communication manner, for example, in a bus topology.

[0034] The processor 141 controls each part of the information processing device 14 by reading and executing computer programs (hereinafter simply referred to as "programs") stored in the memory 142. The processor 141 is, for example, a CPU (Central Processing Unit).

[0035] Memory 142 is a storage means for storing the operating system, various programs, data, etc., that are loaded into the processor 141. Memory 142 may include RAM (Random Access Memory) and ROM (Read Only Memory). Memory 142 may also include a solid-state drive, a hard disk drive, etc.

[0036] Interface 143 is a communication circuit that connects the information processing device 14 to various devices (laser measuring instrument 13, inclinometer 126) via a communication line, either by wire or wireless connection.

[0037] Furthermore, a display device 144 and an input device 145 are connected to interface 143. The display device 144 is a liquid crystal display or a mobile terminal, and displays numerical values, images, etc., calculated by the processing of the information processing device 14. The input device 145 is used for the user to input various data necessary for the processing of the information processing device 14.

[0038] Figure 4 is a block diagram showing the functional configuration of the information processing device 14. The information processing device 14 functions as a data acquisition unit 1411, a shape data generation unit 1412, a identification unit 1413, an input / output control unit 1414, and a storage unit 1415, as the processor 141 executes a program.

[0039] The data acquisition unit 1411 acquires data necessary to calculate the unwinding length of the cable 123 or to determine the position of the grab bucket 124. Specifically, it acquires basic data including cable length data indicating the total length of the cable 123, boom length data indicating the total length of the boom, reel diameter data indicating the diameter or radius of the reel portion 1251 of the drum reel 125, cable diameter data indicating the diameter or radius of the cable 123, and outline data representing the outer shape of the cable 123 wound onto the drum reel 125.

[0040] Furthermore, the data acquisition unit 1411 acquires elevation angle data from the inclinometer 126, which indicates the angle of inclination (elevation angle) of the boom 121 relative to the horizontal direction. In addition, the data acquisition unit 1411 acquires data indicating the distance from the lower end position of the boom 121 to the drum reel 125.

[0041] The cable length data is data indicating the total length of the cable 123 from the drum reel 125 to the grab bucket 124, including the length of the cable 123 wound up on the drum reel 125. The cable length data is input in advance by the user from the input device 145 and stored in the storage unit 1415 via the input / output control unit 1414. The data acquisition unit 1411 acquires the cable length data from the storage unit 1415.

[0042] The boom length data is data indicating the distance from the lower end of the boom 121 to the pulley 122 located at the tip of the boom 121. This data is pre-input by the user via the input device 145 and stored in the storage unit 1415 via the input / output control unit 1414. The data acquisition unit 1411 acquires the boom length data from the storage unit 1415.

[0043] The reel diameter data is data indicating the diameter or radius of the reel section 1251 on the drum reel 125 around which the cable 123 is wound. Similar to the cable length data and boom length data, it is input in advance by the user from the input device 145 and stored in the storage unit 1415 via the input / output control unit 1414. The data acquisition unit 1411 acquires the reel diameter data from the storage unit 1415.

[0044] The cable diameter data is data indicating the diameter or radius of the cable 123, which is input in advance by the user from the input device 145 and stored in the storage unit 1415 via the input / output control unit 1414. The data acquisition unit 1411 acquires the cable diameter data from the storage unit 1415. External shape data is generated by the shape data generation unit 1412 based on the shape of the cable 123 wound on the drum reel 125, as measured by the laser measuring instrument 13.

[0045] Data indicating the distance from the lower end of the boom 121 to the drum reel 125 is pre-input by the user via the input device 145 and stored in the storage unit 1415 via the input / output control unit 1414. The data acquisition unit 1411 acquires this data from the storage unit 1415.

[0046] The shape data generation unit 1412 receives shape data acquired by the laser measuring instrument 13 and generates outline data representing the outer shape of the cable 123 wound on the drum reel 125. The data acquisition unit 1411 acquires the outline data from the shape data generation unit 1412.

[0047] The identification unit 1413 identifies the length of the cable 123 unwound from the drum reel 125 based on the cable length data, boom length data, reel diameter data, cable diameter data, and external shape data of the cable 123 wound on the drum reel 125 acquired by the data acquisition unit 1411. Specifically, it calculates the length of the cable 123 wound on the drum reel 125 from the reel diameter data, cable diameter data, and external shape data representing the external shape of the cable 123 wound on the drum reel 125. Then, it calculates the length of the cable 123 unwound from the drum reel 125 by subtracting the calculated length of the cable 123 wound on the drum reel 125 from the total length of the cable 123 indicated by the cable length data.

[0048] Furthermore, the identification unit 1413 calculates the length of the cable 123 from the drum reel 125 to the pulley 122 based on the elevation angle of the boom 121, the length of the boom 121, and the distance from the lower end of the boom 121 to the drum reel 125, as indicated by the elevation angle data acquired by the data acquisition unit 1411. Then, by subtracting the calculated length of the cable 123 from the drum reel 125 to the pulley 122 from the identified length of the unwinding cable 123, the identification unit 1413 calculates the length of the cable 123 from the pulley 122 to the grab bucket 124, and identifies the position of the suspended grab bucket 124.

[0049] The input / output control unit 1414 inputs data to be stored in the storage unit 1415. Specifically, it controls the acceptance of input such as basic data provided by the user via an input device 145, such as a keyboard or voice input. The input / output control unit 1414 also controls the display device 144 to display the length of the unwound cable 123 and the height position of the suspended grab bucket 124, calculated by the identification unit 1413, as numerical values ​​or images.

[0050] The memory unit 1415 stores basic data received as input by the input / output control unit 1414. The memory unit 1415 also stores elevation / depression angle data acquired by the data acquisition unit 1411. Furthermore, the memory unit 1415 stores the length of the unwinding cable 123 and the position of the suspended grab bucket 124, which are calculated by the identification unit 1413.

[0051] Figure 5 is a diagram illustrating the calculation of the length of the cable 123 wound onto the drum reel 125. Figure 5(a) is a perspective view showing the external appearance of the drum reel 125 on which the cable 123 is wound. As shown in Figure 2, the drum reel 125 consists of a cylindrical reel section 1251 and disc-shaped side plates 1252 provided at both ends of the reel section 1251.

[0052] Figure 5(a) shows the state in which the cable 123 is wound in multiple layers on the reel portion 1251 of the drum reel 125. When winding the cable 123, the drum reel 125 rotates, causing the cable 123 to be wound sequentially from one end of the reel portion 1251, i.e., one side plate 1252, to the other end, i.e., the other side plate. When the wound cable 123 reaches the other side plate 1252 and the first layer is finished winding, the second layer of cable 123 is wound on top of the first layer. The second layer of cable 123 is wound sequentially from the other side plate 1252 on the side where the first layer was finished winding to the first side plate 1252. When the second layer reaches one side plate 1252, the third layer is wound toward the other side plate 1253.

[0053] The winding operation described above is repeated, and the cable 123 is wound onto the drum reel 125 in multiple layers. When unwinding the cable 123, the drum reel 125 rotates in the opposite direction to the winding operation described above. The cable 123 is wound out sequentially from the top layer toward one of the side plates 1252.

[0054] Figure 5(b) shows the external shape of the cable 123 wound on the drum reel 125, based on the external shape data generated from the measurement results of the laser measuring instrument 13. Figure 5(b) shows the state in which the third layer of cable 123 has been wound up to the midpoint between the two side plates 1252. In this state, the calculation of the length of the cable 123 wound on the reel portion 1251 of the drum reel 125 will be explained below. These calculations are performed by the identification unit 1413 of the information processing device 14.

[0055] First, as shown in Figure 5(b), the unwinding position W of the cable 123 is determined from the cable diameter data and outer shape data of the cable 123. The unwinding position W is the position in the direction of the rotation axis Q of the reel section 1251 where the cable is unwound upward from the outermost layer in Figure 5(b). The position W is determined by calculating the length A from the inner surface of the end of the reel section 1251, i.e., the side plate 1252 (the right side plate 1252 in Figure 5(b)).

[0056] Then, by dividing the length A by the cable diameter (diameter of cable 123) r, the number of rows a of cable 123 wound up to the outermost circumference is calculated. In Figure 5(b), the rows of cable 123 wound up to the outermost circumference are shown as rows a1, a2, a3, a4, a5, a6, a7, a8, and a9, and the number of rows a is 9.

[0057] Next, the winding diameter K, which is the outermost diameter of the portion where the cable 123 is wound, is calculated from the cable diameter data. Then, the number of layers k is calculated by subtracting the reel diameter R, which is the diameter of the reel portion 1251, from the winding diameter K, dividing by 2, and then dividing again by the cable diameter r. In Figure 5(b), k is 3 layers. In Figure 5(b), the cable 123 wound over the range indicated by length B has (k-1) layers, which in Figure 5(b) is 2 layers. If the number of rows in this range is b, then b is calculated by dividing B by the cable diameter r. In Figure 5(b), the rows of cable 123 wound over the range indicated by length B are shown as rows b1, b2, b3, b4, b5, b6, b7, b8, and b9, and the number of rows b is 9.

[0058] From the above, in Figure 5(b), the length of the cable 123 wound in the first layer is, (R+r)×π×(a+b) The length of cable 123 wound in the second layer is, (R+3r)×π×(a+b) The length of cable 123 wound in the third layer is, (R+5r)×π×a Therefore, the length of the cable 123 wound on the drum reel 125 is the sum of these lengths.

[0059] Expressed as a general formula, the length L1 of the cable 123 wound on the drum reel 125 is given by n, where n is the number of layers wound up to the outermost edge.

number

[0060] The length of the cable 123 unwound from the drum reel 125 is the total length of the cable minus the length of the cable 123 wound on the drum reel 125. In other words, if L is the cable length acquired by the data acquisition unit 1411, that is, the total length of cable 123, then the length L2 of cable 123 unwound from the drum reel 125 is:

number

[0061] Figure 6 is a diagram illustrating the calculation of the height position of the grab bucket 124 based on the elevation and depression angles of the boom 121. In Figure 6, in order to calculate the height of the grab bucket 124, for example, the length H1 from a reference horizontal position h corresponding to the lower end position P of the boom 121 (i.e., the reference position for the tilting motion of the boom 121) is calculated.

[0062] The tilt angle (elevation angle) λ of the boom 121 with respect to the horizontal direction can be acquired as elevation angle data from the inclinometer by the data acquisition unit 1411 of the information processing device 14. Figure 6(a) shows the state where the elevation angle λ of the boom is relatively large, and Figure 6(b) shows the state where the elevation angle λ is relatively small.

[0063] In Figures 6(a) and 6(b), of the length of the cable 123 unwound from the drum reel 125, let M be the length from the drum reel 125 to the pulley 122, and let H2 be the length from the pulley 122 to the reference horizontal position h from which it is suspended. The length from the reference horizontal position h to the grab bucket 124 is H1 as described above.

[0064] The length L2 of the unwound cable 123 is L2 = M + H1 + H2 And so,

number

[0065] The length of boom 121 is known and stored in memory unit 1415. If this length is T, then the length H2 is: H2 = T × sinλ It can be calculated as follows.

[0066] Let μ be the angle between the boom 121 and the line connecting the lower end position P of the boom 121 and the position of the drum reel 125. As shown in Figures 6(a) and 6(b), angles λ and μ change due to the operation of the boom 121, but the relationship between position P and the position of the drum reel 125 remains constant. Therefore, the length from position P to the drum reel 125, and the angle λ + angle μ are constant. Since angle λ is obtained from the inclinometer 126, angle μ can be calculated.

[0067] From the above, the triangle formed by position P, drum reel 125, and pulley 122 has two sides and the angle between those two sides known. Therefore, the length M of the unknown side can be calculated. As described above, lengths H2 and M in Figure 6 can be calculated, and the length L2 of the cable 123 unwound from the drum reel 125 can also be calculated using (Equation 2) above. Therefore, based on (Equation 3) above, the length H1 of the grab bucket 124 relative to the reference horizontal position h can be calculated, and the position of the grab bucket 124 from the water surface S can also be calculated.

[0068] Figure 7 is a flowchart showing the processing procedure in the information processing device 14. The processor 141 of the information processing device 14 performs the processing according to the flowchart in Figure 7 by reading and executing the program stored in the memory 142.

[0069] Assuming that the information processing device performs processing according to the flowchart in Figure 7, the crane 12 is activated by the user, allowing the elevation angle of the boom 121 to be changed, and the rotation of the drum reel 125 is controlled by the user, allowing the cable 123 to be unwound and hoisted up.

[0070] First, the data acquisition unit 1411 of the information processing device 14 acquires various data necessary for calculating the unwinding length of the cable 123 and the height of the grab bucket (step S501). The data to be acquired includes cable length data, reel diameter data, cable diameter data, data indicating the length of the boom, data indicating the distance from the lower end position of the boom 121 to the drum reel 125, and height data from the water surface S of the reference horizontal position h, which are pre-stored in the storage unit 1415.

[0071] Next, the shape data generation unit 1412 acquires measurement data from the laser measuring instrument 13 and generates shape data representing the outer shape of the cable 123 wound on the drum reel 125 (step S502). Subsequently, the data acquisition unit 1411 acquires the shape data representing the outer shape of the cable 123 generated by the shape data generation unit 1412 (step S503).

[0072] Next, the data acquisition unit 1411 acquires elevation angle data from the inclinometer 126, which indicates the elevation angle of the boom 121 (step S504). Next, the specific unit 1413 checks whether there has been a change in the outer shape of the cable 123 or the elevation angle of the boom 121, and determines whether the drum reel 125 or the boom 121 has been activated (step S505). If it is determined that the drum reel 125 or the boom 121 has not been activated (step S505: No), the process returns to step S502.

[0073] If it is determined that the drum reel 125 or boom 121 has been activated (step S505: Yes), the identification unit 1413 calculates the winding length of the cable 123 (the length of the cable 123 wound on the drum reel 125) based on the cable length data, reel diameter data, cable diameter data, and outline data representing the outline of the cable 123 wound on the drum reel 125 acquired by the data acquisition unit 1411 (step S506). As described above, the unwinding position W is determined from the outline of the cable 123 wound on the drum reel 125, and the number of rows and layers in which the cable 123 is wound is calculated, thereby calculating the winding length L1 of the cable 123 based on the above formula (1).

[0074] Next, the identification unit 1413 calculates the unwinding length of the cable 123 (the length of the cable 123 being unwound from the drum reel 125) (step S507). From the calculated winding length L1 of the cable 123, the unwinding length L2 of the cable 123 is determined based on the above-mentioned (equation 2).

[0075] Next, the identification unit 1413 determines the height position of the grab bucket 124 relative to the water surface S (step S508). From the elevation angle data showing the elevation angle of the boom 121, the data showing the length of the boom, and the data showing the distance from the lower end position of the boom 121 to the drum reel 125, acquired by the data acquisition unit 1411, the lengths M and H2 shown in Figure 6(b) are calculated. Then, from the unwinding length L2 of the cable 123 determined in step S506, the length H1 is determined based on (Equation 3) described above. Then, by subtracting the height of the reference horizontal position h from the water surface S from the specified length H1, the position of the grab bucket 124 relative to the water surface S can be calculated.

[0076] Next, the input / output control unit 1414 displays the unwinding length of the identified cable 123 and the height position of the grab bucket on the display device 144 using numerical values ​​and an image (step S509). Then, the process returns to step S502 and continues.

[0077] As described above, the information processing device 14 can determine the unwinding length of the cable 123 when the unwinding length changes due to the operation of the drum reel 125. Furthermore, it can determine the position of the grab bucket 124 from the water surface S when the elevation angle of the boom 121 changes due to the operation of the boom 121. Therefore, the information processing device can manage the unwinding length of the cable 123 and the position of the grab bucket 124 from the water surface S.

[0078] [Differentiation] The embodiments described above can be modified in various ways. Examples of these modifications are shown below. Note that two or more of the following modifications may be combined as appropriate.

[0079] (1) In the above embodiment, the elevation and depression angles of the boom 121 are obtained by installing an inclinometer 126 on the boom 121. However, the elevation and depression angles of the boom 121 may also be obtained by installing a laser rangefinder, camera, etc., in a position that does not move in accordance with the operation of the boom 121, and based on the distance to each point on the boom 121 or on images taken of the boom 121.

[0080] (2) In the above embodiment, the external shape of the cable 123 wound on the drum reel 125 was acquired by scanning it with the laser measuring instrument 13, but external shape data may also be acquired by capturing a two-dimensional image using a camera equipped with an imaging sensor.

[0081] (3) In the above embodiment, when calculating the length of the cable 123 wound on the drum reel 125, the number of rows of the wound cable 123 was calculated based on the cable diameter. However, the maximum number of rows that can be wound on the drum reel 125 may be set in advance. In Figure 6(b), if the maximum number of rows that can be wound is known, the number of rows wound in 3 layers and the number of rows wound in 2 layers can be determined by finding the unwinding position W.

[0082] (4) In the above-described embodiment, the position of the grab bucket 124 was determined based on a reference horizontal position h corresponding to the lower end of the boom 121 of the crane 12. However, the reference for the position is not limited to this, and any position is acceptable as long as the distance between the drum reel 125 and position P and the vertical position relative to the reference horizontal position h do not change, or even if they change, the positional relationship can be determined. For example, the height of the deck surface of the crane ship 11 may be used as the reference.

[0083] (5) In the above-described embodiment, the laser measuring instrument 13 is provided in the direction of the front of the drum reel 125, but the invention is not limited to this, and the laser measuring instrument 13 may be provided at an angle to the front of the drum reel 125. That is, in Figure 2(a), the laser measuring instrument 13 is installed so as to face a direction perpendicular to the longitudinal direction of the reel portion 1251 of the drum reel 125, but it may be installed so as to face a direction that is not perpendicular to the longitudinal direction of the reel portion 1251 but is inclined in the vertical or horizontal direction.

[0084] When the laser measuring instrument 13 is installed in this manner, depending on the angle of inclination at which it is installed, the laser beam C may be blocked by one of the side plates 1252, and as shown in Figure 5(b), the external shape data of some of the multiple rows of wound-up cables 123 (the rows closer to the side plate 1252) may not be obtained.

[0085] Even in such cases, if the maximum number of rows that can be wound onto the drum reel 125 (18 rows in the case of Figure 5(b)) is known, then if only one of the row number a or row number b can be calculated, the other can also be calculated. Therefore, the length of the cable 123 wound on the drum reel 125 can be calculated. [Explanation of Symbols]

[0086] 1··System for determining cable unwinding length, 11··Crane ship, 12··Crane, 13··Laser measuring instrument, 14··Information processing device, 121··Boom, 122··Pulley, 123··Cable, 124··Grab bucket, 125··Drum reel, 126··Inclinometer, 141··Processor, 142··Memory, 143··Interface, 144··Display device, 145··Input device, 1251··Reel section, 1252··Side plate, 1411··Data acquisition section, 1412··Shape data generation section, 1413··Identification section, 1414··Input / output control section, 1415··Storage section, S··Water surface, C··Laser beam.

Claims

1. Acquisition means for acquiring cable length data indicating the total length of the cable of a crane used for lifting and lowering loads, reel diameter data indicating the diameter or radius of the reel used for winding and unwinding the cable, cable diameter data indicating the diameter or radius of the cable, and external shape data representing the overall external shape of the portion of the cable wound on the reel, generated based on a three-dimensional shape measured by scanning with a laser measuring instrument installed in a direction perpendicular or inclined to the longitudinal direction of the reel, or a two-dimensional image captured by a camera installed in a direction perpendicular or inclined to the longitudinal direction of the reel. A means for determining the length of the cable wound on the reel based on the reel diameter data, the cable diameter data, and the outer shape data, and for determining the length of the cable unwound from the reel based on the calculated length of the cable wound on the reel and the total length of the cable indicated by the cable length data. A system for determining the cable unwinding length, equipped with the following features.

2. The identifying means identifies, based on the external shape data, the winding diameter, which is the diameter or radius of the portion of the cable wound onto the reel, and the unwinding position of the end of the portion of the cable wound onto the reel in the direction of the reel's rotation axis, and uses the identified winding diameter and unwinding position to determine the length of the cable wound onto the reel. The system according to claim 1.

3. The acquisition means acquires boom length data indicating the length of the crane boom and elevation angle data indicating the elevation angle of the boom, The identification means identifies the position of the load suspended by the crane based on the length of the cable unwound from the identified reel, the length of the boom indicated by the boom length data, and the elevation angle of the boom indicated by the elevation angle data. The system according to claim 1 or 2.

4. The system includes a laser measuring instrument that scans an object with a laser to generate measurement data representing the three-dimensional shape of the object, and a generation means that acquires measurement data representing the overall three-dimensional shape of the portion of the cable wound on the reel, and generates the external shape data from the measurement data, The acquisition means acquires the external shape data generated by the generation means. The system according to any one of claims 1 to 3.

5. On the computer, A process for acquiring cable length data indicating the total length of the cable of a crane used for lifting and lowering loads, reel diameter data indicating the diameter or radius of the reel used for winding and unwinding the cable, cable diameter data indicating the diameter or radius of the cable, and outline data representing the overall outline of the portion of the cable wound on the reel, generated based on a three-dimensional shape measured by scanning with a laser measuring instrument installed in a direction perpendicular or inclined to the longitudinal direction of the reel, or a two-dimensional image captured by a camera installed in a direction perpendicular or inclined to the longitudinal direction of the reel. A process to calculate the length of the cable wound on the reel based on the reel diameter data, the cable diameter data, and the outer shape data, and to determine the length of the cable unwound from the reel based on the calculated length of the cable wound on the reel and the total length of the cable indicated by the cable length data. A program to execute.

6. To the aforementioned computer, A process for acquiring boom length data indicating the length of the boom of the crane and elevation angle data indicating the elevation angle of the boom, A process to identify the position of the load suspended by the crane based on the length of the cable unwound from the identified reel, the length of the boom indicated by the boom length data, and the elevation angle of the boom indicated by the elevation angle data. The program according to claim 5 for causing execution.

7. A method for managing the unwinding of a cable using the system described in any one of claims 1 to 4.

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