JPH0672693A - Deflection detecting method for crane hoisting load - Google Patents
Deflection detecting method for crane hoisting loadInfo
- Publication number
- JPH0672693A JPH0672693A JP22701192A JP22701192A JPH0672693A JP H0672693 A JPH0672693 A JP H0672693A JP 22701192 A JP22701192 A JP 22701192A JP 22701192 A JP22701192 A JP 22701192A JP H0672693 A JPH0672693 A JP H0672693A
- Authority
- JP
- Japan
- Prior art keywords
- crane
- load
- target
- ccd camera
- hoisting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Control And Safety Of Cranes (AREA)
Abstract
Description
【0001】[0001]
【産業上の利用分野】本発明は、センサにより荷の振れ
状態を検知し、その検知した荷の振れ状態を示す出力に
よりクレーン吊荷の振れを制御するクレーン作業に関す
る。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a crane operation in which a sensor detects a swinging state of a load and the swinging load of a crane is controlled by an output indicating the detected swinging state of the load.
【0002】[0002]
【従来の技術】かかる吊荷の振れ角は、振れ角センサに
よる検出や、目視による検出は一般に知られている。2. Description of the Related Art The deflection angle of such a suspended load is generally known to be detected by a deflection angle sensor or visually.
【0003】[0003]
【発明が解決しようとする課題】そして、専門的技能を
習得していないオペレータにも安全で正確な揚重荷役作
業ができるようクレーン自動振れ止め方法や、自動運転
が提案されている。An automatic steady rest method and an automatic operation of a crane have been proposed so that an operator who does not have specialized skills can safely and accurately perform lifting and unloading work.
【0004】しかし、そのためには吊荷の振れ角等を精
度良く計測し、リアルタイムのデータとして出力できる
検出方法が必要である。However, for that purpose, a detection method capable of accurately measuring the deflection angle of the suspended load and outputting it as real-time data is required.
【0005】本発明は、吊り荷の振れ角等を精度よく計
測できるクレーン吊り荷の振れ検出方法を提供すること
を目的としている。It is an object of the present invention to provide a method for detecting a shake of a hanging load of a crane capable of accurately measuring the swing angle of the hanging load.
【0006】[0006]
【課題を解決するための手段】本発明によれば、センサ
により荷の振れ状態を検知し、その検知した荷の振れ状
態を示す出力によりクレーン吊荷の振れを制御するクレ
ーン作業において、センサにより上方より吊りフックの
3次元位置を計測し、その画像出力を画像処理してその
振れ角を検出することを特徴とするクレーン吊り荷の振
れ検出方法を提供している。According to the present invention, a sensor detects a swinging state of a load by a sensor, and the swinging load of a crane is controlled by an output indicating the detected swinging state of the load. Provided is a method for detecting a swing of a crane suspended load, which comprises measuring a three-dimensional position of a suspension hook from above and performing image processing on the image output to detect a swing angle thereof.
【0007】[0007]
【作用】上記のように構成されたクレーン吊り荷の振れ
検出方法において、センサが吊り荷(ターゲット)を直
接捕らえて振れ等を計測するので、精度が高くそのまま
吊り荷の振れ等を制御する制御装置に入力できるので、
誤りがない。In the above-described method for detecting the vibration of the suspended load of the crane, since the sensor directly captures the suspended load (target) and measures the shake, etc., the control for controlling the shake of the suspended load is highly accurate. Since it can be input to the device,
There is no mistake.
【0008】[0008]
【好ましい実施の態様】上記のセンサは2台のCCDカ
メラを使用するか、またはCCDカメラ1台と変位計と
を使用する事が好ましい。BEST MODE FOR CARRYING OUT THE INVENTION The above sensor preferably uses two CCD cameras, or one CCD camera and a displacement meter.
【0009】[0009]
【実施例】以下、図面を参照して、本発明の実施例を説
明する。Embodiments of the present invention will be described below with reference to the drawings.
【0010】図1は本発明の振れ検出方法を実施する装
置の一実施例を示し、クレーンのウインチ1と吊りフッ
ク2との間には吊りロープ4がかけられている。また、
吊りフック2にはCCDカメラと変位計で計測するため
のターゲット3が取付けられている。FIG. 1 shows an embodiment of an apparatus for carrying out the shake detecting method of the present invention, in which a hanging rope 4 is hung between a winch 1 and a hanging hook 2 of a crane. Also,
A CCD camera and a target 3 for measuring with a displacement meter are attached to the hanging hook 2.
【0011】そして、ウインチ1の両側には吊り荷、す
なわちターゲット3を計測するCCDカメラ5と変位計
6とが、カメラの画角D1にターゲット3が入るように
取付けられている。On both sides of the winch 1, a suspended load, that is, a CCD camera 5 for measuring the target 3 and a displacement meter 6 are attached so that the target 3 enters the field angle D1 of the camera.
【0012】また、クレーンにはCCDカメラ5と変位
計6とからの情報を処理するコンピュータ10が設けら
れ、それぞれCCDカメラ5と変位計6とに接続されて
いる。Further, the crane is provided with a computer 10 for processing information from the CCD camera 5 and the displacement gauge 6, which are connected to the CCD camera 5 and the displacement gauge 6, respectively.
【0013】図2を参照して、クレーン作業が開始され
ると、まずCCDカメラ5の画像と変位計(距離形)か
らの信号が入力される(ステップS1)。ついで、画像
処理され(ステップS2)、座標計算を実施して(ステ
ップS3)、変位計からの距離データと共に振れ角を算
出する(ステップS4)。Referring to FIG. 2, when the crane work is started, first, an image from the CCD camera 5 and a signal from the displacement meter (distance type) are input (step S1). Next, image processing is performed (step S2), coordinate calculation is performed (step S3), and the deflection angle is calculated together with the distance data from the displacement meter (step S4).
【0014】なお、必要に応じ、ターゲットの周期を計
測して入力すれば振れ角の角速度が求められる。If necessary, the angular velocity of the deflection angle can be obtained by measuring and inputting the period of the target.
【0015】そして、上記のクレーン吊り荷の振れ検出
方法により検出されたデータがクレーン自動振れ止め方
法の制御装置や、クレーン自動運転の制御装置に入力さ
れれば、精度の高い自動制御ができる。If the data detected by the above-described method for detecting the shake of the crane load is input to the controller for the automatic crane steadying method or the controller for the automatic crane operation, highly accurate automatic control can be performed.
【0016】図3は、上記の振れ検出方法を実施する別
の実施例を示し、変位計に代えて2台目のCCDカメラ
7を設け、ターゲット3がそれぞれの画角D1、D2に
入るよう取付け、コンピュータ11に接続した事以外、
図1の装置と同様である。FIG. 3 shows another embodiment for carrying out the above-described shake detecting method, in which a second CCD camera 7 is provided in place of the displacement meter so that the target 3 enters the respective field angles D1 and D2. Except for mounting and connecting to computer 11,
It is similar to the device of FIG.
【0017】したがって、第1の実施例と同様に精度の
高い振れ検出ができる。Therefore, the shake can be detected with high accuracy as in the first embodiment.
【0018】[0018]
【考案の効果】本発明は、以上説明したように構成さ
れ、吊り荷を直接に計測しているので、精度の高い吊り
荷の振れを検出する事ができる。Since the present invention is constructed as described above and directly measures the suspended load, it is possible to detect the swing of the suspended load with high accuracy.
【0019】したがって、このデータを使用して、精度
の高い自動振れ止め方法や自動運転を実施することが可
能になる。Therefore, using this data, it becomes possible to carry out a highly accurate automatic steady rest method and automatic operation.
【図1】本発明の振れ検出方法を実施する振れ検出装置
の一実施例を示す構成図。FIG. 1 is a configuration diagram showing an embodiment of a shake detection apparatus that implements a shake detection method of the present invention.
【図2】図1の演算処理のフローチャート図。FIG. 2 is a flowchart of the arithmetic processing of FIG.
【図3】本発明の振れ検出方法を実施する振れ検出装置
の別の実施例を示す図。FIG. 3 is a diagram showing another embodiment of the shake detection apparatus for carrying out the shake detection method of the present invention.
1…ウインチ 2…吊りフック 3…ターゲット 4…吊りロープ 5、7…CCDカメラ 6…変位計 10…制御装置 1 ... Winch 2 ... Suspension hook 3 ... Target 4 ... Suspension rope 5, 7 ... CCD camera 6 ... Displacement meter 10 ... Control device
Claims (1)
の検知した荷の振れ状態を示す出力によりクレーン吊荷
の振れを制御するクレーン作業において、センサにより
上方より吊りフックの3次元位置を計測し、その画像出
力を画像処理してその振れ角を検出することを特徴とす
るクレーン吊り荷の振れ検出方法。1. In a crane operation in which a sensor detects a swinging state of a load and the swinging load of the crane is controlled by an output indicating the detected swinging state of the load, the sensor measures a three-dimensional position of a hanging hook from above. Then, the image output is subjected to image processing to detect the deflection angle, and a deflection detection method for a crane suspended load is characterized.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP22701192A JPH0672693A (en) | 1992-08-26 | 1992-08-26 | Deflection detecting method for crane hoisting load |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP22701192A JPH0672693A (en) | 1992-08-26 | 1992-08-26 | Deflection detecting method for crane hoisting load |
Publications (1)
Publication Number | Publication Date |
---|---|
JPH0672693A true JPH0672693A (en) | 1994-03-15 |
Family
ID=16854120
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP22701192A Pending JPH0672693A (en) | 1992-08-26 | 1992-08-26 | Deflection detecting method for crane hoisting load |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH0672693A (en) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102795547A (en) * | 2012-08-31 | 2012-11-28 | 中国人民解放军国防科学技术大学 | Real-time photographic measuring method of position and swing angle of lifting hook of crane |
CN103613015A (en) * | 2013-11-26 | 2014-03-05 | 中联重科股份有限公司 | Safety hoisting and loading control method, safety hoisting and loading control device, safety hoisting and loading control system as well as crane |
CN105303564A (en) * | 2015-09-28 | 2016-02-03 | 南京信息职业技术学院 | Tower type crane load stereo pendulum angle vision detection method |
TWI554463B (en) * | 2014-05-28 | 2016-10-21 | 行政院原子能委員會核能研究所 | Adaptive fuzzy slide image tracking control device for 3d trolley system |
CN108439218A (en) * | 2018-05-31 | 2018-08-24 | 河南省中原起重机械有限公司 | A kind of crane hanging component angle detection device |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0489795A (en) * | 1990-07-31 | 1992-03-23 | Mitsui Eng & Shipbuild Co Ltd | Anti-swinging method for hoisting load |
JPH04201988A (en) * | 1990-11-30 | 1992-07-22 | Hitachi Ltd | Crane hanging piece oscillation detecting device |
-
1992
- 1992-08-26 JP JP22701192A patent/JPH0672693A/en active Pending
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0489795A (en) * | 1990-07-31 | 1992-03-23 | Mitsui Eng & Shipbuild Co Ltd | Anti-swinging method for hoisting load |
JPH04201988A (en) * | 1990-11-30 | 1992-07-22 | Hitachi Ltd | Crane hanging piece oscillation detecting device |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102795547A (en) * | 2012-08-31 | 2012-11-28 | 中国人民解放军国防科学技术大学 | Real-time photographic measuring method of position and swing angle of lifting hook of crane |
CN103613015A (en) * | 2013-11-26 | 2014-03-05 | 中联重科股份有限公司 | Safety hoisting and loading control method, safety hoisting and loading control device, safety hoisting and loading control system as well as crane |
TWI554463B (en) * | 2014-05-28 | 2016-10-21 | 行政院原子能委員會核能研究所 | Adaptive fuzzy slide image tracking control device for 3d trolley system |
CN105303564A (en) * | 2015-09-28 | 2016-02-03 | 南京信息职业技术学院 | Tower type crane load stereo pendulum angle vision detection method |
CN108439218A (en) * | 2018-05-31 | 2018-08-24 | 河南省中原起重机械有限公司 | A kind of crane hanging component angle detection device |
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