WO2023054475A1 - Position detection system, target, and position detection method - Google Patents

Position detection system, target, and position detection method Download PDF

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Publication number
WO2023054475A1
WO2023054475A1 PCT/JP2022/036183 JP2022036183W WO2023054475A1 WO 2023054475 A1 WO2023054475 A1 WO 2023054475A1 JP 2022036183 W JP2022036183 W JP 2022036183W WO 2023054475 A1 WO2023054475 A1 WO 2023054475A1
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WIPO (PCT)
Prior art keywords
position detection
unit
photographing
color information
crane
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PCT/JP2022/036183
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French (fr)
Japanese (ja)
Inventor
雅人 小林
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住友重機械搬送システム株式会社
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Publication of WO2023054475A1 publication Critical patent/WO2023054475A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/46—Position indicators for suspended loads or for crane elements

Definitions

  • the present disclosure relates to position detection systems, targets, and position detection methods.
  • Patent Literature 1 discloses position detection for detecting the position of an object suspended by a suspension based on the captured image of a marker provided on a suspension by an imaging unit provided on a crane. system is described.
  • the markers provided on the suspension have a band-like or radial shape. Therefore, the position detection system detects the position of the object from only the shape information of the marker in the imaging information. Therefore, for example, if sunlight reflected from a puddle formed on the hanging part enters the imaging part, the shape of the marker cannot be distinguished, and the belt-like shape may be lost, preventing normal position detection. In addition, reflected light from projections such as handrails may be erroneously recognized as a marker. Therefore, there has been a demand for a position detection system that can reliably detect the position of an object.
  • the present disclosure has been made to solve such problems, and aims to provide a position detection system, a target, and a position detection method that can reliably detect the position of an object.
  • a position detection system is a position detection system for detecting the position of an object suspended by a suspension member and a suspension part of a crane, and is provided in a crane structure that moves together with the suspension point of the suspension member, A photographing unit that photographs an object, a color information extracting unit that extracts color information from the photographing information of the photographing unit and specifies an extraction area, and an object and a crane based on the extraction result of the color information extracting unit. and a position detection unit that detects the relative position of the
  • the color information extraction unit extracts color information from the photographing information of the photographing unit and specifies an extraction area. Also, the position detection section can detect the relative position between the object and the crane based on the extraction result of the color information extraction section. In this way, when the position detection unit is based on extraction of color information from photographing information, it is possible to detect the position of an object while reducing the influence of disturbance such as reflection of sunlight. As described above, the position of the object can be reliably detected.
  • the position detection unit may detect multiple targets having different characteristics.
  • the position detection section can detect the position of the object in more detail by effectively utilizing the individual characteristics of each target.
  • the position detection unit may detect a plurality of targets having mutually different color information as mutually different characteristics. In this case, a plurality of targets with different characteristics can be easily prepared simply by changing the color information of each target.
  • the position detection unit may detect the orientation of the object in the direction of rotation within the horizontal plane based on the positional relationship of multiple targets having mutually different color information. That is, since the characteristics of the plurality of targets are different from each other, the position detection unit can easily detect the orientation of the object in the rotation direction by referring to the positional relationship of each target in the rotation direction.
  • the position detection unit may detect the installation location of the object in addition to the object based on the imaging information from a single imaging unit. In this case, even without using a plurality of imaging units, the position detection unit can easily grasp the relative positional relationship between the object and the installation location based on the imaging information from a single imaging unit. .
  • the position detection system may include an attitude adjustment mechanism that adjusts the attitude of the imaging unit so that the imaging unit faces downward regardless of the movement of the structure.
  • the posture adjustment mechanism can adjust the posture so that the photographing unit faces downward.
  • a target according to the present disclosure is a target for detecting the position of an object suspended by crane suspension members and suspension parts, and has arbitrary color information that can be extracted in an image.
  • the position detection system can extract the color information of the target in the image and perform position detection. In this case, it is possible to obtain the same functions and effects as those of the position detection system described above.
  • a position detection method is a position detection method for detecting the position of an object suspended by a suspension member and a suspension part of a crane. Based on the extraction result of the image capturing step of capturing an image of the object by the capturing unit, the color information extracting step of extracting color information from the capturing information in the capturing step, and specifying the extraction area, and the extraction result of the color information extracting step and a position detection step of detecting the relative position of the object and the crane.
  • FIG. 1 is a schematic diagram showing a position detection system according to an embodiment
  • FIG. FIG. 2 is a schematic configuration diagram of a crane to which FIG. 1 is applied
  • It is an example of the image image
  • It is a perspective view which shows the structure of an attitude
  • FIG. 4 is a diagram for explaining the processing content of a position detection unit;
  • FIG. It is an example of the image image
  • FIG. 1 is a schematic diagram showing a position detection system according to this embodiment.
  • FIG. 2 is a schematic configuration diagram of a crane to which FIG. 1 is applied.
  • the position detection system 100 is a system that detects the position of the suspended load SL (object) suspended by the suspension member 17 and the suspension section 16 of the crane 1 .
  • the position detection system 100 includes, as a system configuration, a measurement device 10, a control device 40, an input section 51, an output section 52, and targets 50A and 50B.
  • the crane 1 exemplified in this embodiment is a jib crane that can swing and travel.
  • the crane 1 has a traveling body 11, a tower body 12, a revolving body 13, a jib 14, and a mast 15 as an apparatus configuration.
  • the traveling body 11 causes the crane 1 to travel along the traveling rail by driving the wheels on the traveling rail.
  • the tower body 12 is a columnar structure erected on the traveling body 11 .
  • the revolving body 13 is provided at the upper end of the tower body 12 and is rotatable with respect to the tower body 12 around the vertical axis CL.
  • the revolving body 13 includes an operator's cab 13a in its upper part.
  • the jib 14 is pinned to a portion of the revolving body 13 .
  • the mast 15 is erected on the revolving body 13 .
  • the rear end of the revolving body 13, the mast top that is the upper end of the mast 15, and the tip of the jib 14 are supported by wire ropes W1.
  • the jib 14 moves up and down with its base end as a fulcrum. Also, the wire rope W2 is connected to the hanging portion 16 . As the wire rope W2 is wound and unwound, the hanger 16 moves vertically.
  • a portion of the wire rope W ⁇ b>2 that extends downward from the upper end of the jib 14 to suspend the suspending portion 16 and the suspended load SL is referred to as a suspending member 17 .
  • a point that is the base point of the amplitude of the suspension member 17 is referred to as a "suspension point SP".
  • the suspending portion 16 is provided with targets 50A and 50B. As shown in FIG. 3, the targets 50A and 50B are provided on the upper surface 16a of the hanger 16 so that the photographing unit 21, which will be described later, can photograph from above.
  • the targets 50A and 50B are arranged side by side at a position closer to one side than the center of the suspending portion 16 .
  • the targets 50A and 50B have a circular shape.
  • the positions, shapes and sizes of the targets 50A and 50B are not particularly limited.
  • the number of targets is not particularly limited.
  • the targets 50A and 50B have different characteristics.
  • the characteristics that are different from each other may be characteristics that allow the targets 50A and 50B to be distinguished in an image, and include, for example, different color information and different shapes.
  • the targets 50A and 50B have different color information.
  • Targets 50A and 50B each have any color information that can be extracted in the image.
  • Arbitrary color information that can be extracted from an image may be any color information that can be extracted by processing of the color information extraction unit 42, which will be described later.
  • such color information includes various colors such as red, green, and blue, and any color other than white may be used.
  • the target 50A is entirely red
  • the target 50B is entirely green.
  • the colors of the targets 50A and 50B are not particularly limited.
  • the measurement device 10 includes an imaging unit 21, a distance measurement unit 22, and an inclination detection unit 23.
  • the measurement device 10 transmits detection information detected by the imaging unit 21 , the distance measurement unit 22 , and the tilt detection unit 23 to the control device 40 .
  • the measuring device 10 also receives a command signal from the control device 40 .
  • the photographing unit 21 is a measuring device that photographs the suspended load SL.
  • the imaging unit 21 is provided on the structure 30 of the crane 1 that moves together with the suspension point SP.
  • the photographing unit 21 is attached to an attachment member 31 provided at the tip of the jib 14 .
  • the photographing unit 21 is arranged so that the lens unit faces downward in the vertical direction.
  • the photographing unit 21 can acquire photographing information within the photographing range E that spreads downward.
  • the photographing range E is set to a size such that the suspended load SL does not go out of the photographing range E even when the swing angle of the suspended load SL reaches the allowable maximum value.
  • FIG. 3 shows an example of imaging information acquired by the imaging unit 21, that is, an image.
  • the photographing unit 21 may be configured by a general color camera. Therefore, the image captured by the imaging unit 21 is a color image.
  • the photographing unit 21 is provided near the suspension point SP.
  • the photographing unit 21 may be provided anywhere as long as it is the structure 30 that moves together with the suspension point SP and can photograph the suspended load SL.
  • it may be provided at a position near the center of the jib 14 in the longitudinal direction, or at a position near the connection between the jib 14 and the revolving body 13 .
  • the position detection system 100 includes an attitude adjustment mechanism 60 that adjusts the attitude of the imaging unit 21 so that the imaging unit 21 faces downward regardless of the movement of the structure 30 .
  • the posture adjustment mechanism 60 includes a holding portion 61 , a hinge portion 62 and a fixing portion 63 .
  • the holding section 61 is a member that holds the photographing section 21 .
  • the holding portion 61 includes a bottom plate portion 61a, an upper plate portion 61b, and column portions 61c connecting the bottom plate portion 61a and the upper plate portion 61b at four corners.
  • the imaging unit 21 is provided on the lower surface of the bottom plate portion 61a.
  • the tilt detector 23 is provided on the upper surface of the bottom plate portion 61a.
  • the bottom plate portion 61a is thicker and heavier than the upper plate portion 61b.
  • the hinge portion 62 is a member that rotatably connects the upper plate portion 61 b of the holding portion 61 and the fixing portion 63 .
  • the fixing part 63 is a member for fixing the attitude adjustment mechanism 60 to the structure 30 of the crane 1 .
  • the posture of the fixed portion 63 also changes.
  • the fixing portion 63 is attached to the structure 30 in a horizontal state.
  • the bottom plate portion 61a of the holding portion 61 is also in a horizontal state.
  • the fixed portion 63 assumes a posture that is inclined with respect to the horizontal.
  • the holding portion 61 rotates relative to the fixed portion 63 by the hinge portion 62 .
  • the distance measuring unit 22 is a measuring device that detects the distance between the photographing unit 21 and the suspended load SL. The distance can be approximated to the length of the hanging member 17 . Therefore, the distance measuring unit 22 may be configured by a sensor for detecting the unwinding amount provided in the winding device 32 that winds the wire rope W2 (see FIG. 2). The detection sensor can detect the length of the hanging member 17 based on the unwinding amount of the unwound wire rope W2. Note that the distance measuring unit 22 is not limited to such a detection sensor provided in the winding device 32.
  • the distance measuring unit 22 may be configured by a laser-type or radar-type distance measuring device provided near the photographing unit 21. good. Also, the distance measurement unit 22 may be omitted.
  • the tilt detection unit 23 is a measuring device that detects the tilt amount of the photographing unit 21 .
  • the tilt detection unit 23 detects the tilt amount when the tilt amount of the photographing unit 21 with respect to the horizontal direction changes.
  • the tilt detection unit 23 is provided at a position that tilts at the same tilt amount when the tilt amount of the photographing unit 21 changes.
  • the tilt detection unit 23 may be attached to the same member as the member to which the photographing unit 21 is attached.
  • the tilt detection section 23 may be provided on the bottom plate section 61a to which the photographing section 21 is attached (see FIG. 4). Note that the tilt detector 23 may be omitted.
  • the input unit 51 is an interface through which the user inputs information to the control device 40 .
  • the input unit 51 employs, for example, a keyboard, a mouse, a touch panel, a microphone, and the like.
  • the output unit 52 is an interface that outputs information from the control device 40 to the user.
  • the output unit 52 employs, for example, a monitor, a speaker, or the like.
  • the control device 40 is a device that controls the position detection system 100 as a whole.
  • the control device 40 includes a processor, memory, storage, communication interface and user interface, and is configured as a general computer.
  • a processor is a computing unit such as a CPU (Central Processing Unit).
  • the memory is a storage medium such as ROM (Read Only Memory) or RAM (Random Access Memory).
  • the storage is a storage medium such as an HDD (Hard Disk Drive).
  • a communication interface is a communication device that implements data communication.
  • the processor integrates memory, storage, communication interface and user interface, and implements the functions described below.
  • the control device 40 implements various functions by, for example, loading programs stored in the ROM into the RAM and executing the programs loaded into the RAM by the CPU.
  • the control device 40 may be composed of a plurality of computers.
  • the control device 40 includes an information acquisition section 41 , a color information extraction section 42 , a position detection section 43 and a storage section 44 .
  • the information acquisition unit 41 acquires detection information from the measuring device 10 .
  • the information acquisition unit 41 acquires imaging information (that is, an image) captured by the imaging unit 21 .
  • the information acquisition unit 41 also acquires the measurement result by the distance measurement unit 22 and/or the detection result by the tilt detection unit 23 .
  • the storage unit 44 stores various information used for position detection by the position detection system 100 .
  • the storage unit 44 stores information about the targets 50A and 50B provided on the hanging portion 16.
  • FIG. Such information includes, for example, color information, shape information, size information, and position information of the targets 50A and 50B.
  • the color information extraction unit 42 extracts color information from the photographing information of the photographing unit 21 and specifies an extraction area.
  • the color information extraction unit 42 extracts specific color information from the image and specifies an area having the color information as an extraction area.
  • the color information extraction unit 42 identifies at least regions corresponding to the targets 50A and 50B as extraction regions.
  • the color information extraction unit 42 identifies areas other than the targets 50A and 50B in the image as long as they have specific color information as extraction areas.
  • the position detection unit 43 detects the relative position between the suspended load SL and the crane 1 based on the extraction result of the color information extraction unit 42 .
  • the position detection unit 43 can detect the deflection angle of the suspended load SL as the relative position between the suspended load SL and the crane 1 . For example, as shown in FIG. 3, the position detection unit 43 sets the position vertically below the suspension point SP in the image of the photographing unit 21 as the origin OP of the shake angle (0 point of the shake angle).
  • the position detection unit 43 detects the distance between the color pattern of the targets 50A and 50B in the image and the origin OP as the deflection angle.
  • the position detection unit 43 detects the X-direction distance between the center of gravity WP of the color pattern and the origin OP as the X-direction deflection angle ⁇ x.
  • the position detection unit 43 detects the Y-direction distance between the center of gravity WP of the color pattern and the origin OP as the Y-direction deflection angle ⁇ y. In this manner, the position detection unit 43 detects the relative position of the suspended load SL with respect to the crane 1 based on the deflection angle of the color pattern center of gravity WP.
  • the position detection unit 43 detects a plurality of targets 50A and 50B having mutually different characteristics.
  • the position detection unit 43 detects a plurality of targets 50A and 50B having mutually different color information as mutually different characteristics.
  • FIG. 5(a) shows a color image CP captured by the capturing unit 21.
  • the color image CP is an image composed of RGB (red, green, and blue) image signals.
  • the hanging portion 16 and the targets 50A and 50B are shown in the color image CP.
  • the target 50A is displayed in red
  • the target 50B is displayed in green
  • the hanging portion 16 is displayed in white due to the influence of light.
  • the color image CP also includes a view of a place farther than the hanging portion 16. ⁇ Among them, the objects OB1 and OB2 are displayed in red
  • the objects OB3, OB4 and OB5 are displayed in green.
  • the color information extraction unit 42 converts the RGB (red, green and blue) image signals of the color image CP into HSV (hue, saturation, brightness) in order to extract color information. Then, the color information extraction unit 42 obtains filtered images FP1 and FP2 obtained by filtering the H (hue) image with the colors of the targets 50A and 50B.
  • FIG. 5(b) shows a filtered image FP1 filtered with red, which is the color of the target 50A.
  • FIG. 5(c) shows a filtered image FP2 filtered with green, which is the color of the target 50B.
  • FIG. 5B in the filtered image FP1, areas having red color information are displayed brightly, and other areas are displayed darkly. Further, as shown in FIG. 5(b), in the filtered image FP2, areas having green color information are displayed brightly, and other areas are displayed darkly.
  • the color information extraction unit 42 extracts red color information from the filtered image FP1, and extracts regions having the red color information as extraction regions RE1, RE2, and RE6.
  • the extraction region RE1 corresponds to the object OB1
  • the extraction region RE2 corresponds to the object OB2
  • the extraction region RE6 corresponds to the target 50A.
  • the color information extraction unit 42 extracts green color information from the filtered image FP2, and extracts regions having the green color information as extraction regions RE3, RE4, RE5, and RE7.
  • the extraction region RE3 corresponds to the object OB3
  • the extraction region RE4 corresponds to the object OB4
  • the extraction region RE5 corresponds to the object OB5
  • the extraction region RE7 corresponds to the target 50B.
  • the position detection unit 43 identifies those corresponding to the targets 50A and 50B from among the extraction regions RE1 to RE7.
  • FIG. 6 shows a synthesized filtered image FP3 obtained by synthesizing the filtered image FP1 and the filtered image FP2.
  • the position detection unit 43 evaluates the extraction regions RE1 to RE7 and calculates the centroid position and area of each.
  • "Pr” indicates a red extraction area
  • "Pg” indicates a green extraction area
  • numbers attached to "Pr” and "Pg” are identification numbers
  • parentheses The numerical value in indicates the area of the extraction region
  • the cross mark indicates the center of gravity of the extraction region.
  • the relationship between the distance between the imaging unit 21 and the targets 50A and 50B, the area of the targets 50A and 50B in the image, and the distance between the elements between the targets 50A and 50B is calculated or measured in advance and correlated and compared. It is stored in the storage unit 44 as data.
  • the position detection unit 43 compares the distance measured by the distance measurement unit 22 with the comparison data in the storage unit 44 to obtain predicted values of the areas of the targets 50A and 50B in the synthesized filtered image FP3 and the targets 50A and 50B. Get the expected value of the element-to-element distance between 50B.
  • the planned value of the aspect ratio of the circumscribing rectangle of the targets 50A and 50B (the rectangle indicated by the white dashed line in FIG. 6) in the synthesized filtered image FP3 is stored in the storage unit 44 in advance.
  • the position detection unit 43 identifies the extraction regions corresponding to the targets 50A and 50B by excluding those that do not correspond to the targets 50A and 50B from the candidates among the extraction regions RE1 to RE7 in the synthesized filtered image FP3. Specifically, the position detection unit 43 removes from the candidates an extraction region in which the area value and the aspect ratio value of the circumscribing rectangle deviate from the predetermined values of the targets 50A and 50B by a certain amount or more. Since the areas of the extraction regions RE2, RE3, RE4 are too small compared to the planned values of the targets 50A, 50B, the position detection unit 43 excludes the extraction regions RE2, RE3, RE4 from the candidates.
  • the position detection unit 43 excludes the extraction region RE1 from the candidates. As a result, extraction regions RE5, RE6, and RE7 remain as candidates.
  • the position detection unit 43 calculates an inter-element distance D1 between the extraction regions RE6 and RE7 and an inter-element distance D2 between the extraction regions RE5 and RE6.
  • the position detection unit 43 compares the planned value of the inter-element distance of the targets 50A and 50B with the inter-element distances D1 and D2. Thereby, the position detection unit 43 recognizes that the extraction regions RE6 and RE7 related to the inter-element distance D1 closest to the predetermined value are the targets 50A and 50B.
  • the position detection unit 43 recognizes that the extracted region RE6 corresponds to the target 50A because it is a red region, and that it corresponds to the target 50B because the extracted region RE7 is a green region.
  • the position detection unit 43 can detect the attitude of the suspended load SL in the rotational direction within the horizontal plane based on the positional relationship of the plurality of targets 50A and 50B having mutually different color information.
  • the direction of rotation here is the direction of rotation based on the center axis extending in the vertical direction. For example, it is assumed that the posture in which the extraction region RE6 corresponds to the target 50A and the extraction region RE7 corresponds to the target 50B is the normal posture (0° posture in the rotation direction) of the suspended load SL.
  • the posture of the suspended load SL in the rotation direction in the horizontal plane is 180°. °Detect rotation.
  • the position detection unit 43 sets the center of gravity of the extraction regions RE6 and RE7 as the target positions of the targets 50A and 50B. Further, the position detection unit 43 calculates the center of gravity WP of the color pattern from the target positions of both. The position detection unit 43 calculates the skew angle from the previously known features of the geometric arrangement between the targets 50A and 50B.
  • the position detection unit 43 detects the position of the origin OP1 of the shake angle obtained by measurement or the like in advance, and Shaking angles ⁇ x and ⁇ y (see FIG. 3) are detected based on the distance from the center of gravity WP of the obtained color pattern.
  • the position of the origin OP ⁇ b>1 obtained in advance is stored in the storage unit 44 .
  • the position detection unit 43 corrects the origin OP2 of the shake angle to the original position of the origin OP1.
  • control device 40 may always acquire the shooting information of the shooting unit 21, the detection result of the tilt detection unit 23, and the measurement result of the distance measurement unit 22, and always perform the evaluation calculation of the deflection angle. Then, the control device 40 may transmit the information on the swing angle to the operation screen (output unit 52) on the upper side, the anti-vibration system, or the like.
  • the position detection unit 43 detects the installation location 71 of the suspended load SL in addition to the suspended load SL, based on the imaging information from the single imaging unit 21 .
  • the installation location 71 is a location where the load SL suspended by the crane 1 is installed, or a location where the load SL to be suspended by the crane 1 is installed.
  • an installation place 71 is illustrated as a place where the suspended load SL suspended by the crane 1 is installed.
  • An installation location 71 is provided with targets 70A and 70B. Targets 70A and 70B have different color information from each other and from targets 50A and 50B.
  • a suspended load installation frame 72 is set that strictly defines an area in which the suspended load SL is installed.
  • the targets 70 ⁇ /b>A and 70 ⁇ /b>B are provided outside the suspended load installation frame 72 .
  • the position detector 43 identifies the positions of the targets 70A and 70B in the same manner as the targets 50A and 50B.
  • the positional relationship between the targets 70A, 70B and the suspended load installation frame 72 is set in advance. Therefore, the position detection section 43 can detect the position of the suspended load installation frame 72 in the image based on the targets 70A and 70B.
  • the position detection section 43 can distinguish between the suspension section 16 and the installation location 71 based on the color patterns of the targets 50A and 50B and the color patterns of the targets 70A and 70B. Angle can be evaluated. Further, when the crane 1 automatically holds or unloads the suspended load SL, the relative positions of the suspension section 16 and the installation location 71 can be detected based on the detected contents. Thereby, the crane 1 can handle the suspended load SL while confirming that the relative position and the angular range where the suspended load SL can be held and unloaded are satisfied.
  • the photographing unit 21 photographs the suspended load SL (step S110: photographing step).
  • the imaging unit 21 transmits imaging information to the control device 40, and the information acquisition unit 41 of the control device 40 acquires the imaging information.
  • step S110 extracts color information from the photographing information in step S110 and specifies an extraction area
  • step S120 color information extraction step
  • step S130 position detection step
  • step S130 the position detection unit 43 identifies those corresponding to the targets 50A and 50B from among the plurality of extraction regions (step S140). Next, the position detection unit 43 detects the deflection angle based on the centers of gravity of the targets 50A and 50B (step S150). Next, the position detector 43 detects the position of the suspended load SL based on the swing angle detected in step S150 (step S160). After step S160 ends, the control process shown in FIG. 8 ends, and the process starts again from step S110.
  • the color information extraction section 42 extracts color information from the photographing information of the photographing section 21 and specifies an extraction area. Further, the position detection section 43 can detect the relative position between the suspended load SL and the crane 1 based on the extraction result of the color information extraction section 42 . In this way, when the position detection unit 43 is based on extraction of color information from photographing information, it is possible to detect the position of the suspended load SL while reducing the influence of disturbance such as reflection of sunlight. As described above, the position detection unit 43 can reliably detect the position of the suspended load SL without erroneously detecting a light source other than the target.
  • the position detection unit 43 may detect a plurality of targets 50A and 50B having mutually different characteristics. In this case, the position detection unit 43 can detect the position of the suspended load SL in more detail by effectively utilizing the individual characteristics of each of the targets 50A and 50B.
  • the position detection unit 43 may detect a plurality of targets 50A and 50B having mutually different color information as mutually different characteristics.
  • a plurality of targets 50A, 50B with different characteristics can be easily prepared by simply changing the color information of each target 50A, 50B.
  • the targets 50A and 50B are both simple circles, and their characteristics can be easily changed by simply changing their colors.
  • the position detection unit 43 may detect the posture of the suspended load SL in the rotational direction in the horizontal plane based on the positional relationship of the targets 50A and 50B having mutually different color information. That is, since the targets 50A and 50B have different characteristics, the position detection unit 43 can easily determine the posture of the suspended load SL in the rotation direction by referring to the positional relationship of the targets 50A and 50B in the rotation direction. can be detected.
  • the position detection unit 43 may detect the installation location of the suspended load SL in addition to the suspended load SL based on the imaging information from the single imaging unit 21 . In this case, the position detection unit 43 can easily grasp the relative positional relationship between the suspended load SL and the installation location based on the photographing information from the single photographing unit 21 without using a plurality of photographing units 21. can do.
  • the position detection system 100 may include an attitude adjustment mechanism 60 that adjusts the attitude of the imaging unit 21 so that the imaging unit 21 faces downward regardless of the movement of the structure 30 .
  • an attitude adjustment mechanism 60 that adjusts the attitude of the imaging unit 21 so that the imaging unit 21 faces downward.
  • the posture adjustment mechanism 60 can adjust the posture so that the photographing unit 21 faces downward. can be done.
  • the targets 50A and 50B according to the present embodiment are targets 50A and 50B for detecting the position of the suspended load SL suspended by the suspension member 17 and the suspension section 16 of the crane 1, and are arbitrary extractable targets in the image. color information.
  • the position detection system 100 can extract the color information of the targets 50A and 50B in the image and perform position detection. In this case, it is possible to obtain the same functions and effects as the position detection system 100 described above.
  • the position detection method is a position detection method for detecting the position of the suspended load SL suspended by the suspension member 17 and the suspension portion 16 of the crane 1, and the crane moves together with the suspension point SP of the suspension member 17.
  • the position detection system 100 can perform highly robust position detection against disturbances such as sunlight reflection by using color information. Furthermore, since position detection is performed using color information, a general color camera can be used as the photographing unit 21 . Therefore, the system is inexpensive and can be used in combination with a camera for monitoring purposes, facilitating introduction of the system. Moreover, since it is possible to eliminate the need to arrange a special target such as a light source on the hanger 16, the introduction of the system is facilitated.
  • a jib crane was exemplified as the crane 1, but the type of crane is not particularly limited.
  • the present disclosure may be applied to cranes such as overhead cranes, goliath cranes, and ladle cranes.
  • Ladle cranes operate in an environment with molten red metal. Therefore, the position detection system 100 may detect the position of the suspended load SL by extracting the color of the red hot metal in the background of the suspended load SL. In this way, the position detection system detects the color of molten steel even when the target cannot be placed on the load, such as with a ladle crane, or when the color pattern of the hoisting gear is covered with dust. Therefore, it is possible to detect the swing of the suspended load.
  • the distance measurement unit 22 was used to measure the distance between the photographing unit 21 and the suspended load SL.
  • the distance measuring unit 22 is omitted, the suspended load SL is recognized based only on the information of the targets 50A and 50B in the image, and the distance between the imaging unit 21 and the suspended load SL is determined based on the sizes of the targets 50A and 50B on the image. can be estimated.
  • a color shape pattern may be created with the light source on the suspending portion 16, and position detection may be performed using luminance information as well. Thereby, disturbance can be removed and robustness can be improved.
  • Color information may be extracted by targeting a colored light source such as a patrol lamp.
  • the position detection unit 43 may be capable of simultaneously detecting different color patterns of a plurality of suspended loads SL. In this case, by giving each suspended load SL a unique color pattern, the position detection unit 43 can identify the suspended load SL at the same time as the swing angle.
  • the position detection system 100 detects the position of the suspended load SL using the single imaging unit 21, but multiple imaging units 21 may be used.
  • [Mode 1] A position detection system for detecting the position of an object suspended by a crane suspension member and suspension part, a photographing unit provided in the structure of the crane that moves together with the suspension point of the suspension member, and configured to photograph the object; a color information extraction unit that extracts color information from the photographing information of the photographing unit and specifies an extraction area; a position detection unit that detects a relative position between the object and the crane based on the extraction result of the color information extraction unit.
  • [Mode 2] The position detection system according to mode 1, wherein the position detection unit detects a plurality of targets having mutually different characteristics.
  • [Mode 3] The position detection system according to mode 2, wherein the position detection unit detects a plurality of targets having mutually different color information as mutually different characteristics.
  • [Mode 4] 4. The position detection system according to mode 2 or 3, wherein the position detection unit detects the orientation of the target in a rotational direction within a horizontal plane based on the positional relationship of the plurality of targets having different characteristics.
  • [Mode 5] 5. The position according to any one of Modes 1 to 4, wherein the position detection unit detects an installation location of the object in addition to the object, based on the imaging information from the single imaging unit. detection system.
  • [Mode 6] 6 6. The position detection system according to any one of modes 1 to 5, comprising an attitude adjustment mechanism that adjusts the attitude of the photographing unit so that the photographing unit faces downward regardless of the movement of the structure.
  • [Mode 7] A target for detecting the position of an object suspended by a crane suspension member and suspension part, A target that contains any color information that can be extracted in an image.
  • [Mode 8] A position detection method for detecting the position of an object suspended by a crane suspension member and suspension part, a photographing step of photographing the object by a photographing unit provided in the structure of the crane that moves together with the suspension point of the suspension member; a color information extraction step of extracting color information from the photographing information in the photographing step and specifying an extraction region; a position detection step of detecting a relative position between the object and the crane based on the extraction result of the color information extraction step.

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Abstract

This position detection system detects the positions of a suspending member of a crane and an object suspended by a suspending part, the position detection system comprising: a photographing unit for photographing the object, the photographing unit being provided to a structure of the crane that moves together with a suspension point of the suspending member; a color information extraction unit for extracting color information from the photographing information in the photographing unit and specifying an extraction region; and a position detection unit for detecting the relative positions of the object and the crane on the basis of the result of extraction by the color information extraction unit.

Description

位置検出システム、ターゲット、及び位置検出方法POSITION DETECTION SYSTEM, TARGET, AND POSITION DETECTION METHOD
　本開示は、位置検出システム、ターゲット、及び位置検出方法に関する。 The present disclosure relates to position detection systems, targets, and position detection methods.
　例えば特許文献１には、クレーンに設けられた撮影部によって、吊部上に設けられたマーカを撮影し、当該撮影情報に基づいて、吊部で吊られた対象物の位置を検出する位置検出システムが記載されている。 For example, Patent Literature 1 discloses position detection for detecting the position of an object suspended by a suspension based on the captured image of a marker provided on a suspension by an imaging unit provided on a crane. system is described.
特開平８－１２２５９号公報JP-A-8-12259
　上述のような位置検出システムにおいて、吊部上に設けられたマーカは、帯状または放射状の形状を有している。従って、位置検出システムは、撮影情報の中の、マーカの形状のみの情報から、対象物の位置を検出している。そのため、例えば、吊部上に出来た水たまりからの太陽の反射光が撮影部に入ると、マーカの形状が区別できず、帯状の形状が崩れて正常な位置検出が出来ないかもしれない。また、手すり等の突起物からの反射光をマーカと誤認識するかもしれない。従って、対象物の位置を確実に検出できる位置検出システムが求められていた。 In the position detection system as described above, the markers provided on the suspension have a band-like or radial shape. Therefore, the position detection system detects the position of the object from only the shape information of the marker in the imaging information. Therefore, for example, if sunlight reflected from a puddle formed on the hanging part enters the imaging part, the shape of the marker cannot be distinguished, and the belt-like shape may be lost, preventing normal position detection. In addition, reflected light from projections such as handrails may be erroneously recognized as a marker. Therefore, there has been a demand for a position detection system that can reliably detect the position of an object.
　本開示は、このような課題を解決するためになされたものであり、対象物の位置を確実に検出できる位置検出システム、ターゲット、及び位置検出方法を提供することを目的とする。 The present disclosure has been made to solve such problems, and aims to provide a position detection system, a target, and a position detection method that can reliably detect the position of an object.
　本開示に係る位置検出システムは、クレーンの吊部材及び吊部で吊られた対象物の位置を検出する位置検出システムであって、吊部材の吊点と共に移動するクレーンの構造体に設けられ、対象物を撮影する撮影部と、撮影部の撮影情報から、色情報を抽出して、抽出領域を特定する色情報抽出部と、色情報抽出部の抽出結果に基づいて、対象物とクレーンとの相対位置を検出する位置検出部と、を備える。 A position detection system according to the present disclosure is a position detection system for detecting the position of an object suspended by a suspension member and a suspension part of a crane, and is provided in a crane structure that moves together with the suspension point of the suspension member, A photographing unit that photographs an object, a color information extracting unit that extracts color information from the photographing information of the photographing unit and specifies an extraction area, and an object and a crane based on the extraction result of the color information extracting unit. and a position detection unit that detects the relative position of the
　本開示に係る位置検出システムにおいて、色情報抽出部は、撮影部の撮影情報から、色情報を抽出して、抽出領域を特定する。また、位置検出部は、色情報抽出部の抽出結果に基づいて、対象物とクレーンとの相対位置を検出することができる。このように、位置検出部が、撮影情報の色情報の抽出に基づく場合、例えば太陽光の反射などの外乱の影響を低減した状態で、対象物の位置検出を行うことができる。以上より、対象物の位置を確実に検出することができる。 In the position detection system according to the present disclosure, the color information extraction unit extracts color information from the photographing information of the photographing unit and specifies an extraction area. Also, the position detection section can detect the relative position between the object and the crane based on the extraction result of the color information extraction section. In this way, when the position detection unit is based on extraction of color information from photographing information, it is possible to detect the position of an object while reducing the influence of disturbance such as reflection of sunlight. As described above, the position of the object can be reliably detected.
　位置検出部は、互いに異なる特性を有する複数のターゲットを検出してよい。この場合、位置検出部は、各々のターゲットの個別の特性を有効に活用することで、対象物の位置をより詳細に検出することができる。 The position detection unit may detect multiple targets having different characteristics. In this case, the position detection section can detect the position of the object in more detail by effectively utilizing the individual characteristics of each target.
　位置検出部は、互いに異なる特性として、互いに異なる色情報を有する複数のターゲットを検出してよい。この場合、各々のターゲットの色情報を変えるだけで、容易に異なる特性の複数のターゲットを準備することができる。 The position detection unit may detect a plurality of targets having mutually different color information as mutually different characteristics. In this case, a plurality of targets with different characteristics can be easily prepared simply by changing the color information of each target.
　位置検出部は、互いに異なる色情報を有する複数のターゲットの位置関係に基づいて、対象物の水平面内での回転方向における姿勢を検出してよい。すなわち、複数のターゲットの特性が互いに異なっているため、位置検出部は、回転方向における各ターゲットの位置関係を参照することで、容易に回転方向における対象物の姿勢を検出できる。 The position detection unit may detect the orientation of the object in the direction of rotation within the horizontal plane based on the positional relationship of multiple targets having mutually different color information. That is, since the characteristics of the plurality of targets are different from each other, the position detection unit can easily detect the orientation of the object in the rotation direction by referring to the positional relationship of each target in the rotation direction.
　位置検出部は、単一の撮影部からの撮影情報に基づいて、対象物に加え、当該対象物の設置場所を検出してよい。この場合、複数の撮影部を用いなくとも、位置検出部は、単一の撮影部からの撮影情報に基づいて、容易に対象物と設置場所との相対的な位置関係を把握することができる。 The position detection unit may detect the installation location of the object in addition to the object based on the imaging information from a single imaging unit. In this case, even without using a plurality of imaging units, the position detection unit can easily grasp the relative positional relationship between the object and the installation location based on the imaging information from a single imaging unit. .
　位置検出システムは、構造体の動作に関わらず、撮影部を下方へ向けるように撮影部の姿勢を調整する姿勢調整機構を備えてよい。この場合、例えばジブクレーンのように構造体の動作によって撮影部の姿勢が変わりやすいクレーンの場合であっても、姿勢調整機構が、撮影部を下方へ向けるように姿勢を調整することができる。 The position detection system may include an attitude adjustment mechanism that adjusts the attitude of the imaging unit so that the imaging unit faces downward regardless of the movement of the structure. In this case, even in the case of a crane such as a jib crane in which the posture of the photographing unit is likely to change due to the operation of the structure, the posture adjustment mechanism can adjust the posture so that the photographing unit faces downward.
　本開示に係るターゲットは、クレーンの吊部材及び吊部で吊られた対象物の位置を検出するためのターゲットであって、画像内で抽出可能な任意の色情報を有する。 A target according to the present disclosure is a target for detecting the position of an object suspended by crane suspension members and suspension parts, and has arbitrary color information that can be extracted in an image.
　このターゲットを対象物に設けることによって、位置検出システムは、画像内でターゲットの色情報を抽出して、位置検出を行うことができる。この場合、上述の位置検出システムと同趣旨の作用・効果を得ることができる。 By providing this target on the object, the position detection system can extract the color information of the target in the image and perform position detection. In this case, it is possible to obtain the same functions and effects as those of the position detection system described above.
　本開示に係る位置検出方法は、クレーンの吊部材及び吊部で吊られた対象物の位置を検出する位置検出方法であって、吊部材の吊点と共に移動するクレーンの構造体に設けられた撮影部によって、対象物を撮影する撮影工程と、撮影工程での撮影情報から、色情報を抽出して、抽出領域を特定する色情報抽出工程と、色情報抽出工程での抽出結果に基づいて、対象物とクレーンとの相対位置を検出する位置検出工程と、を備える。 A position detection method according to the present disclosure is a position detection method for detecting the position of an object suspended by a suspension member and a suspension part of a crane. Based on the extraction result of the image capturing step of capturing an image of the object by the capturing unit, the color information extracting step of extracting color information from the capturing information in the capturing step, and specifying the extraction area, and the extraction result of the color information extracting step and a position detection step of detecting the relative position of the object and the crane.
　この位置検出方法によれば、上述の位置検出システムと同趣旨の作用・効果を得ることができる。 According to this position detection method, it is possible to obtain the same functions and effects as the position detection system described above.
　本開示によれば、対象物の位置を確実に検出できる位置検出システム、ターゲット、及び位置検出方法を提供することができる。 According to the present disclosure, it is possible to provide a position detection system, a target, and a position detection method that can reliably detect the position of an object.
本実施形態に係る位置検出システムを示す概略図である。1 is a schematic diagram showing a position detection system according to an embodiment; FIG. 図１が適用されるクレーンの概略構成図である。FIG. 2 is a schematic configuration diagram of a crane to which FIG. 1 is applied; 撮影部によって撮影された画像の一例である。It is an example of the image image|photographed by the imaging|photography part. 姿勢調整機構の構成を示す斜視図である。It is a perspective view which shows the structure of an attitude|position adjustment mechanism. 色情報抽出部の処理内容を説明するための図である。It is a figure for demonstrating the content of a process of a color information extraction part. 位置検出部の処理内容を説明するための図である。FIG. 4 is a diagram for explaining the processing content of a position detection unit; FIG. 撮影部によって撮影された画像の一例である。It is an example of the image image|photographed by the imaging|photography part. 位置検出システムの制御処理の内容を示すフローチャートである。4 is a flowchart showing details of control processing of the position detection system;
　以下、本開示による位置検出システムの好適な実施形態について図面を参照しながら説明する。図１は、本実施形態に係る位置検出システムを示す概略図である。図２は、図１が適用されるクレーンの概略構成図である。 A preferred embodiment of the position detection system according to the present disclosure will be described below with reference to the drawings. FIG. 1 is a schematic diagram showing a position detection system according to this embodiment. FIG. 2 is a schematic configuration diagram of a crane to which FIG. 1 is applied.
　本実施形態に係る位置検出システム１００は、クレーン１の吊部材１７及び吊部１６で吊られた吊荷ＳＬ（対象物）の位置を検出するシステムである。位置検出システム１００は、システム構成としては、計測装置１０と、制御装置４０と、入力部５１と、出力部５２と、ターゲット５０Ａ，５０Ｂと、を備える。 The position detection system 100 according to the present embodiment is a system that detects the position of the suspended load SL (object) suspended by the suspension member 17 and the suspension section 16 of the crane 1 . The position detection system 100 includes, as a system configuration, a measurement device 10, a control device 40, an input section 51, an output section 52, and targets 50A and 50B.
　図２に示すように、本実施形態において例示されるクレーン１として、旋回を行うと共に走行を行うことができるジブクレーンが挙げられる。クレーン１は、装置構成としては、走行体１１、塔体１２、旋回体１３、ジブ１４、及びマスト１５を有している。 As shown in FIG. 2, the crane 1 exemplified in this embodiment is a jib crane that can swing and travel. The crane 1 has a traveling body 11, a tower body 12, a revolving body 13, a jib 14, and a mast 15 as an apparatus configuration.
　走行体１１は、車輪が走行レール上を駆動されることで、走行レールに沿ってクレーン１を走行させる。塔体１２は、走行体１１上に立設された柱状の構造体である。旋回体１３は、塔体１２の上端に設けられ、塔体１２に対して鉛直軸線ＣＬ回りに旋回可能である。旋回体１３は、その上部に運転室１３ａを含んでいる。ジブ１４は、旋回体１３の一部にピン結合されている。マスト１５は、旋回体１３上に立設されている。旋回体１３の後側の端部、マスト１５の上端部であるマストトップ、及びジブ１４の先端部は、ワイヤーロープＷ１により互いに支持されている。ワイヤーロープＷ１が巻取り及び巻戻しされることにより、ジブ１４は、その基端部を支点として起伏動作を行う。また、ワイヤーロープＷ２は、吊部１６と連結されている。ワイヤーロープＷ２が巻き取り及び巻戻しされることにより、吊部１６は、上下方向へ移動する。なお、ワイヤーロープＷ２のうち、ジブ１４の上端から下方へ延びることで、吊部１６及び吊荷ＳＬを吊っている部分を吊部材１７と称する。なお、吊部材１７の振幅の基点となる箇所を「吊点ＳＰ」と称する。 The traveling body 11 causes the crane 1 to travel along the traveling rail by driving the wheels on the traveling rail. The tower body 12 is a columnar structure erected on the traveling body 11 . The revolving body 13 is provided at the upper end of the tower body 12 and is rotatable with respect to the tower body 12 around the vertical axis CL. The revolving body 13 includes an operator's cab 13a in its upper part. The jib 14 is pinned to a portion of the revolving body 13 . The mast 15 is erected on the revolving body 13 . The rear end of the revolving body 13, the mast top that is the upper end of the mast 15, and the tip of the jib 14 are supported by wire ropes W1. As the wire rope W1 is wound up and unwound, the jib 14 moves up and down with its base end as a fulcrum. Also, the wire rope W2 is connected to the hanging portion 16 . As the wire rope W2 is wound and unwound, the hanger 16 moves vertically. A portion of the wire rope W<b>2 that extends downward from the upper end of the jib 14 to suspend the suspending portion 16 and the suspended load SL is referred to as a suspending member 17 . A point that is the base point of the amplitude of the suspension member 17 is referred to as a "suspension point SP".
　吊部１６には、ターゲット５０Ａ，５０Ｂが設けられている。図３に示すように、ターゲット５０Ａ，５０Ｂは、後述の撮影部２１が上側から撮影できるように、吊部１６の上面１６ａに設けられている。ターゲット５０Ａ，５０Ｂは、吊部１６の中央よりも一方側に寄せられた位置にて、互いに並べられた状態で配置されている。また、ターゲット５０Ａ、５０Ｂは円形状を有している。ただし、ターゲット５０Ａ，５０Ｂの位置、形状、及び大きさは特に限定されない。また、ターゲットの数量も特に限定されない。 The suspending portion 16 is provided with targets 50A and 50B. As shown in FIG. 3, the targets 50A and 50B are provided on the upper surface 16a of the hanger 16 so that the photographing unit 21, which will be described later, can photograph from above. The targets 50A and 50B are arranged side by side at a position closer to one side than the center of the suspending portion 16 . Moreover, the targets 50A and 50B have a circular shape. However, the positions, shapes and sizes of the targets 50A and 50B are not particularly limited. Also, the number of targets is not particularly limited.
　ターゲット５０Ａ，５０Ｂは、互いに異なる特性を有する。互いに異なる特性は、画像中でターゲット５０Ａとターゲット５０Ｂとを区別可能な特性であればよく、例えば、互いに異なる色情報、互いに異なる形状などが挙げられる。本実施形態では、ターゲット５０Ａ，５０Ｂは、互いに異なる色情報を有している。ターゲット５０Ａ，５０Ｂは、画像内で抽出可能な任意の色情報をそれぞれ有する。画像内で抽出可能な任意の色情報とは、後述の色情報抽出部４２の処理によって抽出可能な色情報であればよい。このような色情報は、具体的には、赤色、緑色、青色などの様々な色が挙げられ、白色以外の色であればよい。例えば、ターゲット５０Ａは全体が赤色となっており、ターゲット５０Ｂは全体が緑色となっている。ただし、ターゲット５０Ａ，５０Ｂの色は特に限定されない。 The targets 50A and 50B have different characteristics. The characteristics that are different from each other may be characteristics that allow the targets 50A and 50B to be distinguished in an image, and include, for example, different color information and different shapes. In this embodiment, the targets 50A and 50B have different color information. Targets 50A and 50B each have any color information that can be extracted in the image. Arbitrary color information that can be extracted from an image may be any color information that can be extracted by processing of the color information extraction unit 42, which will be described later. Specifically, such color information includes various colors such as red, green, and blue, and any color other than white may be used. For example, the target 50A is entirely red, and the target 50B is entirely green. However, the colors of the targets 50A and 50B are not particularly limited.
　図１に戻り、計測装置１０は、撮影部２１と、距離計測部２２と、傾斜検出部２３と、を備えている。計測装置１０は、撮影部２１、距離計測部２２、及び傾斜検出部２３によって検出された検出情報を制御装置４０へ送信する。また、計測装置１０は、制御装置４０からの指令信号を受信する。 Returning to FIG. 1, the measurement device 10 includes an imaging unit 21, a distance measurement unit 22, and an inclination detection unit 23. The measurement device 10 transmits detection information detected by the imaging unit 21 , the distance measurement unit 22 , and the tilt detection unit 23 to the control device 40 . The measuring device 10 also receives a command signal from the control device 40 .
　撮影部２１は、吊荷ＳＬを撮影する計測機器である。撮影部２１は、吊点ＳＰと共に移動するクレーン１の構造体３０に設けられる。本実施形態では、図２に示すように、撮影部２１は、ジブ１４の先端部に設けられた取付部材３１に取り付けられている。撮影部２１は、レンズ部が鉛直方向の下側を向くように配置されている。撮影部２１は、下方へ広がる撮影範囲Ｅ内の撮影情報を取得することができる。撮影範囲Ｅは、吊荷ＳＬの振れ角度が許容できる最大の値となっても、吊荷ＳＬが撮影範囲Ｅ外に出ないような大きさに設定される。撮影部２１は、一台の撮影範囲Ｅだけで吊荷ＳＬの移動範囲の全範囲を網羅できることが好ましい。撮影部２１によって取得された撮影情報、すなわち画像の一例を図３に示す。撮影部２１は、一般的なカラーカメラによって構成されてよい。従って、撮影部２１によって撮影された画像は、カラーの画像である。 The photographing unit 21 is a measuring device that photographs the suspended load SL. The imaging unit 21 is provided on the structure 30 of the crane 1 that moves together with the suspension point SP. In this embodiment, as shown in FIG. 2, the photographing unit 21 is attached to an attachment member 31 provided at the tip of the jib 14 . The photographing unit 21 is arranged so that the lens unit faces downward in the vertical direction. The photographing unit 21 can acquire photographing information within the photographing range E that spreads downward. The photographing range E is set to a size such that the suspended load SL does not go out of the photographing range E even when the swing angle of the suspended load SL reaches the allowable maximum value. It is preferable that the photographing unit 21 can cover the entire moving range of the suspended load SL with only one photographing range E. FIG. 3 shows an example of imaging information acquired by the imaging unit 21, that is, an image. The photographing unit 21 may be configured by a general color camera. Therefore, the image captured by the imaging unit 21 is a color image.
　撮影部２１は、吊点ＳＰの近傍に設けられている。ただし、撮影部２１は、吊点ＳＰと共に移動する構造体３０であり、且つ、吊荷ＳＬを撮影可能な位置であれば、どこに設けられてもよい。例えば、ジブ１４の長手方向における中央付近の位置、またはジブ１４の旋回体１３との接続部付近の位置に設けられてもよい。 The photographing unit 21 is provided near the suspension point SP. However, the photographing unit 21 may be provided anywhere as long as it is the structure 30 that moves together with the suspension point SP and can photograph the suspended load SL. For example, it may be provided at a position near the center of the jib 14 in the longitudinal direction, or at a position near the connection between the jib 14 and the revolving body 13 .
　ここで、図４に示すように、位置検出システム１００は、構造体３０の動作に関わらず、撮影部２１を下方へ向けるように撮影部２１の姿勢を調整する姿勢調整機構６０を備える。姿勢調整機構６０は、保持部６１と、ヒンジ部６２と、固定部６３と、を備える。保持部６１は、撮影部２１を保持する部材である。保持部６１は、底板部６１ａと、上板部６１ｂと、底板部６１ａと上板部６１ｂとを四隅で連結する柱部６１ｃと、を備える。底板部６１ａの下面には、撮影部２１が設けられる。また、底板部６１ａの上面には傾斜検出部２３が設けられる。底板部６１ａは、上板部６１ｂに比して厚みが厚く、且つ、重く構成されている。ヒンジ部６２は、保持部６１の上板部６１ｂと、固定部６３と、を回転可能に連結する部材である。 Here, as shown in FIG. 4 , the position detection system 100 includes an attitude adjustment mechanism 60 that adjusts the attitude of the imaging unit 21 so that the imaging unit 21 faces downward regardless of the movement of the structure 30 . The posture adjustment mechanism 60 includes a holding portion 61 , a hinge portion 62 and a fixing portion 63 . The holding section 61 is a member that holds the photographing section 21 . The holding portion 61 includes a bottom plate portion 61a, an upper plate portion 61b, and column portions 61c connecting the bottom plate portion 61a and the upper plate portion 61b at four corners. The imaging unit 21 is provided on the lower surface of the bottom plate portion 61a. Further, the tilt detector 23 is provided on the upper surface of the bottom plate portion 61a. The bottom plate portion 61a is thicker and heavier than the upper plate portion 61b. The hinge portion 62 is a member that rotatably connects the upper plate portion 61 b of the holding portion 61 and the fixing portion 63 .
　固定部６３は、クレーン１の構造体３０に姿勢調整機構６０を固定するための部材である。クレーン１の構造体３０の姿勢が変化することに伴って、固定部６３の姿勢も変化する。例えば、図４（ａ）に示す状態では、固定部６３は水平な状態で構造体３０に取り付けられている。この状態では、保持部６１の底板部６１ａも水平な状態となっている。これに対し、ジブ１４が起伏すると、図４（ｂ）に示すように、固定部６３は、水平に対して傾斜するような姿勢となる。このとき、保持部６１は、ヒンジ部６２によって、固定部６３に対して相対的に回転する。従って、保持部６１の底板部６１ａの水平な状態が保たれる。このとき、底板部６１ａの重量が大きいことにより、固定部６３に対して回転し易くなっている。これにより、構造体３０の動作に関わらず、撮影部２１が下側を向いた状態が維持される。 The fixing part 63 is a member for fixing the attitude adjustment mechanism 60 to the structure 30 of the crane 1 . As the posture of the structure 30 of the crane 1 changes, the posture of the fixed portion 63 also changes. For example, in the state shown in FIG. 4A, the fixing portion 63 is attached to the structure 30 in a horizontal state. In this state, the bottom plate portion 61a of the holding portion 61 is also in a horizontal state. On the other hand, when the jib 14 rises and falls, as shown in FIG. 4B, the fixed portion 63 assumes a posture that is inclined with respect to the horizontal. At this time, the holding portion 61 rotates relative to the fixed portion 63 by the hinge portion 62 . Therefore, the horizontal state of the bottom plate portion 61a of the holding portion 61 is maintained. At this time, since the weight of the bottom plate portion 61a is large, it is easily rotated with respect to the fixed portion 63. As shown in FIG. Thereby, regardless of the operation of the structure 30, the state in which the photographing unit 21 faces downward is maintained.
　図１に示すように、距離計測部２２は、撮影部２１と吊荷ＳＬとの距離を検出する計測機器である。当該距離は、吊部材１７の長さに近似させることができる。従って、距離計測部２２は、ワイヤーロープＷ２を巻き取る巻取装置３２に設けられた巻き出し量の検出センサによって構成されてよい（図２参照）。当該検出センサは、巻き出されたワイヤーロープＷ２の巻き出し量に基づいて、吊部材１７の長さを検出可能である。なお、距離計測部２２は、このような巻取装置３２に設けられた検出センサに限定されず、例えば、撮影部２１付近に設けられたレーザ式やレーダ式の距離計測器によって構成されてもよい。また、距離計測部２２は省略されてもよい。 As shown in FIG. 1, the distance measuring unit 22 is a measuring device that detects the distance between the photographing unit 21 and the suspended load SL. The distance can be approximated to the length of the hanging member 17 . Therefore, the distance measuring unit 22 may be configured by a sensor for detecting the unwinding amount provided in the winding device 32 that winds the wire rope W2 (see FIG. 2). The detection sensor can detect the length of the hanging member 17 based on the unwinding amount of the unwound wire rope W2. Note that the distance measuring unit 22 is not limited to such a detection sensor provided in the winding device 32. For example, the distance measuring unit 22 may be configured by a laser-type or radar-type distance measuring device provided near the photographing unit 21. good. Also, the distance measurement unit 22 may be omitted.
　傾斜検出部２３は、撮影部２１の傾斜量を検出する計測機器である。傾斜検出部２３は、水平方向に対する撮影部２１の傾斜量が変化した場合、当該傾斜量を検出する。傾斜検出部２３は、撮影部２１の傾斜量が変化した時に、同じ傾斜量で傾斜する位置に設けられる。傾斜検出部２３は、撮影部２１が取り付けられている部材と、同じ部材に取り付けられればよい。例えば、傾斜検出部２３は、撮影部２１が取り付けられた底板部６１ａに設けられてよい（図４参照）。なお、傾斜検出部２３は省略されてもよい。 The tilt detection unit 23 is a measuring device that detects the tilt amount of the photographing unit 21 . The tilt detection unit 23 detects the tilt amount when the tilt amount of the photographing unit 21 with respect to the horizontal direction changes. The tilt detection unit 23 is provided at a position that tilts at the same tilt amount when the tilt amount of the photographing unit 21 changes. The tilt detection unit 23 may be attached to the same member as the member to which the photographing unit 21 is attached. For example, the tilt detection section 23 may be provided on the bottom plate section 61a to which the photographing section 21 is attached (see FIG. 4). Note that the tilt detector 23 may be omitted.
　入力部５１は、ユーザーが制御装置４０に対して情報入力を行うインターフェースである。入力部５１は、例えば、キーボード、マウス、タッチパネル、マイクなどが採用される。出力部５２は、制御装置４０からの情報をユーザーに出力するインターフェースである。出力部５２は、例えば、モニタ、スピーカなどが採用される。 The input unit 51 is an interface through which the user inputs information to the control device 40 . The input unit 51 employs, for example, a keyboard, a mouse, a touch panel, a microphone, and the like. The output unit 52 is an interface that outputs information from the control device 40 to the user. The output unit 52 employs, for example, a monitor, a speaker, or the like.
　制御装置４０は、位置検出システム１００全体を制御する装置である。制御装置４０は、プロセッサ、メモリ、ストレージ、通信インターフェース及びユーザインターフェースを備え、一般的なコンピュータとして構成されている。プロセッサは、ＣＰＵ（Central　Processing　Unit）などの演算器である。メモリは、ＲＯＭ（Read　Only　Memory）やＲＡＭ（Random　Access　Memory）などの記憶媒体である。ストレージは、ＨＤＤ（Hard　Disk　Drive）などの記憶媒体である。通信インターフェースは、データ通信を実現する通信機器である。プロセッサは、メモリ、ストレージ、通信インターフェース及びユーザインターフェースを統括し、後述する機能を実現する。制御装置４０では、例えば、ＲＯＭに記憶されているプログラムをＲＡＭにロードし、ＲＡＭにロードされたプログラムをＣＰＵで実行することにより各種の機能を実現する。制御装置４０は、複数のコンピュータから構成されていてもよい。 The control device 40 is a device that controls the position detection system 100 as a whole. The control device 40 includes a processor, memory, storage, communication interface and user interface, and is configured as a general computer. A processor is a computing unit such as a CPU (Central Processing Unit). The memory is a storage medium such as ROM (Read Only Memory) or RAM (Random Access Memory). The storage is a storage medium such as an HDD (Hard Disk Drive). A communication interface is a communication device that implements data communication. The processor integrates memory, storage, communication interface and user interface, and implements the functions described below. The control device 40 implements various functions by, for example, loading programs stored in the ROM into the RAM and executing the programs loaded into the RAM by the CPU. The control device 40 may be composed of a plurality of computers.
　制御装置４０は、情報取得部４１と、色情報抽出部４２と、位置検出部４３と、記憶部４４と、を備える。 The control device 40 includes an information acquisition section 41 , a color information extraction section 42 , a position detection section 43 and a storage section 44 .
　情報取得部４１は、計測装置１０から検出情報を取得する。情報取得部４１は、撮影部２１によって撮影された撮影情報（すなわち画像）を取得する。また、情報取得部４１は、距離計測部２２による計測結果、及び／又は傾斜検出部２３による検出結果を取得する。 The information acquisition unit 41 acquires detection information from the measuring device 10 . The information acquisition unit 41 acquires imaging information (that is, an image) captured by the imaging unit 21 . The information acquisition unit 41 also acquires the measurement result by the distance measurement unit 22 and/or the detection result by the tilt detection unit 23 .
　記憶部４４は、位置検出システム１００の位置検出に用いられる各種情報を記憶する。記憶部４４は、吊部１６に設けられたターゲット５０Ａ，５０Ｂに関する情報を記憶する。このような情報として、例えば、ターゲット５０Ａ，５０Ｂの色情報、形状情報、大きさ情報、位置情報などが挙げられる。 The storage unit 44 stores various information used for position detection by the position detection system 100 . The storage unit 44 stores information about the targets 50A and 50B provided on the hanging portion 16. FIG. Such information includes, for example, color information, shape information, size information, and position information of the targets 50A and 50B.
　色情報抽出部４２は、撮影部２１の撮影情報から、色情報を抽出して、抽出領域を特定する。色情報抽出部４２は、画像の中から、特定の色情報を抽出し、当該色情報を有する領域を抽出領域として特定する。色情報抽出部４２は、少なくともターゲット５０Ａ，５０Ｂに対応する領域は、抽出領域として特定する。色情報抽出部４２は、画像の中において、ターゲット５０Ａ，５０Ｂ以外の領域であっても、特定の色情報を有している領域であれば、抽出領域として特定する。 The color information extraction unit 42 extracts color information from the photographing information of the photographing unit 21 and specifies an extraction area. The color information extraction unit 42 extracts specific color information from the image and specifies an area having the color information as an extraction area. The color information extraction unit 42 identifies at least regions corresponding to the targets 50A and 50B as extraction regions. The color information extraction unit 42 identifies areas other than the targets 50A and 50B in the image as long as they have specific color information as extraction areas.
　位置検出部４３は、色情報抽出部４２の抽出結果に基づいて、吊荷ＳＬとクレーン１との相対位置を検出する。位置検出部４３は、吊荷ＳＬとクレーン１との相対位置として、吊荷ＳＬの振れ角を検出することができる。例えば、図３に示すように、位置検出部４３は、撮影部２１の画像に対し、吊点ＳＰ鉛直下の位置を振れ角の原点ＯＰ（振れ角０点）とする。位置検出部４３は、画像中のターゲット５０Ａ，５０Ｂによる色彩パターンと、原点ＯＰとの距離を振れ角として検出する。ここでは、位置検出部４３は、色彩パターンの重心ＷＰと、原点ＯＰとのＸ方向の距離をＸ方向振れ角θｘとして検出する。位置検出部４３は、色彩パターンの重心ＷＰと、原点ＯＰとのＹ方向の距離をＹ方向振れ角θｙとして検出する。このように、位置検出部４３は、色彩パターン重心ＷＰの振れ角に基づいて、吊荷ＳＬのクレーン１に対する相対位置を検出する。 The position detection unit 43 detects the relative position between the suspended load SL and the crane 1 based on the extraction result of the color information extraction unit 42 . The position detection unit 43 can detect the deflection angle of the suspended load SL as the relative position between the suspended load SL and the crane 1 . For example, as shown in FIG. 3, the position detection unit 43 sets the position vertically below the suspension point SP in the image of the photographing unit 21 as the origin OP of the shake angle (0 point of the shake angle). The position detection unit 43 detects the distance between the color pattern of the targets 50A and 50B in the image and the origin OP as the deflection angle. Here, the position detection unit 43 detects the X-direction distance between the center of gravity WP of the color pattern and the origin OP as the X-direction deflection angle θx. The position detection unit 43 detects the Y-direction distance between the center of gravity WP of the color pattern and the origin OP as the Y-direction deflection angle θy. In this manner, the position detection unit 43 detects the relative position of the suspended load SL with respect to the crane 1 based on the deflection angle of the color pattern center of gravity WP.
　位置検出部４３は、互いに異なる特性を有する複数のターゲット５０Ａ，５０Ｂを検出する。位置検出部４３は、互いに異なる特性として、互いに異なる色情報を有する複数のターゲット５０Ａ，５０Ｂを検出する。 The position detection unit 43 detects a plurality of targets 50A and 50B having mutually different characteristics. The position detection unit 43 detects a plurality of targets 50A and 50B having mutually different color information as mutually different characteristics.
　次に、図５及び図６を参照して、色情報抽出部４２及び位置検出部４３の具体的な処理の一例について説明する。図５（ａ）は、撮影部２１によって撮影されたカラー画像ＣＰを示す。このカラー画像ＣＰは、ＲＧＢ（赤緑青）の画像信号によって構成された画像である。カラー画像ＣＰには、吊部１６及びターゲット５０Ａ，５０Ｂが写っている。カラー画像ＣＰ内において、ターゲット５０Ａは赤色で表示され、ターゲット５０Ｂは緑色で表示され、吊部１６は光の影響で白色に表示される。また、カラー画像ＣＰには、吊部１６よりも遠方の様子も写り込んでいる。このうち、物体ＯＢ１，ＯＢ２は赤色で表示され、物体ＯＢ３，ＯＢ４，ＯＢ５は緑色で表示される。 Next, an example of specific processing of the color information extraction unit 42 and the position detection unit 43 will be described with reference to FIGS. 5 and 6. FIG. FIG. 5(a) shows a color image CP captured by the capturing unit 21. FIG. The color image CP is an image composed of RGB (red, green, and blue) image signals. The hanging portion 16 and the targets 50A and 50B are shown in the color image CP. In the color image CP, the target 50A is displayed in red, the target 50B is displayed in green, and the hanging portion 16 is displayed in white due to the influence of light. In addition, the color image CP also includes a view of a place farther than the hanging portion 16.例文帳に追加Among them, the objects OB1 and OB2 are displayed in red, and the objects OB3, OB4 and OB5 are displayed in green.
　色情報抽出部４２は、色情報を抽出するために、カラー画像ＣＰのＲＧＢ（赤緑青）の画像信号をＨＳＶ（色相、彩度、明度）に変換する。そして、色情報抽出部４２は、Ｈ（色相）画像において、ターゲット５０Ａ，５０Ｂの色でフィルタを掛けたフィルタ画像ＦＰ１，ＦＰ２を取得する。図５（ｂ）は、ターゲット５０Ａの色である赤色でフィルタを掛けたフィルタ画像ＦＰ１を示す。図５（ｃ）は、ターゲット５０Ｂの色である緑色でフィルタを掛けたフィルタ画像ＦＰ２を示す。図５（ｂ）に示すように、フィルタ画像ＦＰ１において、赤色の色情報を有する領域は明るく表示され、他は暗く表示される。また、図５（ｂ）に示すように、フィルタ画像ＦＰ２において、緑色の色情報を有する領域は明るく表示され、他は暗く表示される。 The color information extraction unit 42 converts the RGB (red, green and blue) image signals of the color image CP into HSV (hue, saturation, brightness) in order to extract color information. Then, the color information extraction unit 42 obtains filtered images FP1 and FP2 obtained by filtering the H (hue) image with the colors of the targets 50A and 50B. FIG. 5(b) shows a filtered image FP1 filtered with red, which is the color of the target 50A. FIG. 5(c) shows a filtered image FP2 filtered with green, which is the color of the target 50B. As shown in FIG. 5B, in the filtered image FP1, areas having red color information are displayed brightly, and other areas are displayed darkly. Further, as shown in FIG. 5(b), in the filtered image FP2, areas having green color information are displayed brightly, and other areas are displayed darkly.
　そのため、色情報抽出部４２は、フィルタ画像ＦＰ１の中から、赤色の色情報を抽出し、当該赤色の色情報を有する領域を抽出領域ＲＥ１，ＲＥ２，ＲＥ６として抽出する。なお、抽出領域ＲＥ１は物体ＯＢ１に対応し、抽出領域ＲＥ２は物体ＯＢ２に対応し、抽出領域ＲＥ６はターゲット５０Ａに対応する。色情報抽出部４２は、フィルタ画像ＦＰ２の中から、緑色の色情報を抽出し、当該緑色の色情報を有する領域を抽出領域ＲＥ３，ＲＥ４，ＲＥ５，ＲＥ７として抽出する。なお、抽出領域ＲＥ３は物体ＯＢ３に対応し、抽出領域ＲＥ４は物体ＯＢ４に対応し、抽出領域ＲＥ５は物体ＯＢ５に対応し、抽出領域ＲＥ７はターゲット５０Ｂに対応する。 Therefore, the color information extraction unit 42 extracts red color information from the filtered image FP1, and extracts regions having the red color information as extraction regions RE1, RE2, and RE6. Note that the extraction region RE1 corresponds to the object OB1, the extraction region RE2 corresponds to the object OB2, and the extraction region RE6 corresponds to the target 50A. The color information extraction unit 42 extracts green color information from the filtered image FP2, and extracts regions having the green color information as extraction regions RE3, RE4, RE5, and RE7. Note that the extraction region RE3 corresponds to the object OB3, the extraction region RE4 corresponds to the object OB4, the extraction region RE5 corresponds to the object OB5, and the extraction region RE7 corresponds to the target 50B.
　次に、位置検出部４３は、抽出領域ＲＥ１～ＲＥ７の中から、ターゲット５０Ａ，５０Ｂに該当するものを特定する。なお、図６は、フィルタ画像ＦＰ１とフィルタ画像ＦＰ２とを合成した合成フィルタ画像ＦＰ３である。図６に示すように、位置検出部４３は、抽出領域ＲＥ１～ＲＥ７を評価して、各々の重心位置、及び面積を演算する。図６において、「Ｐｒ」は赤色の抽出領域であることを示し、「Ｐｇ」は緑色の抽出領域であることを示し、「Ｐｒ」「Ｐｇ」に付された番号は識別番号であり、カッコの中の数値は抽出領域の面積を示しており、十字のマークは抽出領域の重心を示している。 Next, the position detection unit 43 identifies those corresponding to the targets 50A and 50B from among the extraction regions RE1 to RE7. Note that FIG. 6 shows a synthesized filtered image FP3 obtained by synthesizing the filtered image FP1 and the filtered image FP2. As shown in FIG. 6, the position detection unit 43 evaluates the extraction regions RE1 to RE7 and calculates the centroid position and area of each. In FIG. 6, "Pr" indicates a red extraction area, "Pg" indicates a green extraction area, numbers attached to "Pr" and "Pg" are identification numbers, and parentheses The numerical value in indicates the area of the extraction region, and the cross mark indicates the center of gravity of the extraction region.
　撮影部２１とターゲット５０Ａ，５０Ｂとの間の距離、画像内のターゲット５０Ａ，５０Ｂの面積、ターゲット５０Ａ，５０Ｂ間の要素間距離との関係は、演算又は計測を事前に行われ、関連付けした対比データとして記憶部４４に記憶される。位置検出部４３は、距離計測部２２で計測された距離と、記憶部４４の対比データとを照らし合わせることで、合成フィルタ画像ＦＰ３内におけるターゲット５０Ａ，５０Ｂの面積の予測値、及びターゲット５０Ａ，５０Ｂ間の要素間距離の予定値を取得する。また、合成フィルタ画像ＦＰ３内でのターゲット５０Ａ，５０Ｂの外接長方形（図６において、白色の破線で示す長方形）の縦横比の予定値は、予め記憶部４４に記憶されている。 The relationship between the distance between the imaging unit 21 and the targets 50A and 50B, the area of the targets 50A and 50B in the image, and the distance between the elements between the targets 50A and 50B is calculated or measured in advance and correlated and compared. It is stored in the storage unit 44 as data. The position detection unit 43 compares the distance measured by the distance measurement unit 22 with the comparison data in the storage unit 44 to obtain predicted values of the areas of the targets 50A and 50B in the synthesized filtered image FP3 and the targets 50A and 50B. Get the expected value of the element-to-element distance between 50B. Further, the planned value of the aspect ratio of the circumscribing rectangle of the targets 50A and 50B (the rectangle indicated by the white dashed line in FIG. 6) in the synthesized filtered image FP3 is stored in the storage unit 44 in advance.
　位置検出部４３は、合成フィルタ画像ＦＰ３内の抽出領域ＲＥ１～ＲＥ７のうち、ターゲット５０Ａ，５０Ｂに該当しないものを候補から外すことで、ターゲット５０Ａ，５０Ｂに該当する抽出領域を特定する。具体的に、位置検出部４３は、面積の値と、外接長方形の縦横比の値が、ターゲット５０Ａ，５０Ｂの予定値から一定以上外れている抽出領域については、候補から除去する。抽出領域ＲＥ２，ＲＥ３，ＲＥ４の面積が、ターゲット５０Ａ，５０Ｂの予定値に比べて小さ過ぎるため、位置検出部４３は、抽出領域ＲＥ２，ＲＥ３，ＲＥ４を候補から外す。抽出領域ＲＥ１の外接長方形の縦横比が、ターゲット５０Ａ，５０Ｂの予定値から大きく外れているため、位置検出部４３は、抽出領域ＲＥ１を候補から外す。これにより、抽出領域ＲＥ５，ＲＥ６，ＲＥ７が候補として残る。位置検出部４３は、抽出領域ＲＥ６と抽出領域ＲＥ７との要素間距離Ｄ１、及び抽出領域ＲＥ５と抽出領域ＲＥ６との要素間距離Ｄ２を演算する。位置検出部４３は、ターゲット５０Ａ，５０Ｂの要素間距離の予定値と、要素間距離Ｄ１，Ｄ２とを比較する。これにより、位置検出部４３は、予定値に最も近い要素間距離Ｄ１に係る抽出領域ＲＥ６と抽出領域ＲＥ７が、ターゲット５０Ａ，５０Ｂであると認識する。 The position detection unit 43 identifies the extraction regions corresponding to the targets 50A and 50B by excluding those that do not correspond to the targets 50A and 50B from the candidates among the extraction regions RE1 to RE7 in the synthesized filtered image FP3. Specifically, the position detection unit 43 removes from the candidates an extraction region in which the area value and the aspect ratio value of the circumscribing rectangle deviate from the predetermined values of the targets 50A and 50B by a certain amount or more. Since the areas of the extraction regions RE2, RE3, RE4 are too small compared to the planned values of the targets 50A, 50B, the position detection unit 43 excludes the extraction regions RE2, RE3, RE4 from the candidates. Since the aspect ratio of the circumscribing rectangle of the extraction region RE1 greatly deviates from the expected values of the targets 50A and 50B, the position detection unit 43 excludes the extraction region RE1 from the candidates. As a result, extraction regions RE5, RE6, and RE7 remain as candidates. The position detection unit 43 calculates an inter-element distance D1 between the extraction regions RE6 and RE7 and an inter-element distance D2 between the extraction regions RE5 and RE6. The position detection unit 43 compares the planned value of the inter-element distance of the targets 50A and 50B with the inter-element distances D1 and D2. Thereby, the position detection unit 43 recognizes that the extraction regions RE6 and RE7 related to the inter-element distance D1 closest to the predetermined value are the targets 50A and 50B.
　位置検出部４３は、抽出領域ＲＥ６は赤色の領域であるためターゲット５０Ａに対応すると認識し、抽出領域ＲＥ７は緑色の領域であるためターゲット５０Ｂに対応すると認識する。ここで、位置検出部４３は、互いに異なる色情報を有する複数のターゲット５０Ａ，５０Ｂの位置関係に基づいて、吊荷ＳＬの水平面内での回転方向における姿勢を検出することができる。なお、ここでの回転方向は、鉛直方向に延びる中心軸を基準とした回転方向である。例えば、抽出領域ＲＥ６がターゲット５０Ａに対応し、抽出領域ＲＥ７がターゲット５０Ｂに対応する姿勢が、吊荷ＳＬの正規の姿勢（回転方向における０°の姿勢）であるものとする。これに対し、位置検出部４３が、抽出領域ＲＥ６がターゲット５０Ｂに対応し、抽出領域ＲＥ７がターゲット５０Ａに対応することを検出した場合、吊荷ＳＬの水平面内での回転方向における姿勢が、１８０°回転していることを検出する。 The position detection unit 43 recognizes that the extracted region RE6 corresponds to the target 50A because it is a red region, and that it corresponds to the target 50B because the extracted region RE7 is a green region. Here, the position detection unit 43 can detect the attitude of the suspended load SL in the rotational direction within the horizontal plane based on the positional relationship of the plurality of targets 50A and 50B having mutually different color information. The direction of rotation here is the direction of rotation based on the center axis extending in the vertical direction. For example, it is assumed that the posture in which the extraction region RE6 corresponds to the target 50A and the extraction region RE7 corresponds to the target 50B is the normal posture (0° posture in the rotation direction) of the suspended load SL. On the other hand, when the position detection unit 43 detects that the extraction region RE6 corresponds to the target 50B and the extraction region RE7 corresponds to the target 50A, the posture of the suspended load SL in the rotation direction in the horizontal plane is 180°. °Detect rotation.
　位置検出部４３は、抽出領域ＲＥ６，ＲＥ７の重心をターゲット５０Ａ，５０Ｂのターゲット位置とする。また、位置検出部４３は、両者のターゲット位置から、色彩パターンの重心ＷＰを演算する。位置検出部４３は、事前に分かっているターゲット５０Ａ，５０Ｂ間の幾何学的配置の特徴から、スキュー角度を演算する。 The position detection unit 43 sets the center of gravity of the extraction regions RE6 and RE7 as the target positions of the targets 50A and 50B. Further, the position detection unit 43 calculates the center of gravity WP of the color pattern from the target positions of both. The position detection unit 43 calculates the skew angle from the previously known features of the geometric arrangement between the targets 50A and 50B.
　ここで、撮影部２１の姿勢（レンズの向き）が、鉛直方向に対して一定の場合には、位置検出部４３は、事前に計測等で求めた振れ角の原点ＯＰ１の位置と、上記で得られた色彩パターンの重心ＷＰとの距離に基づいて、振れ角θｘ，θｙ（図３参照）を検出する。予め求められた原点ＯＰ１の位置は、記憶部４４に記憶される。ここで、撮影部２１の姿勢が変化する場合には、振れ角の原点の位置が変化する。図６では、原点ＯＰ１から原点ＯＰ２に変化している。従って、位置検出部４３は、傾斜検出部２３の検出結果に基づいて、振れ角の原点ＯＰ２を、元の位置である原点ＯＰ１に補正する。 Here, when the posture (orientation of the lens) of the photographing unit 21 is constant with respect to the vertical direction, the position detection unit 43 detects the position of the origin OP1 of the shake angle obtained by measurement or the like in advance, and Shaking angles θx and θy (see FIG. 3) are detected based on the distance from the center of gravity WP of the obtained color pattern. The position of the origin OP<b>1 obtained in advance is stored in the storage unit 44 . Here, when the posture of the photographing unit 21 changes, the position of the origin of the shake angle changes. In FIG. 6, the origin OP1 is changed to the origin OP2. Therefore, based on the detection result of the tilt detection unit 23, the position detection unit 43 corrects the origin OP2 of the shake angle to the original position of the origin OP1.
　なお、制御装置４０は、撮影部２１の撮影情報、傾斜検出部２３の検出結果、及び距離計測部２２の計測結果を常時取込、振れ角の評価演算を常時行ってよい。そして、制御装置４０は、振れ角の情報を、上位側の運転画面（出力部５２）や振れ止めシステム等に送信してよい。 It should be noted that the control device 40 may always acquire the shooting information of the shooting unit 21, the detection result of the tilt detection unit 23, and the measurement result of the distance measurement unit 22, and always perform the evaluation calculation of the deflection angle. Then, the control device 40 may transmit the information on the swing angle to the operation screen (output unit 52) on the upper side, the anti-vibration system, or the like.
　ここで、図７に示すように、位置検出部４３は、単一の撮影部２１からの撮影情報に基づいて、吊荷ＳＬに加え、当該吊荷ＳＬの設置場所７１を検出する。設置場所７１は、クレーン１が吊っている吊荷ＳＬを設置する場所、またはクレーン１の吊対象となる吊荷ＳＬが設置されている場所である。図７に示す例では、クレーン１が吊っている吊荷ＳＬを設置する場所としての設置場所７１が例示されている。設置場所７１には、ターゲット７０Ａ、７０Ｂが設けられている。ターゲット７０Ａ，７０Ｂは互いに異なり、且つターゲット５０Ａ，５０Ｂとも異なる色情報を有する。設置場所７１の中には、吊荷ＳＬを設置する領域を厳密に規定した吊荷設置枠７２が設定されている。ターゲット７０Ａ，７０Ｂは、吊荷設置枠７２の外側に設けられている。位置検出部４３は、ターゲット５０Ａ，５０Ｂと同様な方法で、ターゲット７０Ａ，７０Ｂの位置を特定する。ターゲット７０Ａ，７０Ｂと吊荷設置枠７２との位置関係は予め設定されている。従って、位置検出部４３は、ターゲット７０Ａ，７０Ｂに基づいて、画像内における吊荷設置枠７２の位置を検出することができる。 Here, as shown in FIG. 7 , the position detection unit 43 detects the installation location 71 of the suspended load SL in addition to the suspended load SL, based on the imaging information from the single imaging unit 21 . The installation location 71 is a location where the load SL suspended by the crane 1 is installed, or a location where the load SL to be suspended by the crane 1 is installed. In the example shown in FIG. 7, an installation place 71 is illustrated as a place where the suspended load SL suspended by the crane 1 is installed. An installation location 71 is provided with targets 70A and 70B. Targets 70A and 70B have different color information from each other and from targets 50A and 50B. In the installation place 71, a suspended load installation frame 72 is set that strictly defines an area in which the suspended load SL is installed. The targets 70</b>A and 70</b>B are provided outside the suspended load installation frame 72 . The position detector 43 identifies the positions of the targets 70A and 70B in the same manner as the targets 50A and 50B. The positional relationship between the targets 70A, 70B and the suspended load installation frame 72 is set in advance. Therefore, the position detection section 43 can detect the position of the suspended load installation frame 72 in the image based on the targets 70A and 70B.
　上述のように、ターゲット５０Ａ，５０Ｂの色彩パターンとターゲット７０Ａ，７０Ｂの色彩パターンによって、位置検出部４３は、吊部１６と設置場所７１の区別を行うことができ、同じ画像上での位置と角度を評価できる。また、クレーン１が自動で吊荷ＳＬの保持、または荷降ろし時には、吊部１６と設置場所７１の検出内容に基づいて、両者の相対位置を検出することができる。これにより、クレーン１は、吊荷ＳＬの保持・荷降ろしが出来る相対位置、及び角度範囲に収まる事を確認しながら、吊荷ＳＬのハンドリングを行うことができる。 As described above, the position detection section 43 can distinguish between the suspension section 16 and the installation location 71 based on the color patterns of the targets 50A and 50B and the color patterns of the targets 70A and 70B. Angle can be evaluated. Further, when the crane 1 automatically holds or unloads the suspended load SL, the relative positions of the suspension section 16 and the installation location 71 can be detected based on the detected contents. Thereby, the crane 1 can handle the suspended load SL while confirming that the relative position and the angular range where the suspended load SL can be held and unloaded are satisfied.
　次に、図８を参照して、位置検出システム１００による位置検出方法の内容について説明する。図８に示すように、撮影部２１は、吊荷ＳＬを撮影する（ステップＳ１１０：撮影工程）。撮影部２１は撮影情報を制御装置４０へ送信し、制御装置４０の情報取得部４１が撮影情報を取得する。 Next, with reference to FIG. 8, the contents of the position detection method by the position detection system 100 will be described. As shown in FIG. 8, the photographing unit 21 photographs the suspended load SL (step S110: photographing step). The imaging unit 21 transmits imaging information to the control device 40, and the information acquisition unit 41 of the control device 40 acquires the imaging information.
　次に、色情報抽出部４２は、ステップＳ１１０での撮影情報から、色情報を抽出して、抽出領域を特定する（ステップＳ１２０：色情報抽出工程）。次に、位置検出部４３は、ステップＳ１２０での抽出結果に基づいて、吊荷ＳＬとクレーン１との相対位置を検出する（ステップＳ１３０：位置検出工程）。 Next, the color information extraction unit 42 extracts color information from the photographing information in step S110 and specifies an extraction area (step S120: color information extraction step). Next, the position detector 43 detects the relative position between the suspended load SL and the crane 1 based on the extraction result in step S120 (step S130: position detection step).
　具体的に、ステップＳ１３０では、位置検出部４３は、複数の抽出領域の中から、ターゲット５０Ａ，５０Ｂに対応するものを特定する（ステップＳ１４０）。次に、位置検出部４３は、ターゲット５０Ａ，５０Ｂの重心に基づいて、振れ角を検出する（ステップＳ１５０）。次に、位置検出部４３は、ステップＳ１５０で検出した振れ角に基づいて、吊荷ＳＬの位置を検出する（ステップＳ１６０）。ステップＳ１６０が終了したら、図８に示す制御処理が終了し、再びステップＳ１１０から処理が開始される。 Specifically, in step S130, the position detection unit 43 identifies those corresponding to the targets 50A and 50B from among the plurality of extraction regions (step S140). Next, the position detection unit 43 detects the deflection angle based on the centers of gravity of the targets 50A and 50B (step S150). Next, the position detector 43 detects the position of the suspended load SL based on the swing angle detected in step S150 (step S160). After step S160 ends, the control process shown in FIG. 8 ends, and the process starts again from step S110.
　次に、本実施形態に係る位置検出システム１００、ターゲット５０Ａ，５０Ｂ、及び位置検出方法の作用・効果について説明する。 Next, the functions and effects of the position detection system 100, the targets 50A and 50B, and the position detection method according to this embodiment will be described.
　本実施形態に係る位置検出システム１００において、色情報抽出部４２は、撮影部２１の撮影情報から、色情報を抽出して、抽出領域を特定する。また、位置検出部４３は、色情報抽出部４２の抽出結果に基づいて、吊荷ＳＬとクレーン１との相対位置を検出することができる。このように、位置検出部４３が、撮影情報の色情報の抽出に基づく場合、例えば太陽光の反射などの外乱の影響を低減した状態で、吊荷ＳＬの位置検出を行うことができる。以上より、位置検出部４３は、ターゲット以外の光源を誤検出することなく、吊荷ＳＬの位置を確実に検出することができる。 In the position detection system 100 according to the present embodiment, the color information extraction section 42 extracts color information from the photographing information of the photographing section 21 and specifies an extraction area. Further, the position detection section 43 can detect the relative position between the suspended load SL and the crane 1 based on the extraction result of the color information extraction section 42 . In this way, when the position detection unit 43 is based on extraction of color information from photographing information, it is possible to detect the position of the suspended load SL while reducing the influence of disturbance such as reflection of sunlight. As described above, the position detection unit 43 can reliably detect the position of the suspended load SL without erroneously detecting a light source other than the target.
　位置検出部４３は、互いに異なる特性を有する複数のターゲット５０Ａ，５０Ｂを検出してよい。この場合、位置検出部４３は、各々のターゲット５０Ａ，５０Ｂの個別の特性を有効に活用することで、吊荷ＳＬの位置をより詳細に検出することができる。 The position detection unit 43 may detect a plurality of targets 50A and 50B having mutually different characteristics. In this case, the position detection unit 43 can detect the position of the suspended load SL in more detail by effectively utilizing the individual characteristics of each of the targets 50A and 50B.
　位置検出部４３は、互いに異なる特性として、互いに異なる色情報を有する複数のターゲット５０Ａ，５０Ｂを検出してよい。この場合、各々のターゲット５０Ａ，５０Ｂの色情報を変えるだけで、容易に異なる特性の複数のターゲット５０Ａ，５０Ｂを準備することができる。例えば、形状を変えることで異なる特性とする場合、各ターゲットの形状を工夫する必要があり、且つ、吊部１６の設置場所の制約などを考慮する必要がある。これに対し、ターゲット５０Ａ，５０Ｂは、両方ともシンプルな円形として、互いの色を変えるだけで容易に特性を変えている。 The position detection unit 43 may detect a plurality of targets 50A and 50B having mutually different color information as mutually different characteristics. In this case, a plurality of targets 50A, 50B with different characteristics can be easily prepared by simply changing the color information of each target 50A, 50B. For example, if different characteristics are to be obtained by changing the shape, it is necessary to devise the shape of each target, and it is necessary to consider restrictions on the installation location of the hanging portion 16 and the like. On the other hand, the targets 50A and 50B are both simple circles, and their characteristics can be easily changed by simply changing their colors.
　位置検出部４３は、互いに異なる色情報を有する複数のターゲット５０Ａ，５０Ｂの位置関係に基づいて、吊荷ＳＬの水平面内での回転方向における姿勢を検出してよい。すなわち、複数のターゲット５０Ａ，５０Ｂの特性が互いに異なっているため、位置検出部４３は、回転方向における各ターゲット５０Ａ，５０Ｂの位置関係を参照することで、容易に回転方向における吊荷ＳＬの姿勢を検出できる。 The position detection unit 43 may detect the posture of the suspended load SL in the rotational direction in the horizontal plane based on the positional relationship of the targets 50A and 50B having mutually different color information. That is, since the targets 50A and 50B have different characteristics, the position detection unit 43 can easily determine the posture of the suspended load SL in the rotation direction by referring to the positional relationship of the targets 50A and 50B in the rotation direction. can be detected.
　位置検出部４３は、単一の撮影部２１からの撮影情報に基づいて、吊荷ＳＬに加え、当該吊荷ＳＬの設置場所を検出してよい。この場合、複数の撮影部２１を用いなくとも、位置検出部４３は、単一の撮影部２１からの撮影情報に基づいて、容易に吊荷ＳＬと設置場所との相対的な位置関係を把握することができる。 The position detection unit 43 may detect the installation location of the suspended load SL in addition to the suspended load SL based on the imaging information from the single imaging unit 21 . In this case, the position detection unit 43 can easily grasp the relative positional relationship between the suspended load SL and the installation location based on the photographing information from the single photographing unit 21 without using a plurality of photographing units 21. can do.
　位置検出システム１００は、構造体３０の動作に関わらず、撮影部２１を下方へ向けるように撮影部２１の姿勢を調整する姿勢調整機構６０を備えてよい。この場合、例えばジブクレーンのように構造体３０の動作によって撮影部２１の姿勢が変わりやすいクレーンの場合であっても、姿勢調整機構６０が、撮影部２１を下方へ向けるように姿勢を調整することができる。 The position detection system 100 may include an attitude adjustment mechanism 60 that adjusts the attitude of the imaging unit 21 so that the imaging unit 21 faces downward regardless of the movement of the structure 30 . In this case, even in the case of a crane, such as a jib crane, where the posture of the photographing unit 21 is likely to change due to the operation of the structure 30, the posture adjustment mechanism 60 can adjust the posture so that the photographing unit 21 faces downward. can be done.
　本実施形態に係るターゲット５０Ａ，５０Ｂは、クレーン１の吊部材１７及び吊部１６で吊られた吊荷ＳＬの位置を検出するためのターゲット５０Ａ，５０Ｂであって、画像内で抽出可能な任意の色情報を有する。 The targets 50A and 50B according to the present embodiment are targets 50A and 50B for detecting the position of the suspended load SL suspended by the suspension member 17 and the suspension section 16 of the crane 1, and are arbitrary extractable targets in the image. color information.
　このターゲット５０Ａ，５０Ｂを吊荷ＳＬに設けることによって、位置検出システム１００は、画像内でターゲット５０Ａ，５０Ｂの色情報を抽出して、位置検出を行うことができる。この場合、上述の位置検出システム１００と同趣旨の作用・効果を得ることができる。 By providing the targets 50A and 50B on the suspended load SL, the position detection system 100 can extract the color information of the targets 50A and 50B in the image and perform position detection. In this case, it is possible to obtain the same functions and effects as the position detection system 100 described above.
　本実施形態に係る位置検出方法は、クレーン１の吊部材１７及び吊部１６で吊られた吊荷ＳＬの位置を検出する位置検出方法であって、吊部材１７の吊点ＳＰと共に移動するクレーン１の構造体３０に設けられた撮影部２１によって、吊荷ＳＬを撮影する撮影工程と、撮影工程での撮影情報から、色情報を抽出して、抽出領域を特定する色情報抽出工程と、色情報抽出工程での抽出結果に基づいて、吊荷ＳＬとクレーン１との相対位置を検出する位置検出工程と、を備える。 The position detection method according to the present embodiment is a position detection method for detecting the position of the suspended load SL suspended by the suspension member 17 and the suspension portion 16 of the crane 1, and the crane moves together with the suspension point SP of the suspension member 17. a photographing step of photographing the suspended load SL by the photographing unit 21 provided in the structure 30 of 1; a color information extracting step of extracting color information from photographing information in the photographing step and specifying an extraction region; and a position detection step of detecting the relative position between the suspended load SL and the crane 1 based on the extraction result of the color information extraction step.
　この位置検出方法によれば、上述の位置検出システム１００と同趣旨の作用・効果を得ることができる。 According to this position detection method, it is possible to obtain the same functions and effects as the position detection system 100 described above.
　また、位置検出システム１００は、色情報を使うことにより、太陽光反射などの外乱に対してロバスト性の高い位置検出を行うことができる。更に、色情報を用いて位置検出を行うため、撮影部２１として一般的なカラーカメラの利用が可能となる。従って、安価なシステムとなり、また監視用途のカメラとの兼用が可能となりシステムの導入が容易になる。また、吊部１６上に光源などの特別なターゲットの配置を不要とすることができるため、システムの導入が容易となる。 In addition, the position detection system 100 can perform highly robust position detection against disturbances such as sunlight reflection by using color information. Furthermore, since position detection is performed using color information, a general color camera can be used as the photographing unit 21 . Therefore, the system is inexpensive and can be used in combination with a camera for monitoring purposes, facilitating introduction of the system. Moreover, since it is possible to eliminate the need to arrange a special target such as a light source on the hanger 16, the introduction of the system is facilitated.
　本開示は、上述の実施形態に限定されるものではない。 The present disclosure is not limited to the above-described embodiments.
　例えば、上述の実施形態では、クレーン１としてジブクレーンを例示したが、クレーンの種類は特に限定されるものではない。例えば、天井クレーン、ゴライアスクレーン、レードルクレーンなどのクレーンに対して、本開示を適用してもよい。レードルクレーンの場合、溶融して赤くなった金属が存在する環境で作業が行われる。従って、位置検出システム１００は、吊荷ＳＬの背景の赤くなった高熱の金属の色を抽出して、吊荷ＳＬの位置を検出してよい。このように、レードルクレーンのように吊荷にターゲットが置けない場合や、吊具の色パターンが粉塵等で埋もれてしまうような場合でも、位置検出システムは、溶鋼の色を検出の対象とする事ができるので、吊荷の振れの検出を行うことが可能となる。 For example, in the above embodiment, a jib crane was exemplified as the crane 1, but the type of crane is not particularly limited. For example, the present disclosure may be applied to cranes such as overhead cranes, goliath cranes, and ladle cranes. Ladle cranes operate in an environment with molten red metal. Therefore, the position detection system 100 may detect the position of the suspended load SL by extracting the color of the red hot metal in the background of the suspended load SL. In this way, the position detection system detects the color of molten steel even when the target cannot be placed on the load, such as with a ladle crane, or when the color pattern of the hoisting gear is covered with dust. Therefore, it is possible to detect the swing of the suspended load.
　上述の実施形態では、距離計測部２２を用いて撮影部２１と吊荷ＳＬとの距離を計測していた。距離計測部２２を省略する場合、画像中のターゲット５０Ａ，５０Ｂの情報のみに基づいて吊荷ＳＬを認識し、その画像上のターゲット５０Ａ，５０Ｂのサイズ基づいて、撮影部２１と吊荷ＳＬ間の距離を推定してよい。 In the above-described embodiment, the distance measurement unit 22 was used to measure the distance between the photographing unit 21 and the suspended load SL. When the distance measuring unit 22 is omitted, the suspended load SL is recognized based only on the information of the targets 50A and 50B in the image, and the distance between the imaging unit 21 and the suspended load SL is determined based on the sizes of the targets 50A and 50B on the image. can be estimated.
　振れ検出のロバスト性向上させる時には、色彩形状パターンを吊部１６上の光源で作り、輝度の情報も利用して位置検出を行ってよい。これにより、外乱を除去してロバスト性を向上させることができる。なお、パトランプなどの色付きの光源をターゲットとして、色情報の抽出が行われてもよい。 When improving the robustness of shake detection, a color shape pattern may be created with the light source on the suspending portion 16, and position detection may be performed using luminance information as well. Thereby, disturbance can be removed and robustness can be improved. Color information may be extracted by targeting a colored light source such as a patrol lamp.
　位置検出部４３は、異なる複数の吊荷ＳＬの色彩パターンを同時に検出可能としてもよい。この場合、各吊荷ＳＬに固有の色彩パターンを与える事により、位置検出部４３は、振れ角と同時に吊荷ＳＬの識別も行うことができる。 The position detection unit 43 may be capable of simultaneously detecting different color patterns of a plurality of suspended loads SL. In this case, by giving each suspended load SL a unique color pattern, the position detection unit 43 can identify the suspended load SL at the same time as the swing angle.
　上述の実施形態では、位置検出システム１００は、単一の撮影部２１によって吊荷ＳＬの位置検出を行っていたが、複数の撮影部２１を用いてもよい。 In the above-described embodiment, the position detection system 100 detects the position of the suspended load SL using the single imaging unit 21, but multiple imaging units 21 may be used.
［形態１］
　クレーンの吊部材及び吊部で吊られた対象物の位置を検出する位置検出システムであって、
　前記吊部材の吊点と共に移動する前記クレーンの構造体に設けられ、前記対象物を撮影する撮影部と、
　前記撮影部の撮影情報から、色情報を抽出して、抽出領域を特定する色情報抽出部と、
　前記色情報抽出部の抽出結果に基づいて、前記対象物と前記クレーンとの相対位置を検出する位置検出部と、を備える、位置検出システム。
［形態２］
　前記位置検出部は、互いに異なる特性を有する複数のターゲットを検出する、形態１に記載の位置検出システム。
［形態３］
　前記位置検出部は、互いに異なる特性として、互いに異なる色情報を有する複数のターゲットを検出する、形態２に記載の位置検出システム。
［形態４］
　前記位置検出部は、互いに異なる特性を有する複数の前記ターゲットの位置関係に基づいて、前記対象物の水平面内での回転方向における姿勢を検出する、形態２又は３に記載の位置検出システム。
［形態５］
　前記位置検出部は、単一の前記撮影部からの前記撮影情報に基づいて、前記対象物に加え、当該対象物の設置場所を検出する、形態１～４の何れか一項に記載の位置検出システム。
［形態６］
　前記構造体の動作に関わらず、前記撮影部を下方へ向けるように前記撮影部の姿勢を調整する姿勢調整機構を備える、形態１～５の何れか一項に記載の位置検出システム。
［形態７］
　クレーンの吊部材及び吊部で吊られた対象物の位置を検出するためのターゲットであって、
　画像内で抽出可能な任意の色情報を有する、ターゲット。
［形態８］
　クレーンの吊部材及び吊部で吊られた対象物の位置を検出する位置検出方法であって、
　前記吊部材の吊点と共に移動する前記クレーンの構造体に設けられた撮影部によって、前記対象物を撮影する撮影工程と、
　前記撮影工程での撮影情報から、色情報を抽出して、抽出領域を特定する色情報抽出工程と、
　前記色情報抽出工程での抽出結果に基づいて、前記対象物と前記クレーンとの相対位置を検出する位置検出工程と、を備える、位置検出方法。 [Mode 1]
A position detection system for detecting the position of an object suspended by a crane suspension member and suspension part,
a photographing unit provided in the structure of the crane that moves together with the suspension point of the suspension member, and configured to photograph the object;
a color information extraction unit that extracts color information from the photographing information of the photographing unit and specifies an extraction area;
a position detection unit that detects a relative position between the object and the crane based on the extraction result of the color information extraction unit.
[Mode 2]
The position detection system according to mode 1, wherein the position detection unit detects a plurality of targets having mutually different characteristics.
[Mode 3]
The position detection system according to mode 2, wherein the position detection unit detects a plurality of targets having mutually different color information as mutually different characteristics.
[Mode 4]
4. The position detection system according to mode 2 or 3, wherein the position detection unit detects the orientation of the target in a rotational direction within a horizontal plane based on the positional relationship of the plurality of targets having different characteristics.
[Mode 5]
5. The position according to any one of Modes 1 to 4, wherein the position detection unit detects an installation location of the object in addition to the object, based on the imaging information from the single imaging unit. detection system.
[Mode 6]
6. The position detection system according to any one of modes 1 to 5, comprising an attitude adjustment mechanism that adjusts the attitude of the photographing unit so that the photographing unit faces downward regardless of the movement of the structure.
[Mode 7]
A target for detecting the position of an object suspended by a crane suspension member and suspension part,
A target that contains any color information that can be extracted in an image.
[Mode 8]
A position detection method for detecting the position of an object suspended by a crane suspension member and suspension part,
a photographing step of photographing the object by a photographing unit provided in the structure of the crane that moves together with the suspension point of the suspension member;
a color information extraction step of extracting color information from the photographing information in the photographing step and specifying an extraction region;
a position detection step of detecting a relative position between the object and the crane based on the extraction result of the color information extraction step.
　１…クレーン、２１…撮影部、４２…色情報抽出部、４３…位置検出部、５０Ａ，５０Ｂ，７０Ａ，７０Ｂ…ターゲット、６０…姿勢調整機構、１００…位置検出システム。 1... Crane, 21... Imaging unit, 42... Color information extraction unit, 43... Position detection unit, 50A, 50B, 70A, 70B... Target, 60... Posture adjustment mechanism, 100... Position detection system.

Claims (8)

  1. 　クレーンの吊部材及び吊部で吊られた対象物の位置を検出する位置検出システムであって、
    　前記吊部材の吊点と共に移動する前記クレーンの構造体に設けられ、前記対象物を撮影する撮影部と、
    　前記撮影部の撮影情報から、色情報を抽出して、抽出領域を特定する色情報抽出部と、
    　前記色情報抽出部の抽出結果に基づいて、前記対象物と前記クレーンとの相対位置を検出する位置検出部と、を備える、位置検出システム。     A position detection system for detecting the position of an object suspended by a crane suspension member and suspension part,
    a photographing unit provided in the structure of the crane that moves together with the suspension point of the suspension member, and configured to photograph the object;
    a color information extraction unit that extracts color information from the photographing information of the photographing unit and specifies an extraction area;
    a position detection unit that detects a relative position between the object and the crane based on the extraction result of the color information extraction unit.
  2. 　前記位置検出部は、互いに異なる特性を有する複数のターゲットを検出する、請求項１に記載の位置検出システム。 The position detection system according to claim 1, wherein the position detection unit detects a plurality of targets having mutually different characteristics.
  3. 　前記位置検出部は、互いに異なる特性として、互いに異なる色情報を有する複数のターゲットを検出する、請求項２に記載の位置検出システム。 The position detection system according to claim 2, wherein the position detection unit detects a plurality of targets having mutually different color information as mutually different characteristics.
  4. 　前記位置検出部は、互いに異なる特性を有する複数の前記ターゲットの位置関係に基づいて、前記対象物の水平面内での回転方向における姿勢を検出する、請求項２に記載の位置検出システム。 3. The position detection system according to claim 2, wherein the position detection unit detects the orientation of the object in the rotational direction within the horizontal plane based on the positional relationship of the plurality of targets having different characteristics.
  5. 　前記位置検出部は、単一の前記撮影部からの前記撮影情報に基づいて、前記対象物に加え、当該対象物の設置場所を検出する、請求項１に記載の位置検出システム。 The position detection system according to claim 1, wherein the position detection unit detects the installation location of the object in addition to the object, based on the imaging information from the single imaging unit.
  6. 　前記構造体の動作に関わらず、前記撮影部を下方へ向けるように前記撮影部の姿勢を調整する姿勢調整機構を備える、請求項１に記載の位置検出システム。 The position detection system according to claim 1, comprising an attitude adjustment mechanism that adjusts the attitude of the photographing unit so that the photographing unit faces downward regardless of the movement of the structure.
  7. 　クレーンの吊部材及び吊部で吊られた対象物の位置を検出するためのターゲットであって、
    　画像内で抽出可能な任意の色情報を有する、ターゲット。     A target for detecting the position of an object suspended by a crane suspension member and suspension part,
    A target that contains any color information that can be extracted in an image.
  8. 　クレーンの吊部材及び吊部で吊られた対象物の位置を検出する位置検出方法であって、
    　前記吊部材の吊点と共に移動する前記クレーンの構造体に設けられた撮影部によって、前記対象物を撮影する撮影工程と、
    　前記撮影工程での撮影情報から、色情報を抽出して、抽出領域を特定する色情報抽出工程と、
    　前記色情報抽出工程での抽出結果に基づいて、前記対象物と前記クレーンとの相対位置を検出する位置検出工程と、を備える、位置検出方法。     A position detection method for detecting the position of an object suspended by a crane suspension member and suspension part,
    a photographing step of photographing the object by a photographing unit provided in the structure of the crane that moves together with the suspension point of the suspension member;
    a color information extraction step of extracting color information from the photographing information in the photographing step and specifying an extraction region;
    a position detection step of detecting a relative position between the object and the crane based on the extraction result of the color information extraction step.
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JPH01174903A (en) * 1987-12-29 1989-07-11 Kawasaki Steel Corp Method for confirming target of object to be detected
JPH09267990A (en) * 1996-01-29 1997-10-14 Nkk Corp Device for detecting position of hoisted load of rope suspension type crane
JP2010091517A (en) * 2008-10-10 2010-04-22 Soka Univ Position measuring device
US20150329333A1 (en) * 2012-12-17 2015-11-19 Liebherr-Components Biberach Gmbh Tower slewing crane

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH01174903A (en) * 1987-12-29 1989-07-11 Kawasaki Steel Corp Method for confirming target of object to be detected
JPH09267990A (en) * 1996-01-29 1997-10-14 Nkk Corp Device for detecting position of hoisted load of rope suspension type crane
JP2010091517A (en) * 2008-10-10 2010-04-22 Soka Univ Position measuring device
US20150329333A1 (en) * 2012-12-17 2015-11-19 Liebherr-Components Biberach Gmbh Tower slewing crane

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