Crane
The present invention addresses the problem of providing a crane capable of detecting a suspension location of a payload, in order to enable accurate positioning of a hook at the suspension location of the payload. This crane comprises: a freely derricking boom provided to a swivel; and a sub-hook block and a sub-hook suspendedly provided from the boom. The crane also comprises: a boom camera capable of imaging a payload that is to be carried by the crane; hook cameras capable of imaging the payload from different viewpoints than the boom camera; and a control device for controlling the crane. The control device acquires images obtained by imaging the payload with the boom camera and the hook cameras, runs image processing on the images, and calculates a suspension location of the payload.
1. A crane in which a boom configured to be freely raised and lowered is provided on a slewing platform, and a hook block and a hook suspended from the boom are provided, the crane further comprising:
a first camera provided at the boom and configured to capture an image of a load as a carrying object that is carried by the crane;
a second camera provided at the hook block and configured to capture an image of the load from a perspective different from the first camera; and
a control apparatus configured to calculate a lifting position of the load by image processing on the image of the load captured by the first camera and the second camera.
2. The crane according to claim 1 , wherein the control apparatus is configured to control the crane to automatically move the hook to the lifting position that is calculated.
3. The crane according to claim 2 , wherein the control apparatus is configured to control the crane to automatically move the hook to the lifting position through a control based on an inverse dynamics model.
4. The crane according to claim 1 , wherein the lifting position is a position of a lifting tool attached to the load.
5. The crane according to claim 1 , wherein the lifting position is a position set at a location above the load on a vertical line passing through a gravity center of the load.
6. The crane according to claim 5 , wherein the control apparatus calculates the gravity center of the load by performing image processing on the image.
7. The crane according to claim 6 , wherein the control apparatus is configured to communicate with a storage apparatus in which shape information of the load is stored, acquire the shape information of the load from the storage apparatus, and calculate the gravity center based on information obtained through the image processing on the image and the shape information of the load.
8. The crane according to claim 1 , wherein the load is a composite composed of a plurality of the loads combined together.