JP4333256B2 - Cableway carrier monitoring system - Google Patents

Description

  The present invention relates to a monitoring system and a monitoring program for monitoring the amount of sway generated by receiving wind in a cableway carrying device such as a gondola, a lift, and a cable car, and controlling the operation of the carrying device based on the monitoring result.

A conventional monitoring device is known that uses a visible light camera to image the state of a transporter and monitors the swinging of the transporter (see, for example, Patent Document 1).
JP-A-1-204860

  However, in the monitoring apparatus shown in Patent Document 1, since a visible light camera is used, monitoring cannot be performed if snow is attached to the lens of the camera or ice is formed, and illumination is necessary at night. There is a problem. In addition, when the weather is bad, there is also a problem that the field of view of the carrying device cannot be reliably imaged because of poor visibility.

  The present invention has been made in view of such circumstances, and for a cableway that can monitor the state of the cableway transporter even in a bad environment such as at night or in bad weather and can perform accurate speed control. It is an object to provide a monitoring system and a monitoring program for a carrier.

The present invention is a monitoring system for monitoring the amount of swing of a cableway transport device, the measuring means for measuring the amount of swing of a specific transporter in a predetermined section using a laser beam, and the amount of swing of the transporter in the predetermined section And a judging means for judging the situation according to the time change.

The present invention is further characterized by further comprising control means for controlling the transport speed of the transporter according to the situation determination.

The present invention is characterized in that the measuring means is a three-dimensional sensor capable of recognizing a three-dimensional shape of the transporter.

The present invention is a monitoring program that operates in a monitoring system including a measuring unit that measures the amount of shaking of a specific carrier in a predetermined section using a laser beam in order to monitor the amount of shaking of a cableway carrier, According to the present invention, the computer is caused to perform a determination process for determining a situation in accordance with a temporal change in the amount of shaking of the transporter in the predetermined section.

According to the present invention, since the amount of shaking of a specific carrier in a predetermined section is measured using a laser beam and the situation is determined according to the time change of the amount of shaking of the carrier, the state of shaking of the carrier is predicted. The effect that it can do is acquired.

Moreover, according to this invention, the effect that control of operation speed can be performed exactly based on the prediction result of the shaking state of a carrier is acquired.

In addition, according to the present invention, since the shape of the carrier can be recognized, an effect that the situation can be determined more accurately can be obtained.

  Hereinafter, a monitoring system for a cableway carrying device according to an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a schematic diagram showing the configuration of the embodiment. In this embodiment, the cable carrier is supported by the upper end of the support column 1 erected at a required interval between stations so that the cableway 3 can be moved via the receiving ring 2, and the carrier hanger 4 is mounted on the cable 3. When the transporter 5 is suspended by moving the cableway 3 and the transporter 5 is transported by the movement of the cableway 3, the laser sensor 6 fixed to the support column 1 monitors the swinging of the transporter 5 in the direction of arrow X. Is.

  Next, with reference to FIG. 2, the configuration of a monitoring system that monitors the amount of shaking of the transporter 5 and performs speed control according to the amount of shaking will be described. FIG. 2 is a block diagram showing the configuration of the monitoring system. In this figure, reference numeral 6 denotes a laser sensor fixed to the support column 1, and three-dimensional position data (distance image) can be acquired by scanning the laser beam in a two-dimensional direction. Reference numeral 61 denotes a shake detector that detects the amount of shake of the transporter 5 based on the three-dimensional position data obtained by the laser sensor 6. Reference numeral 62 denotes a situation determination unit that determines the situation of the transporter 5 based on the amount of swing of the transporter 5 obtained by the swing detection unit 61. Reference numeral 63 denotes a situation determination table storage unit in which a situation determination table in which the shaking amount and the state are associated is stored in advance. Reference numeral 64 denotes a display unit that displays the state of the transporter 5 and is for the operation manager to visually confirm. Reference numeral 65 denotes an alarm device that emits an alarm sound based on the situation determination result. Reference numeral 66 denotes a speed control unit that outputs an instruction for the transport speed of the transporter 5 (the moving speed of the cableway 3) based on the situation determination result in the situation determination unit 62. Reference numeral 67 denotes an operation control unit that performs operation control of the cableway 3 based on the output speed instruction value from the speed control unit 66.

Next, with reference to FIGS. 3-4, the operation of the monitoring system shown in FIG. First, the operation of the laser sensor 6 shown in FIG. 2 will be described with reference to FIG. First, the laser sensor 6 emits laser light (step S1). This laser light hits the object and is reflected by the object surface (steps S2 and S3). The laser sensor 6 receives this reflected wave (step S4). Subsequently, the laser sensor 6 measures the time from when the laser beam is emitted until the reflected wave returns (step S5). This time measurement is performed by counting the internal clock and time-converting the count until the reflected wave returns. The laser sensor 6 obtains the distance to the object based on the obtained time (step S6).

Next, the laser sensor 6 repeats the operations in steps S1 to S6 while scanning in the horizontal and vertical directions, thereby acquiring distance data (three-dimensional position data) to the object in the measurement field of view of the laser sensor 6. . Then, the laser sensor 6 outputs the three-dimensional position data obtained here to the shake detection unit 61. In the example shown in FIG. 2, the laser sensor 6 is three shown, the swing detecting unit 61, and outputs the three-dimensional position data by the time division from each of the three laser sensors 6. With this operation, the three-dimensional position data is sequentially sent from the three laser sensors 6 to the shake detection unit 61.

Next, the shake detection unit 61 obtains the shake amount of the transporter 5 based on the three-dimensional position data received from each laser sensor 6. Here, the amount of shaking is a value expressed by the distance of the portion where the carrier 5 is closest to the support 1. Subsequently, the shake detection unit 61 outputs the shake amount obtained here to the situation determination unit 62. In response to this, the situation determination unit 62 refers to the situation determination table stored in the situation determination table storage unit 63 to determine the situation of the shaking amount received from the shaking detection unit 61. In the situation determination table, a state is defined for each distance between the support column 1 and the transporter 5. For example, as shown in FIG. 4, the distance between the support column 1 and the carrier 5 is “normal when 50 cm to 70 cm”, “caution when 20 cm to 50 cm, or 70 cm to 100 cm”, “less than 20 cm” Or, when the distance exceeds 100 cm, the state (normal, caution, danger) is defined for each distance between the support column 1 and the transporter 5 as “danger”. The situation determination unit 62 displays the state of the carrier 5 (any one of “normal”, “caution”, and “danger”) obtained by referring to the situation determination table on the display unit 64. In addition, when the obtained state is “danger”, the situation determination unit 62 instructs the alarm device 65 to issue an alarm. Thereby, when the transporter 5 is in a “dangerous” state, an alarm sound is generated.

  Further, the situation determination unit 62 outputs the obtained state (“normal”, “caution”, or “danger”) to the speed control unit 66. In response to this, the speed control unit 66 outputs an instruction of the moving speed of the cableway 3 to the operation control unit 67 based on the received state. When the received state is “normal”, the speed control unit 66 outputs an instruction to maintain the current speed to the operation control unit 67. If the received state is “Caution”, the speed control unit 66 outputs an instruction to the operation control unit 67 to decelerate to half the normal speed. Further, when the received state is “danger”, the speed control unit 66 outputs an operation stop instruction to the operation control unit 67. Thereby, speed control according to the state of the transporter 5 is performed.

As described above, since the emitted wave of the laser beam emitted by itself is detected and the distance is measured, it is possible to monitor even in a bad environment as compared with the case where a visible light camera is used.
Thus, it is possible to easily perform the operation management of the carriage at the time of strong wind, it becomes possible to perform the situation determination accurately, it is possible to minimize the carriage downtime during bad weather.

  Next, another embodiment will be described with reference to FIG. FIG. 5 is a diagram for explaining the situation determination process. This embodiment is different from the above-described embodiment in that the laser sensor 6 measures a temporal change in the swing amount of the transporter 5 within a predetermined section. The predetermined section here is, for example, a section between two struts 1. The shake detection unit 61 in this embodiment is based on a plurality of three-dimensional position data (three-dimensional position data within a predetermined section) received from the laser sensor 6 and time-series change data (FIG. 5) of the shake amount of the specific transporter 5. (A)) is obtained and output to the situation determination unit 62. Then, the situation determination unit 62 analyzes the time-series change data of the received shaking amount, and “swing grows” (FIG. 5B), “sway is steady” (FIG. 5C), “sway The state is classified into one of the states of “attenuation” (FIG. 5D). The situation determination unit 62 outputs one of the three states classified here to the speed control unit 66 and also outputs to the display unit 64.

In response, the speed controller 66, the received state is "shakes constant" When was against OPERATION control unit 67 outputs an instruction to maintain the current speed. When the received state is “swing grows”, the speed control unit 66 outputs an instruction to the operation control unit 67 to gradually reduce the speed relative to the current speed. Further, when the received state is “attenuation of shaking”, the speed control unit 66 outputs an instruction to gradually increase the speed relative to the current speed to the operation control unit 67. Thereby, speed control according to the state of the transporter 5 is performed.

  In this way, since the time series change of the amount of shaking is measured, it becomes possible to know the tendency of the change of the shaking of the transporter 5, and based on this tendency, the amount of shaking change can be predicted, Accurate speed control can be performed.

  2 is recorded on a computer-readable recording medium, and the program recorded on the recording medium is read by a computer system and executed, thereby executing monitoring processing and Speed control processing may be performed. Here, the “computer system” includes an OS and hardware such as peripheral devices. The “computer-readable recording medium” refers to a storage device such as a flexible medium, a magneto-optical disk, a portable medium such as a ROM and a CD-ROM, and a hard disk incorporated in a computer system. Further, the “computer-readable recording medium” refers to a volatile memory (RAM) in a computer system that becomes a server or a client when a program is transmitted via a network such as the Internet or a communication line such as a telephone line. In addition, those holding programs for a certain period of time are also included.

  The program may be transmitted from a computer system storing the program in a storage device or the like to another computer system via a transmission medium or by a transmission wave in the transmission medium. Here, the “transmission medium” for transmitting the program refers to a medium having a function of transmitting information, such as a network (communication network) such as the Internet or a communication line (communication line) such as a telephone line. The program may be for realizing a part of the functions described above. Furthermore, what can implement | achieve the function mentioned above in combination with the program already recorded on the computer system, and what is called a difference file (difference program) may be sufficient.

It is a schematic diagram which shows the structure of one Embodiment of this invention. It is a block diagram which shows the structure of one Embodiment of this invention. It is a flowchart which shows operation | movement of the monitoring system shown in FIG. It is explanatory drawing which shows operation | movement of the monitoring system shown in FIG. It is a figure explaining the situation judgment of other embodiments.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Strut 2 ... Receiving ring 3 ... Cable way 4 ... Carriage hanger 5 ... Carrying device 6 ... Laser sensor 61 ... Shake detection part 62 ... Situation judgment part 63- ..Situation judgment table storage unit 64 ... display unit 65 ... alarm device 66 ... speed control unit 67 ... operation control unit

Claims (4)

A monitoring system for monitoring the amount of shaking of a cableway carrying device,
Measuring means for measuring the amount of shaking of a specific carrier in a predetermined section using a laser beam;
A monitoring system for a cableway carrying device, comprising: a determination unit configured to determine a situation in accordance with a temporal change in the amount of shaking of the carrier in the predetermined section. 2. The cableway monitoring system according to claim 1 , further comprising a control unit configured to control a transport speed of the transporter according to the situation determination.   3. The cableway monitoring system according to claim 1, wherein the measuring unit is a three-dimensional sensor capable of recognizing a three-dimensional shape of the transporter. 4. A monitoring program that operates in a monitoring system having a measuring means for measuring the amount of shaking of a specific carrier using a laser beam in order to monitor the amount of shaking of a cableway carrier,
A monitoring program for a cableway carrying device, which causes a computer to perform a judgment process for making a situation judgment according to a temporal change in the amount of shaking of the carrier in the predetermined section.

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