APPARATUS, METHOD AND PROGRAM FOR DETECTION OF BARYCENTRIC POSITION

摘要

PROBLEM TO BE SOLVED: To determine a barycentric position in a height direction of a hoisted load hung from a crane with a rope more accurately.SOLUTION: The barycentric position detector for detecting a barycentric position of a hoisted load hung with a rope includes: an actual value acquisition unit for acquiring an actual value of data indicating a hoisted state of the load at least for two different states; and a barycentric position calculation unit for calculating the barycentric position of the hoisted load on the basis of a state model of the hoisted load including at least the barycentric position of the hoisted load as an unknown constant and the actual value acquired by the actual value acquisition unit.