JP2014144850A - Operation confirmation device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an operation confirmation device which can carry out moving operations of hoisting loads more safely.SOLUTION: An operation confirmation device determines whether or not height is specified by an operator (step S6). When determined that the height is specified, the operation confirmation device creates an operation area line at the specified height (step S8). Subsequently, the operation confirmation device creates a display image in which the operation area line is superposed on a captured image, and displays the display image on a monitor (step S9).

Description

  The present invention relates to a work confirmation device used for a crane having a boom.

  Conventionally, cranes have been provided with booms for moving suspended loads. The boom is formed to be extendable and retractable, and is provided on the vehicle body so as to be horizontally turnable and undulating.

  A hook block is attached to the tip of the boom via a wire, and a hook is attached to the lower side of the hook block. The suspended load is hung on this hook.

  The crane is provided with a work confirmation device for confirming whether or not the suspended load can be moved to a desired position.

  As a conventional work confirmation device, for example, there is a device that captures a landscape when viewed downward from a boom tip of a crane with a camera, and displays a work area line superimposed on the captured image and displayed on a monitor (Patent Document 1). reference).

  The work area line is an area line related to the maximum suspension load performance of the crane's suspended load, for example, as a load factor that is a ratio of the load by the current suspended load to the load by the suspended load that can be lifted at maximum This is a region line having a predetermined value. The work area line is created based on the actual work load of the suspended load and the maximum work radius corresponding to the boom length. The operator determines whether or not the suspended load can be moved from the work area line displayed on the monitor to a position where it is desired to move.

JP 2011-151742 A

  However, since the work area line is created with reference to the ground, for example, even if the roof of the three-dimensional object appears in an oblique direction when viewed from the camera, the work area is based on the ground without considering the height of the three-dimensional object. The line is superimposed on the roof as it is, and the work radius is shifted in a direction smaller than the actual work area line. Therefore, even if the suspended load crosses the work area line, it does not stop, which may cause confusion for the operator. Then, the work confirmation apparatus which can perform the movement work of a suspended load more safely is examined.

  This invention is made | formed in view of such a conventional subject, and it aims at providing the operation confirmation apparatus which can perform the movement operation | work of a suspended load more safely.

  As a result of earnest research, the present inventors have adopted the following work confirmation device in order to solve the above-mentioned problems.

The work confirmation device of the present invention is used when moving a suspended load that is suspended from a tip of a boom that is provided on a crane's vehicle body in a horizontally swingable and undulating manner and that is extendable and contractible via a hook and a rope. A work confirmation device,
A camera that images the lower side from the boom tip and acquires the captured image;
Image processing means for creating a display image for display to an operator from the captured image;
A monitor for displaying the display image to the operator;
A work area line creating means for creating a work area line related to the maximum suspension load performance of the suspended load of the crane;
A height input means for specifying an arbitrary height by the operator;
The work area line creation means creates the work area line based on the arbitrary height when the arbitrary height is designated by the height input means,
The image processing means creates the display image in which the work area line created on the basis of the arbitrary height is superimposed on the captured image.

  Also, the work confirmation device of the present invention is a height for calculating the height of the hook or the suspended load when the height of the hook or the suspended load is designated as the arbitrary height by the height input means. It is also possible to further include a length calculating means. In this case, the work area line creation means creates the work area line based on the height of the hook or the suspended load calculated by the height calculation means.

  In addition, the work confirmation device of the present invention may further include a rope feeding length detection unit that detects a feeding length of the rope and a boom posture detection unit that detects the posture of the boom. In this case, the height calculation means is configured to use the hook or the suspended load based on the rope feed length detected by the rope feed length detection means and the boom posture detected by the boom posture detection means. Calculate the height of.

  In the work confirmation device of the present invention, the image processing means associates the information about the arbitrary height specified by the height input means with the work area line based on the arbitrary height. It is preferable to create the display image.

  Further, in the work confirmation device of the present invention, the work area line creation means includes the work based on the ground in addition to the work area line based on the arbitrary height specified by the height input means. When creating an area line, both work area lines are set to different line types, and the image processing means creates the display image in which both the work area lines are superimposed on the captured image. Is preferred.

  Further, in the work confirmation device of the present invention, the work area line creation means includes the work based on the ground in addition to the work area line based on the arbitrary height designated by the height input means. When creating an area line, the image processing means preferably creates the display image by switching both work area lines.

  In the work confirmation device of the present invention, work area lines based on an arbitrary height specified by the operator are displayed, so even if the roof of a three-dimensional object is displayed on the monitor, the work area lines are displayed in a shifted manner as before. This makes it possible for the operator to accurately check the suspended position of the suspended load. Therefore, the work confirmation device of the present invention can perform the work of moving the suspended load more safely.

It is a side view of the crane of the 1st Embodiment of this invention. It is a block diagram which shows the structure of the work confirmation apparatus used for the crane of the embodiment. It is a flowchart which shows the display process of the work area | region line by the work confirmation apparatus of the embodiment. It is a figure which shows the display content of the work area line by the work confirmation apparatus of the embodiment. It is a figure which shows the display content of the work area line by the work confirmation apparatus of the embodiment. It is explanatory drawing of the display method of FIG. It is explanatory drawing of the calculation method of the height of the rooftop of the building by the work confirmation apparatus of the embodiment. It is a figure which shows the display content of the work area line by the work confirmation apparatus of the 2nd Embodiment of this invention. It is a figure which shows the display content of the work area line by the work confirmation apparatus of the 3rd Embodiment of this invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

(First embodiment)
FIG. 1 is a side view of a crane 1 according to a first embodiment of the present invention. First, the overall configuration of the crane 1 will be briefly described. The crane 1 includes a carrier 2 serving as a main body portion (vehicle body) of a vehicle having a traveling function, a swivel base 3 attached to an upper part of the carrier 2 so as to be horizontally turnable, and a cabin 4 provided on the swivel base 3. I have.

  A pair of left and right outriggers 5 and 5 (only one is shown) are provided on the front side and the rear side of the carrier 2, respectively. A bracket 6 is fixed on the upper side of the swivel base 3. A boom 7 is attached to the bracket 6.

  The base end of the boom 7 is attached to the bracket 6 via a support shaft 8 and can be raised and lowered around the support shaft 8. A hoisting cylinder 9 is interposed between the bracket 6 and the boom 7. The boom 7 is raised and lowered when the hoisting cylinder 9 expands and contracts.

  The boom 7 has a proximal boom 7a, an intermediate boom 7b, and a distal boom 7c. The boom 7 is nested in the proximal boom 7a in this order from the outside to the inside. Each boom 7a-7c is connected inside by an expansion / contraction cylinder (not shown), and expands and contracts when each expansion / contraction cylinder expands and contracts.

  A sheave (not shown) is provided at the distal end portion 7d of the distal end boom 7c. A wire rope W (hereinafter referred to as a wire W) extending from a winch (not shown) provided on the bracket 6 is hung on the sheave. A hook block 10 is suspended from the wire W, and a hook 11 is attached to the lower side of the hook block 10. A suspended load (not shown) is hung on the hook 11 by a wire rope (not shown).

  An operation panel (not shown) is provided in the cabin 4. This operation panel includes an operation lever (not shown). The operation lever is used by the operator to perform operations such as turning, raising and lowering, extending and retracting the boom 7, extending and retracting each outrigger 5, and starting and stopping the engine.

  FIG. 2 is a block diagram showing the configuration of the work confirmation device 21 of the present invention used in the crane 1. When the crane 1 moves the suspended load to a position where it is desired to move, the operator confirms whether or not the suspended load can be moved to that position.

  This work confirmation device 21 is mainly configured by a calculation means 22 that performs various calculation processes. This calculating means 22 is provided, for example, in the cabin 4 (see FIG. 1).

  On the input side of the calculation means 22, a suspended load monitoring camera 23, a tilt sensor 24, a pan sensor 25, a boom posture detection means (cylinder pressure sensor 26, boom length sensor 27, undulation angle sensor 28, turning angle sensor 29, strain sensor 30). ), An outrigger extension sensor 31, a winch drum rotation sensor 32, and a height input means 33 are connected. A monitor 34 is connected to the output side of the computing means 22.

  In this work confirmation device 21, the image processing means and the height calculation means of the present invention are constituted by a calculation means 22. The work area line creation means of the present invention comprises a calculation means 22 and sensors 26 to 28 and 31. The wire feed length detection means of the present invention includes a winch drum rotation sensor 32 and a calculation means 22.

  As shown in FIG. 1, the suspended load monitoring camera 23 is attached to the distal end portion 7d of the distal end boom 7c with the lens facing directly below. The suspended load monitoring camera 23 captures an image of a landscape (suspended load or the vicinity of the suspended load) when viewed downward from the tip of the boom 7 and acquires the captured image.

  The suspended load monitoring camera 23 is configured to be tiltable at an arbitrary angle with respect to the vertical axis in the tilt direction (vertical direction) and the pan direction (horizontal direction). The operation of tilting (tilting) the suspended load monitoring camera 23 is performed on an operation panel (not shown) in the cabin 4. In the following description, the suspended load monitoring camera 23 is simply referred to as a camera 23.

  As shown in FIG. 1, the tilt sensor 24 and the pan sensor 25 are attached to the upper surface of the suspended load monitoring camera 23. The tilt sensor 24 and the pan sensor 25 detect the tilt angle of the suspended load monitoring camera 23.

  The cylinder pressure sensor 26 is attached to the undulation cylinder 9 and detects the pressure of the undulation cylinder 9. The boom length sensor 27 is attached to the boom 7 and detects the length and extension amount of the boom 7. The undulation angle sensor 28 is attached to the boom 7 and detects the undulation angle of the boom 7. The turning angle sensor 29 is attached to the turntable 3 and detects the turning angle of the boom 7. The strain sensor 30 is attached to the hoisting cylinder 9 and detects a load moment amount applied to the boom 7.

  The outrigger extension sensor 31 is attached to each outrigger 5 and detects the extension amount of each outrigger 5. The winch drum rotation sensor 32 detects the number of revolutions of the winch drum constituting the winch and detects the feeding length of the wire W hung on the winch drum.

  The height input means 33 is used for the operator to designate an arbitrary height at which the work area line should be displayed, depending on the movement position of the hook 11 or the suspended load. Further, the height input means 33 may be one in which the operator inputs the height numerically. Examples of the height input means 33 include push button type switches, devices such as a mouse and a keyboard. In addition, the monitor 34 may be a touch panel monitor, and height input means may be set on the monitor.

  The monitor 34 is provided in the cabin 4 (see FIG. 1). The monitor 34 displays the captured image acquired by the camera 23 to the operator.

  Next, work area line display processing by the work confirmation device 21 will be described with reference to the flowchart of FIG.

(Step S1)
First, the camera 23 captures a landscape when the lower side is viewed from the tip of the boom 7 and acquires the captured image. This captured image is output to the computing means 22.

(Step S2)
The computing means 22 creates a display image for display to the operator from the captured image and displays it on the monitor 34. Further, the computing means 22 is a captured image with the turning center of the boom 7 as the origin based on the zoom magnification of the camera 23, the tilt angle of the camera 23 obtained from the tilt sensor 24 and the pan sensor 25, and the height position of the camera 23. The coordinate position of is calculated.

  Note that the height position of the camera 23 is calculated based on the length of the boom 7 obtained from the boom length sensor 27 and the undulation angle of the boom 7 obtained from the undulation angle sensor 28.

(Step S3)
The computing means 22 determines whether or not a suspended load is suspended from the boom 7. This determination is based on the amount of change in the pressure of the hoisting cylinder 9 obtained from the cylinder pressure sensor 26, the amount of change in the hoisting angle of the boom 7 obtained from the hoisting angle sensor 28, and the wire W obtained from the winch drum rotation sensor 32. This is performed based on the amount of hoisting.

(Step S4)
If it is determined that the suspended load is not suspended from the boom 7 (NO in step S3), the calculation means 22 calculates the height of the predetermined position of the hook 11 currently located. Examples of the predetermined position include the lowermost portion of the hook 11 or the sheave center of the hook block 10. The height of the predetermined position of the hook 11 is calculated based on the coordinate position of the captured image with the pivot center of the boom 7 as the origin.

(Step S5)
When it is determined that the suspended load is suspended from the boom 7 (the determination result in step S3 is YES), the calculating means 22 calculates the height of the predetermined position of the currently loaded suspended load. Examples of the predetermined position include the bottom surface of a suspended load. Note that the height of the predetermined position of the suspended load is calculated based on the coordinate position of the captured image with the turning center of the boom 7 as the origin.

(Step S6)
Subsequently, the calculation means 22 determines whether or not the height is designated from the height input means 33 by the operator. As an input method of the height, there is a method in which the operator inputs the height numerically. This method may be used when the height of the three-dimensional object is known in advance, but the height designated by the operator in the present embodiment assumes the height of the three-dimensional object whose height is not known. Therefore, when the hook 11 is moved to a three-dimensional object (for example, the roof of a building), the operator designates the height at which the work area line should be displayed by operating the height input means 33. Thereby, even if it is a solid thing whose height is not known, the height can be specified.

(Step S7)
If it is determined that the height is not specified (the determination result in step S6 is NO), the calculation unit 22 creates a work area line related to the maximum suspension load performance of the crane 1. The work area line created here is a work area line based on the height of the predetermined position of the hook 11 or the suspended load calculated in step S4 or step S5 and a work area based on the ground S (see FIG. 1). Is a line.

(Step S8)
If the calculation means 22 determines that the height is specified (the determination result in step S6 is YES), the calculation means 22 calculates the specified height (the height of the roof of the building), and the suspended load of the crane 1 is calculated. Create work area lines related to maximum suspension load performance. The work area lines created here are a work area line based on the designated height and a work area line based on the ground S.

  Here, the work area line will be described. The work area line is an area line indicating a range in which the suspended load is movable, and is created based on the overhang amount of the outrigger 5, the actual load of the suspended load, and the rated total load table stored in advance in the calculation means 22. . In addition, when the entire range within which the suspended load can be displayed on the monitor 34 can be moved (when the work area line having the maximum movable radius is located outside the display screen of the monitor), the work area line is displayed on the monitor display screen. Is not displayed, so that the work area line is displayed by reducing the value of the load factor described above (the load factor that is the ratio of the load due to the current suspended load to the load due to the maximum suspended load that can be lifted). To do.

  The actual load of the suspended load is the pressure of the hoisting cylinder 9 of the boom 7 obtained from the cylinder pressure sensor 26, the length of the boom 7 obtained from the boom length sensor 27, and the hoisting angle of the boom 7 obtained from the hoisting angle sensor 28. Calculated based on

  Although the rated total load table is well known, it is not shown, but the maximum load based on the overhang amount of the outrigger 5, the length of the boom 7, and the maximum working radius centered on the turning center of the boom 7 is shown.

  The calculating means 22 calculates the maximum working radius corresponding to the overhang amount of the outrigger 5 and the actual load of the suspended load from the rated total load table, and creates an arc with this maximum working radius. This arc is the work area line.

(Step S9)
Next, the computing means 22 displays the work area line created in Step S7 or Step S8 on the monitor 34.

  First, the case where the work area line created in step S8 is displayed on the monitor 34 will be described. The computing means 22 creates a display image D1 in which work area lines A1 and B1 are superimposed on the captured image C as shown in FIG. To display. The work area line A1 is a work area line with the ground S as a reference. The work area line B1 is a work area line based on a designated height (the height of the roof Ka of the building K).

  That is, the work area line B1 is displayed with reference to an arbitrary height designated by the operator. Therefore, even if the roof Ka of the building K is reflected on the monitor 34, the work area line is not displayed as being shifted as in the prior art, and the operator can accurately check the suspended position of the suspended load. Therefore, the work confirmation device 21 of the present embodiment can perform the moving work of the suspended load more safely. In addition, the work confirmation device 21 is effective when carrying the work of repeatedly carrying the luggage placed on the ground S to the roof Ka of the building K.

  Moreover, in the work confirmation device 21 of the present embodiment, the work area line B1 is displayed at the position designated by the operator (for example, the roof Ka of the building K), so that the usability can be improved.

  In the work confirmation device 21 of the present embodiment, both work area lines A1 and B1 are set to different line types. Specifically, the display colors of both work area lines A1 and B1 are changed. As a result, the operator can easily discriminate both the work area lines A1 and B1, so that the suspended load stop position can be confirmed more accurately. Therefore, the work confirmation device 21 of the present embodiment can perform the work of moving the suspended load more safely.

  Next, the case where the work area line created in step S7 is displayed on the monitor 34 will be described. The calculation means 22 creates a display image D2 in which the work area lines A2 and B2 are superimposed on the captured image C as shown in FIG. To display. The work area line A2 is a work area line based on the ground S. The work area line B2 is a work area line based on the height of a predetermined position of the hook 11. The work area line based on the height of the predetermined position of the suspended load is also displayed in the same manner as the work area line B2 based on the height of the hook 11 at the predetermined position.

  As described above, in the work confirmation device 21 according to the present embodiment, when the height is not designated, the work area line B2 is created based on the height of the hook 11 currently located or the predetermined position of the suspended load. And superimposed on the captured image C (see also FIG. 6). In FIG. 6, Sa is a plane indicating the height of the hook 11. In such a case, the position of the work area line changes according to the change in the posture of the boom 7 or the change in the feeding length of the wire W. In this way, even if a three-dimensional object is displayed on the monitor 34, the work area line is displayed on the basis of the height of the hook 11 or the suspended load. Therefore, the operator relates the stop position of the suspended load to the height of the three-dimensional object. Thus, the suspended load can be moved more safely. Note that both the work area lines A2 and B2 are set to different line types as in the case of step S8 (see FIG. 4), so that they can be easily discriminated.

  Further, in the work confirmation device 21 according to the present embodiment, when calculating a specified height (hereinafter described as the height of the rooftop Ka), the operator holds the hook 11 or the suspended load as described below. The calculation means 22 calculates the height of the hook 11 or the suspended load while being positioned on the rooftop Ka, and creates the work area line B1 based on this height. For this reason, it is possible to create the work area line by simply calculating the height as compared with the case of calculating the height of the hook 11 or the suspended load using a stereo camera or a laser. Therefore, the work confirmation device 21 of the present embodiment can reduce the cost.

  Furthermore, when calculating the height of the roof Ka using the hook 11 or the suspended load, the winch drum rotation sensor 32 and the boom posture detection means are used as described below. Therefore, the height can be calculated more simply. Therefore, the work confirmation device 21 of the present embodiment can further reduce the cost.

A method of calculating the height Hb of the rooftop Ka using the hook 11 or the suspended load will be described with reference to FIG. As the calculation method, there are the following three methods. Each method will be described.
(A) Method of calculating by setting the standard of the feeding length to the initial setting of the winch drum rotation speed (B) Method of calculating by setting the standard of the feeding length to the ground S (C) Standard of the feeding length How to set and calculate the boom tip sheave

(A) Method of calculating by setting initial value of winch drum rotation speed as reference of feed length (1) Initial setting Wire feed start state in which wire W is hung on winch drum at initial setting such as crane assembly Thus, the calculating means 22 stores the feeding length as zero (the winch drum rotation speed is zero) in the calculating means 22.

(2) Calculation of Lift L of Hook 11 Next, the operator operates the boom 7 and the winch to wind up the hook 11 to the roof Ka as indicated by a two-dot chain line. The calculation means 22 calculates the feeding length from the winch drum based on the rotation speed obtained from the winch drum rotation sensor 32 at this time. Subsequently, the calculating means 22 subtracts the length from the winch drum to the center of the sheave calculated by the boom posture detecting means from the feed length, so that the lifting height L of the hook 11 when the hook 11 is positioned on the roof Ka. Is calculated. At the same time, the height of the tip of the boom 7 is calculated from the posture of the boom 7, and the height L of the roof Ka is calculated by reducing the lift L. The operator operates the height input means 33 when the hook 11 is positioned on the rooftop Ka, and stores the height Hb of the rooftop Ka in the computing means 22.

(B) Method of calculating by setting ground length S to ground S (1) Initial setting The operator unwinds wire W and lowers hook 11 to ground S as shown by the solid line. Is stored in the computing means 22 as zero (the number of rotations of the winch drum is zero) by the setting switch or the like connected to.

(2) Calculation of Lift L of Hook 11 Next, the operator operates the boom 7 and winds the wire W to raise the hook 11 to the roof Ka of the building K as indicated by a two-dot chain line. The computing means 22 calculates the feed length from the ground S based on the number of revolutions obtained from the winch drum rotation sensor 32 at this time, and calculates the lift L of the hook 11 from this feed length. Further, the operator operates the height input means 33 when the hook 11 is raised to the roof Ka, and stores the height for drawing the work area line in the calculation means 22.

(3) Calculation of the change amount ΔH of the tip position of the boom 7 The calculation means 22 is based on the detection values obtained from the boom posture detection means and the boom 7 when the hook 11 is positioned on the ground S and the roof Ka respectively. The height of the tip is calculated, and the change amount ΔH is calculated.

(4) The calculation unit 22 for calculating the height Hb of the rooftop Ka calculates the amount of change in the height of the hook 11 (lift HL) stored by the height input unit 33, and the boom 7 is calculated from the amount of change. The height Hb of the rooftop Ka is calculated by subtracting the amount of change ΔH of the tip position. The calculation formula for the height Hb of the rooftop Ka is as follows.
Hb = H−L−ΔH
(H: Lift when the hook 11 is located on the ground S L: Lift when the hook 11 is located on the rooftop Ka ΔH: Change amount of the tip position of the boom 7)

  As described above, after the operator places the hook 11 on the ground surface S, the height Hb of the roof Ka can be obtained by moving the hook 11 to the roof Ka.

(C) Method of setting boom length sheave as reference of boom tip sheave (1) Initial setting The operator raises the hook 11 to the boom tip sheave, and in this state, the feed length is set by a setting switch or the like connected to the computing means 22. It is stored in the calculation means 22 as zero (winch drum rotation speed zero).

(2) Calculation of Lift L of Hook 11 Next, the operator draws the wire W and lowers the hook 11 to the roof Ka of the building K as indicated by a two-dot chain line. The computing means 22 calculates the feed length from the sheave based on the rotation speed obtained from the winch drum rotation sensor 32 at this time, and calculates the lift L of the hook 11 from this feed length. Further, when the operator lowers the hook 11 to the roof Ka, the operator operates the height input means 33 and stores the lift L in the calculation means 22.

  Similarly to the above, the amount of change in the tip position of the boom 7 is calculated to calculate the height Hb of the rooftop Ka.

(Second Embodiment)
FIG. 8 is a diagram illustrating display contents of the work area lines A3 and B3 by the work confirmation apparatus 121 according to the second embodiment of this invention. As shown in FIG. 2, the configuration of the work confirmation device 121 according to the present embodiment is the same as the configuration of the work confirmation device 21 according to the first embodiment.

  The flow of the work area line display processing by the work confirmation device 121 of the present embodiment is the same as the flow of the work area line display processing of the work confirmation device 21 of the first embodiment (see FIG. 3). ). In the present embodiment, the same parts as those in the first embodiment are denoted by the same reference numerals, and different parts will be mainly described.

  In step S9 of FIG. 3, the calculation means 122 of the work confirmation device 121 creates a display image D3 in which the work area lines A3 and B3 are superimposed on the captured image C as shown in FIG.

  The work area line A3 is a work area line based on the ground S. The work area line B3 is a work area line based on the designated height (the height of the rooftop Ka). That is, the work area line B3 is displayed with reference to an arbitrary height designated by the operator, as in the first embodiment.

  In particular, in the work confirmation apparatus 121 according to the present embodiment, when the operator designates the roof Ka of the building K, the calculation means 122 performs the image recognition based on the feature of the pixel at the coordinate position of the captured image C in step S9. Or the operator designates the contour (range) of the roof Ka on the image, and the work area line B3 is superimposed on the range. Further, the work area line A3 is superimposed on a range other than the rooftop Ka. For this reason, even if a plurality of buildings are displayed on the monitor 34, it is possible to easily determine which building the work area line B3 is based on. Further, by specifying the range of the roof Ka, the work area line B3 is displayed in association with the height of the roof Ka, so that the height of the roof Ka can be recognized. Therefore, the work confirmation device 121 according to the present embodiment can perform the moving work of the suspended load more safely.

(Third embodiment)
FIG. 9 is a diagram illustrating display contents of the work area line B4 by the work confirmation apparatus 221 according to the third embodiment of this invention. As shown in FIG. 2, the configuration of the work confirmation device 221 according to the present embodiment is the same as the configuration of the work confirmation device 21 according to the first embodiment and the work confirmation device 121 according to the second embodiment.

  The flow of the work area line display processing by the work confirmation device 221 of the present embodiment is the same as the flow of the work area line display processing by the work confirmation devices 21 and 121 of the above two embodiments ( (See FIG. 3). In the present embodiment, the same parts as those in the first embodiment and the second embodiment are denoted by the same reference numerals, and different parts are mainly described.

  In step S9 of FIG. 3, the calculation means 222 of the work confirmation device 221 creates a display image D4 in which the work area line B4 is superimposed on the captured image C as shown in FIG. This work area line B4 is a work area line based on the designated height (the height of the rooftop Ka). That is, the work area line B4 is displayed on the basis of an arbitrary height designated by the operator as in the above two embodiments.

  Furthermore, in the work confirmation device 221 of the present embodiment, when the operator designates the roof Ka of the building K, the calculation means 222 attaches a mark B5 to the roof Ka as shown in FIG. 9 in step S9 of FIG. Thus, the work area line B4 is superimposed on the captured image C so as to pass through the mark B5. Therefore, even if a plurality of buildings are displayed on the monitor 34, it is possible to easily determine which building the work area line B4 is based on. Further, the work area line B4 is displayed in association with the height of the roof Ka by using the mark B5, whereby the height of the roof Ka can be recognized. Therefore, the work confirmation device 221 according to the present embodiment can perform the moving work of the suspended load more safely.

  As mentioned above, although embodiment which concerns on this invention was illustrated, these embodiment does not limit the content of this invention. Various modifications can be made without departing from the scope of the claims of the present invention.

  In the embodiment, the height input means 33 is used for the operator to specify the height. However, without using the height input means 33, the wire 11 is fed or wound up so that the hook 11 is grounded S or When it is located on the roof Ka of the building K, the lifting means H and L of the hook 11 may be calculated by the calculation means 22 and automatically stored.

  Further, in the embodiment, as a method of associating the information regarding the designated arbitrary height with the work area line based on the arbitrary height, as shown in FIG. 8, the work area line B3 is included in the range of the rooftop Ka. Or the mark B5 on the rooftop Ka as shown in FIG. 9, but when the operator designates an arbitrary height, the height is displayed numerically on the monitor 34. May be.

  When displaying the work area line based on the ground S and the work area line based on an arbitrary height such as the height of the roof Ka of the building K or the height of the hook, both work areas are displayed. The line may be switched and displayed. Examples of the switching method include a method in which the operator manually switches, a method in which the calculation means 22 automatically switches according to the ratio of the images (ground S, roof K of the building K) displayed on the monitor 34, and the like.

  Further, in the embodiment, the description has been given using the example in which the hanging load monitoring camera is provided at the tip of the telescopic boom, but the present invention is applicable to any of them as long as the monitoring camera is provided in the boom or jib. it can. That is, the present invention can be applied to the boom and jib regardless of the presence or absence of the telescopic function.

DESCRIPTION OF SYMBOLS 1 Crane 2 Carrier 7 Boom 21 Operation | work confirmation apparatus 22 Calculation means 23 Hanging load monitoring camera 24 Tilt sensor 25 Pan sensor 26 Cylinder pressure sensor 27 Boom length sensor 28 Untilt angle sensor 29 Turning angle sensor 30 Strain sensor 31 Outrigger extension sensor 32 Winch drum Rotation sensor 33 Height input means 34 Monitor 121 Work confirmation device 122 Calculation means 221 Work confirmation device 222 Calculation means A1 Work area line based on the ground A2 Work area line based on the ground A3 Work area line based on the ground B1 Work area line based on specified height B2 Work area line based on hook height B3 Work area line based on specified height B4 Work area line based on specified height Line B5 Mark C Captured image D1 Display image D2 Display image D3 display image D4 display image H Lift when hook is positioned on the ground ΔH Boom tip position change K Building (three-dimensional object)
Ka Rooftop L Lift when hook is located on the roof S Ground W Wire rope (rope)

Claims (6)

It is a work confirmation device used when moving a suspended load suspended from a tip of a boom that is provided on a crane's vehicle body in a horizontally swingable and undulating manner and is extendable and retractable via a hook and a rope,
A camera that images the lower side from the boom tip and acquires the captured image;
Image processing means for creating a display image for display to an operator from the captured image;
A monitor for displaying the display image to the operator;
A work area line creating means for creating a work area line related to the maximum suspension load performance of the suspended load of the crane;
A height input means for specifying an arbitrary height by the operator;
The work area line creation means creates the work area line based on the arbitrary height when the arbitrary height is designated by the height input means,
The said image processing means produces the thing which superimposed the said work area line produced on the said arbitrary height as a reference | standard as said display image on the said captured image. In the work confirmation device according to claim 1,
A height calculating means for calculating the height of the hook or the suspended load when the height of the hook or the suspended load is designated as the arbitrary height by the height input means;
The work area line creating means creates the work area line on the basis of the height of the hook or the suspended load calculated by the height calculating means. In the work confirmation device according to claim 2,
Rope feed length detection means for detecting the rope feed length; and boom posture detection means for detecting the boom posture;
The height calculation means is configured to determine the height of the hook or the suspended load based on the rope feeding length detected by the rope feeding length detection means and the boom posture detected by the boom posture detection means. An operation confirmation device characterized by calculating In the work confirmation device according to any one of claims 1 to 3,
The image processing means creates the display image by associating information on the arbitrary height designated by the height input means with the work area line based on the arbitrary height. Work confirmation device. In the work confirmation device according to any one of claims 1 to 4,
When the work area line creation means creates the work area line based on the ground in addition to the work area line based on the arbitrary height specified by the height input means, The work area line is set to a different line type, and the image processing unit creates the display image by superimposing the both work area lines on the captured image. In the work confirmation device according to any one of claims 1 to 4,
In the case where the work area line creating means creates the work area line based on the ground in addition to the work area line based on the arbitrary height designated by the height input means, An image processing means creates the display image by switching both work area lines.