JP2018076131A - Image display device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an image display device which can intuitively grasp the mode of the tilting operation on an operation lever.SOLUTION: An image display device 10 comprises a display 21 which displays the images including a hook 13 suspended from a boom 8 by wire cables 11, an operation acquisition unit 22 which acquires the information on the tilting operation performed on an operation lever 14, and a display generation unit 23 which generates a display symbol 30. The display symbol 30 has an operation symbol 31 representing the direction in which the tilting operation has been performed as well as representing the magnitude of the tilting operation in length and a dead zone frame 32 representing the dead zone in equal scale to the operation symbol 31. The display generation unit 23 finds the predicted movement trajectory of the hook 13 by the tilting operation and the length of the operation symbol 31. The display 21 displays the operation symbol 31 along the predicted movement trajectory extending from a reference point 34 as well as displaying the dead zon frame 32 with the reference point 34 to be the movement reference of the hook 13 as the center.SELECTED DRAWING: Figure 4

Description

  The present disclosure relates to an image display device.

  In a work vehicle equipped with a boom or jib (hereinafter referred to as a boom or the like), the boom or the like is swung and expanded / contracted by controlling the drive device according to the tilting operation of tilting the operation lever, and is suspended from the boom or the like by a wire rope. One that moves the hook is known.

  In such a work vehicle, when the tilt amount of the operation lever is increased, the control amount of the drive device is increased and the movement speed of the hook is increased so that the control amount of the drive device is changed according to the tilt amount, There are things that improve the usability and operability of the hook. In this work vehicle, there is a so-called dead zone in which the hook does not move even if the operating lever is tilted. Therefore, when the tilting amount of the operating lever is increased, the hook suddenly starts to move when it exceeds a certain size, and the hook is hung there. There is a risk of causing a swing in the suspended load.

  For this reason, in the work vehicle, a graph of control characteristics indicating the relationship between the tilt amount of the operation lever and the control amount of the drive device is displayed on the display unit, and a symbol indicating the current tilt amount of the operation lever is displayed on the graph. It is considered that an image display device is used (see, for example, Patent Document 1). This conventional image display device can grasp the dead zone and the amount of tilting to the current operation lever from the control characteristic graph displayed on the display unit, so that the hook or the suspended load can be removed without causing a shake. Makes the tilting operation easy to move.

Japanese Patent Laid-Open No. 2003-300693

  However, since the conventional image display device described above only displays a symbol indicating the current tilt amount of the operation lever on the graph of the control characteristics, it is not possible to intuitively grasp the tilt operation mode.

  The present disclosure has been made in view of the above circumstances, and an object of the present disclosure is to provide an image display apparatus that can intuitively grasp the manner of the tilting operation to the operation lever.

  An image display device according to an embodiment of the present disclosure includes a display unit that displays an image including a hook that is captured by a camera provided on a boom of a work vehicle and is suspended from the boom by a wire rope, and an operation lever that moves the hook. An operation acquisition unit for acquiring information on the tilting operation performed, and a sign generation unit for generating a sign indicating the mode of the tilting operation performed on the operation lever on the display unit based on the information on the tilting operation. The sign symbol indicates a magnitude of the tilting operation in length and an operation symbol indicating a direction in which the tilting operation is performed, and a dead band of a predetermined distance from a non-operating state of the operating lever. A dead zone frame having a scale equal to the operation symbol, and the sign generation unit predicts movement of the hook by the tilt operation based on a tilt direction in the tilt operation information. In addition to obtaining a trace, the length of the operation symbol is obtained based on the tilt amount in the tilt operation information, and the display unit displays the dead band frame centering on a reference point serving as a reference for movement of the hook. In addition, the operation symbol is displayed along the predicted movement trajectory extending from the reference point.

  According to the image display device of the present disclosure, it is possible to intuitively grasp the aspect of the tilting operation to the operation lever.

It is explanatory drawing which shows typically the mode of the crane operation | work which suspends a suspended load using the crane vehicle as an example of the working vehicle using the image display apparatus as an example. It is explanatory drawing which shows typically an example of the operation lever provided in the cabin. It is a block diagram which shows the structure of an image display apparatus. It is explanatory drawing which shows a mode that a hook moves by tilting operation performed by seeing the image displayed on the display panel of the display part of an image display apparatus. It is explanatory drawing which shows a mode that the sign symbol was displayed on the display panel. It is explanatory drawing similar to FIG. 4 which shows the marking symbol at the time of adjusting an operation lever in order to move a hook to a target position. FIG. 5 is an explanatory view similar to FIG. 4 showing a sign symbol when the operation lever is largely inclined to move the hook to the target position. It is explanatory drawing similar to FIG. 4 which shows the marking symbol at the time of starting to move a hook to a target position. It is explanatory drawing similar to FIG. 4 which shows the marking symbol at the time of moving a hook to a target position. It is explanatory drawing similar to FIG. 4 which shows the marking symbol at the time of moving a hook to a target position. FIG. 5 is an explanatory view similar to FIG. 4 showing a sign symbol when the hook is moved to the target position and the operation lever is brought into a non-operation state. It is explanatory drawing which shows the reference point of another example.

  Hereinafter, an example in which the image display device 20 as an example according to the present disclosure is used in a crane vehicle 1 as an example will be described with reference to the drawings. In FIGS. 4 to 11, the suspended load 12 hung on the hook 13 is omitted in order to avoid complication of the drawings. In FIG. 5, for the purpose of explaining the relationship between the operation symbol 31 and the dead band 32, the operation symbol 31 and the predicted trajectory symbol 33 indicating two modes are displayed at the same time. Only one of them according to is displayed.

  An image display device 20 of Example 1 according to an embodiment of the image display device according to the present disclosure will be described with reference to FIGS. 1 to 10. As shown in FIG. 1, the image display device 20 according to the first embodiment is used in a crane vehicle 1 as an example of a work vehicle. The crane vehicle 1 includes a traveling body (carrier) 2 and a swivel base 3. The traveling body 2 is a main body portion (vehicle body) of a vehicle having a traveling function, and includes a plurality of wheels and a drive source that drives the wheels and the swivel base 3. The traveling body 2 is provided with a pair of left and right outriggers 4 (only the left side of the traveling body 2 is shown in FIG. 1) on the front side and the rear side. Each outrigger 4 can be extended and retracted to the left and right, and can be properly extended and contacted to the ground G to stably support the traveling body 2 during work using the boom 8 (crane work) described later.

  The swivel base 3 is provided on the upper part of the traveling body 2 so as to be able to turn horizontally, and has a cabin 5 and a boom support 6 that can turn together. The cabin 5 is provided with an operation unit 7 for an operator (operator) to perform various operations. The various operations include, for example, traveling of the traveling body 2, turning of the swivel base 3, raising and lowering of the boom 8, which will be described later, hoisting and lowering of a winch provided on the boom support 6, and extension of each outrigger 4. And storage, engine start and stop, etc.

  The boom support 6 is a place to which the boom 8 is attached, and the base end portion of the boom 8 is attached via a boom root fulcrum pin, and the boom 8 can be raised and lowered around the boom root fulcrum pin. In the boom support 6, a hoisting cylinder is provided between the boom support 8 and the boom 8 is raised and lowered by extending and retracting the hoisting cylinder. The boom 8 is configured by housing a plurality of boom portions in a nested manner from the outside to the inside, and expands and contracts as each telescopic cylinder expands and contracts. Although the boom 8 is a box-shaped structural jib, it may be a structural body serving as an arm with one end of the swivel base 3 as a fulcrum, and includes a lattice structural jib and an auxiliary jib for extending the boom.

  A wire rope 11 wound around a winch is wound around a sheave 9 provided at the tip of the boom 8. A hook 13 on which a suspended load 12 or the like is hung is suspended from the wire rope 11. The suspended load 12 ascends and descends with the hook 13 by the operation of winding or unwinding the wire rope 11 by the winch. In the first embodiment, the hook 13 has a plurality of winding numbers (double cords). The boom 8 is swung up and down appropriately while being used, and is swung while the boom portions are appropriately advanced and retracted, and the hook 13 is moved up and down appropriately to move the suspended load 12. Further, when the boom 8 is not in use, such as during travel, the hooks 13 are raised most and the boom portions are retracted most and stored.

  The boom 8 is expanded and contracted, raised and lowered, and the hook 13 is moved up and down according to the operation of the operation unit 7. The operation unit 7 outputs an operation signal corresponding to the input operation. The operation signal output from the operation unit 7 controls the operation of driving devices such as a hydraulic pump, a directional control valve, and a flow control valve. By these operations, the hydraulic motor for driving the swivel 3 and driving the winch, and the hydraulic cylinders such as the hoisting cylinder and the telescopic cylinder are operated, so that the boom 8 extends and retracts, and the hook 13 moves up and down. Is done. The operation unit 7 has an operation lever 14 shown in FIG.

  The operation lever 14 is a so-called control stick provided in the cabin 5 for moving the hook 13, and from an upright state as shown in FIG. 2 to all directions (all directions of 360 degrees in plan view). It is possible to defeat. The operating lever 14 is tilted in the direction in which it is desired to move, thereby determining the moving direction of the hook 13, and changing the moving speed of the hook 13 by changing the control amount of the drive device described above according to the magnitude of the tilt at that time. Let The operation signal So (see FIG. 3) indicating the tilt operation of the operation lever 14 includes information indicating the tilt direction that is the tilted direction and information indicating the tilt amount that is the tilted amount (angle). For this reason, the operation lever 14 can move the hook 13 by performing a tilting operation of appropriately tilting in the direction to be moved.

  Here, the machine including the crane vehicle 1 has a so-called dead zone in which the hook 13 does not actually move even when an operation is input to the operation lever 14 (operation unit 7). The dead band mainly occurs in a range where the tilting operation to the operation lever 14 is small, and the size changes according to the load on the boom 8. Then, the hook 13 actually starts moving by a tilting operation with a size exceeding the dead band.

  At the tip of the boom 8, a camera 15 for photographing a lower subject including the hook 13 is provided. In the first embodiment, the camera 15 is provided at a position shifted from the vertical line of the hook 13 as an example, and an area indicated by a broken line in FIG. An image display device 20 is provided to assist the tilting operation to the operation lever 14 for moving the hook 13.

  As shown in FIG. 3, the image display device 20 includes a display unit 21, an operation acquisition unit 22, and a sign generation unit 23. The display unit 21 displays an image including the hook 13 photographed by the camera 15 and includes a display control unit 24 and a display panel 25. The display control unit 24 processes the content to be displayed based on the input information, and causes the display panel 25 to display an image corresponding to the processed content. The display panel 25 displays an image under the control of the display control unit 24. The display control unit 24 receives an image P (information thereof) taken by the camera 15 and a sign symbol 30 (information thereof) generated later by the sign generation unit 23. As shown in FIG. 4, the image P is obtained by projecting the image 13 </ b> P of the hook 13 and the image 11 </ b> P of the wire rope 11 on the image GP of the ground G. In this image P, since the camera 15 is shifted from the vertical line of the hook 13, the image 11P of the wire rope 11 is displayed obliquely extending from the outside of the display panel 25, and the image 13P of the hook 13 is displayed. The image 11P is displayed tilted at the lower end.

  The operation acquisition unit 22 acquires the operation signal So output by the tilt operation performed on the operation lever 14, that is, information indicating the tilt direction and information indicating the tilt amount in the tilt operation. The operation acquisition unit 22 outputs the acquired tilt direction and tilt amount information to the sign generation unit 23.

  The sign generation unit 23 generates a sign symbol 30 indicating the manner of tilting operation input to the operation lever 14, and outputs the generated sign symbol 30 (information thereof) to the display control unit 24. The sign generation unit 23 receives the boom state signal Ss from the boom information sensor 16 in order to generate the sign symbol 30. The boom information sensor 16 detects the state of the boom 8 and outputs a boom state signal Ss indicating information on the state of the boom 8. The state of the boom 8 indicated by the boom state signal Ss includes the length of the boom 8, the undulation angle, the turning direction, and the load applied to the boom 8 via the hook 13. The sign generation unit 23 acquires information related to the state of the boom 8 when the boom state signal Ss is input.

  As shown in FIG. 5, the sign symbol 30 includes an operation symbol 31, a dead band frame 32, and a predicted trajectory symbol 33. The operation symbol 31 indicates the tilt direction and the tilt amount in the tilt operation to the operation lever 14, and has a rod shape extending in the tilt direction with a length corresponding to the tilt amount that is the size of the tilt operation. As an arrow. The dead band frame 32 indicates a dead band. In the first embodiment, the dead band is a circular broken line that surrounds the outer edge of the circular band. The predicted trajectory symbol 33 indicates a predicted travel trajectory that is a trajectory predicted to move the hook 13 by the tilting operation, and is a broken line in the first embodiment. The operation symbol 31, the dead band frame 32, and the predicted trajectory symbol 33 are displayed on the display panel 25 with the reference point 34 as a reference.

  The sign generation unit 23 calculates the reference point 34 based on the acquired state (information thereof) of the boom 8. The reference point 34 is a position where the hanging direction of the hook 13 displayed on the display panel 25 and a horizontal plane at a predetermined height intersect, that is, the hook 13 (the suspended load 12 hung there) moves by moving up and down. The position to obtain. In the first embodiment, the reference point 34 is a position where a vertical line passing through the center of the sheave 9 provided at the tip of the boom 8 and the ground intersect (see FIG. 1). The sign generation unit 23 calculates a reference point 34 based on the position (information) of the sheave 9 with respect to the boom 8 that is already known and the acquired state (information) of the boom 8.

  The sign generation unit 23 obtains the length of the operation symbol 31 from the acquired information on the tilt amount, and obtains the dead band frame 32 based on the obtained state (information) of the boom 8. Here, the dead band indicates a region in which the hook 13 does not move even when the operation lever 14 is tilted. Therefore, the dead band is a predetermined ratio with respect to the maximum tilt amount of the operation lever 14, and the dead band frame 32 has the same scale as the tilt amount. Let's represent. Here, the scales of the operation symbol 31 and the dead band frame 32 are those in which the operation symbol 31 falls within the display range of the display panel 25 when the amount of tilt is maximized, and the maximum scale is the upper limit. The operation symbol 31 in the dead band displayed between the reference point 34 and the dead band frame 32 can be discriminated, and the minimum scale is set as the lower limit.

  The sign generation unit 23 calculates a predicted movement trajectory of the hook 13 by the tilting operation based on the tilting direction and the tilting amount and the state of the boom 8 (information thereof). At this time, the sign generation unit 23 can obtain the predicted movement trajectory regardless of the inside or outside of the dead band by assuming that there is no load on the boom 8. Since this predicted movement trajectory is a combination of linear movement due to expansion and contraction and undulation of the boom 8 and arc movement due to turning of the boom 8, for example, from the reference point 34 to the target point T as shown in FIG. When the hook 13 is moved, it is curved as indicated by an arrow A1.

  As shown in FIG. 5, the sign generation unit 23 generates an operation symbol 31 as an arrow extending with a length obtained along the predicted movement trajectory while using the reference point 34 as a start point. In addition, the sign generation unit 23 generates the predicted trajectory symbol 33 as a broken line extending from the tip of the operation symbol 31 in the predicted movement trajectory to the end of the display range on the display panel 25. The end of the display range may be the end of the image P photographed by the camera 15 or the end of the range where the image can be displayed on the display panel 25. Since the predicted trajectory symbol 33 extends along the predicted movement trajectory together with the operation symbol 31, the display is different from the operation symbol 31, and in the first embodiment, the predicted trajectory symbol 33 is a broken line with respect to the operation symbol 31 indicated by the solid line.

  The sign generation unit 23 includes an operation symbol 31 extending from the reference point 34 along the predicted movement trajectory, a predicted trajectory symbol 33 extending from the tip, a dead band 32 indicating a predetermined region centered on the reference point 34, The sign symbol 30 is generated by superimposing. In addition, the sign generation unit 23 can detect only the dead band frame 32 indicating a predetermined area centered on the reference point 34 when the operation lever 14 is not operated in any tilting state (initial position). A sign symbol 30 is generated. The sign generation unit 23 outputs the generated sign symbol 30 (information thereof) to the display control unit 24.

  The display control unit 24 superimposes the input sign symbol 30 on the image P photographed by the camera 15 and displays it on the display panel 25. As a result, the operation symbol 31 and the dead band frame 32 based on the reference point 34 are predicted on the display panel 25 on the image GP of the ground G on which the image 13P of the hook 13 and the image 11P of the wire rope 11 are projected. A marking symbol 30 having a trajectory symbol 33 is displayed. This marking symbol 30 indicates an operation symbol 31, a dead band frame 32, and a predicted trajectory symbol 33 corresponding to tilting operations from the reference point 34 in all directions (all directions of 360 degrees in plan view). In addition, the marking symbol 30 is not operated when the operation symbol 31 is in the dead band frame 32 as shown to extend to the left side in FIG. 5, and the operation symbol as shown to extend to the right side in FIG. It indicates that the hook 13 starts to move when 31 exceeds the dead band 32. Further, the sign symbol 30 indicates that the hook 13 is connected to the operation symbol 31 and beyond the tilting operation to the operation lever 14 at that time regardless of whether the operation symbol 31 is inside or outside the dead band frame 32. The movement on the predicted trajectory symbol 33 is shown.

  For this reason, the marking symbol 30 can recognize the tilt amount of the operation lever 14 from the length of the operation symbol 31, and the tilt direction of the operation lever 14 from the direction in which the operation symbol 31 extends is regarded as the actual movement direction of the hook 13. Can be recognized. Further, the sign symbol 30 indicates from the length of the operation symbol 31 with respect to the dead band frame 32 whether or not the tilting operation to the operation lever 14 is a dead band, that is, whether or not the hook 13 starts to move by the tilting operation. Can be recognized. Further, the marking symbol 30 can recognize the trajectory that the hook 13 moves by the tilting operation to the operation lever 14 from the operation symbol 31 and the predicted trajectory symbol 33. The sign symbol 30 is such that the predicted trajectory symbol 33 extends to the end of the display range. Therefore, by adjusting the tilt direction regardless of the location in the image P projected on the display panel 25 as the target position. The operation symbol 31 or the predicted trajectory symbol 33 can be superimposed on the target position.

  Next, the operation of the image display device 20 when the hook 13 is moved to an arbitrary position will be described with reference to FIGS. 6 to 11 show a scene in which the hook 13 (suspended load 12) is moved onto the target position Pg on the ground G (its image GP). The target position Pg is an image showing a rectangular frame drawn on the ground G.

  First, as shown in FIG. 6, the operation lever 14 is tilted toward the target position Pg so that the operation symbol 31 stays within the dead band frame 32. Then, the dead band frame 32, the operation symbol 31 extending inward thereof, and the predicted trajectory symbol 33 extending beyond the dead band frame 32 are displayed on the display panel 25. In this state, the tilt direction of the operation lever 14 can be adjusted so that the predicted trajectory symbol 33 passes over the target position Pg without moving the hook 13 (see the operation symbol 31 and the predicted trajectory symbol 33 indicated by a thin line and the arrow A2). ).

  When the adjustment of the tilt direction is completed, the operation lever 14 is tilted so that the operation symbol 31 reaches the outside of the dead band frame 32 while maintaining the tilt direction. Then, on the display panel 25, as shown in FIG. 7, the operation symbol 31 extends beyond the dead band frame 32 in a state where the predicted trajectory symbol 33 passes over the target position Pg. Accordingly, the boom 8 is appropriately rotated while being appropriately extended or raised, and the hook 13 starts to move toward the actual target position projected as the target position Pg.

  Then, as shown in the order from FIG. 7 to FIG. 9, the display panel 25 shows a state in which the target position Pg moves so as to approach the reference point 34 while passing on the predicted trajectory symbol 33. At this time, as the boom 8 turns, the angular relationship with respect to the actual target position of the camera 15 provided at the tip of the boom 8 changes, so that the target position Pg projected on the display panel 25 approaches the reference point 34 while rotating.

  As shown in FIG. 10, the display panel 25 shows a state in which the target position Pg has moved onto the reference point 34. At this time, since it is necessary to move the hook 13 just before the target position Pg reaches the reference point 34, the operation symbol 31 extends beyond the target position Pg. Then, when the target position Pg reaches the reference point 34, the tilting operation to the operation lever 14 is stopped and no operation is performed. Then, on the display panel 25, as shown in FIG. 11, the operation symbol 31 and the predicted trajectory symbol 33 are not displayed, and only the dead band frame 32 centered on the reference point 34 is displayed.

  Thus, since the image display device 20 displays the operation symbol 31 and the dead band frame 32 on the display panel 25, the image display device 20 can intuitively grasp the tilt direction and the tilt amount of the operation lever 14. Whether or not the tilting operation is within the dead band can be intuitively grasped. Further, the image display device 20 can facilitate the tilting operation to the operation lever 14 for moving the hook 13 (the suspended load 12 hung thereon) to the target position. This is due to the following.

  As shown in FIG. 4, it is assumed that the hook 13 is moved from the reference point 34 to the target point T by looking at the image P projected on the display panel 25. In this case, intuitively, the operation lever 14 is tilted in the direction of a straight line connecting the reference point 34 and the target point T as indicated by an arrow A3. However, as described above, when the boom 8 turns, the locus of the hook 13 is curved (see arrow A1). Therefore, when the operation lever 14 is tilted in the direction of the arrow A3, the hook 13 is different from the target point T. Move to position. For this reason, when the image P is simply projected on the display panel 25, the tilting direction of the operation lever 14 is corrected while observing the manner of movement of the hook 13 (the image 13P). On the other hand, since the image display device 20 extends the operation symbol 31 along the predicted movement trajectory, the image display device 20 is curved even when the operation lever 14 is tilted in the direction of the arrow A3 and the tip deviates from the direction of the arrow A3. It shows that the hook 13 (suspended load 12) moves to a position different from the target point T. For this reason, the image display device 20 can also grasp the direction in which the hook 13 (suspended load 12) moves, and therefore, the tilting operation to the operation lever 14 can be facilitated. In particular, the image display device 20 according to the first embodiment extends the predicted trajectory symbol 33 from the tip of the operation symbol 31 and displays the predicted trajectory symbol 33 on the display panel 25, so that the predicted trajectory symbol 33 is retained in the dead band frame 32. Since the tilt direction can be adjusted so as to pass over the target point T, the tilt operation to the operation lever 14 can be made easier.

  The image display device 20 according to the first embodiment can obtain the following functions and effects.

  Since the image display device 20 causes the operation symbol 31 and the dead zone 32 to be displayed on the display panel 25, the image display device 20 can grasp the tilt direction and the tilt amount of the tilt operation performed on the operation lever 14, and the tilt operation. It is possible to grasp whether or not is in the dead band. Further, since the operation symbol 31 extends along the predicted movement trajectory, the direction in which the hook 13 (suspended load 12) moves can also be grasped. Since the operation symbol 31 and the dead band frame 32 are represented by the same scale with the reference point 34 as a reference, for example, the dead band (dead band frame 32) is not circular but has different sizes depending on directions, or the boom 8 Even when the size of the dead band (dead band frame 32) changes according to the load on the head, it is possible to easily and reliably grasp whether the tilting operation is within the dead band. In addition, the image display device 20 is tilted so as to move the hook 13 to an arbitrary position without moving the hook 13 by tilting the operation lever 14 so as to keep the operation symbol 31 in the dead band frame 32. Can be adjusted in the direction.

  Further, the image display device 20 displays the predicted trajectory symbol 33 on the display panel 25 in addition to the operation symbol 31 and the dead band frame 32, and thus the operation for moving the hook 13 (suspended load 12) to the target position. The tilting operation to the lever 14 can be made easier and more reliable.

  Furthermore, the image display device 20 sets the reference point 34 serving as a reference for displaying the operation symbol 31 and the dead band frame 32 as a position where the hanging direction of the hook 13 and the ground intersect. Therefore, by moving the target position on the reference point 34 on the display panel 25, the hook 13 (suspended load 12) can be moved on the vertical line of the target position on the actual ground. In particular, the image display device 20 according to the first embodiment uses the position where the vertical line passing through the center of the sheave 9 provided at the tip of the boom 8 and the ground as the reference point 34, that is, the direction in which the hook 13 is suspended. Since the vertical line passing through the center of the sheave 9 is used, the hook 13 (suspended load 12) can be reliably moved onto the target position. This is because when the reference point 34 is set based on the actual hanging direction of the hook 13, the reference point 34 also moves due to the movement of the hook 13 (suspended load 12) due to movement or wind. This is because the swing motion of 34 can be prevented.

  When the operation lever 14 is in the non-operation state, the image display device 20 displays only the dead band frame 32 centered on the reference point 34 as the sign symbol 30, so that the operation is performed when the tilt operation of the operation lever 14 is started. The amount of tilt for retaining the symbol 31 within the dead band 32 can be sensed.

  Therefore, in the image display device 20 as an embodiment of the image display device according to the present disclosure, it is possible to intuitively grasp the aspect of the tilting operation to the operation lever 14.

  As described above, the image display device according to the present disclosure has been described based on the first embodiment, but the specific configuration is not limited to the first embodiment, and departs from the gist of the invention according to each claim of the claims. Unless otherwise, design changes and additions are permitted.

  For example, in the first embodiment, the position where the hanging direction of the hook 13 and the ground displayed on the display panel 25 intersect is set as the reference point 34. However, the hanging direction of the hook 13 and the horizontal plane at a predetermined height position It is good also as a position where. Such a reference point 34 is provided with an operation unit for setting a predetermined height position, the predetermined height position set by the operation unit, the state of the boom 8, the state of the crane vehicle 1, Can be set based on. When the reference point 34 is set in this way, even if the target position is a predetermined height position, the target position is moved onto the reference point 34 on the display panel 25, so that the hook is placed on the actual target position. 13 (suspended load 12) can be moved. When the reference point 34 is set in this way, the vertical line passing through the center of the sheave 9 may be used as the hanging direction of the hook 13 as in the first embodiment, and the horizontal direction of the sheave 9 as described later may be used. A vertical line passing through the tip may be used.

  In the first embodiment, the reference point 34 is a position where a vertical line passing through the center of the sheave 9 provided at the tip of the boom 8 and the ground intersect. This is because the hook 13 has a plurality of winding numbers (double rope). For this reason, as shown in FIG. 12, when the hook 13 has a single winding number (single rope), it passes through the tip of the sheave 9 provided at the tip of the boom 8 in the horizontal direction. A position where the vertical line intersects the ground is defined as a reference point 34. Thereby, the position where the hanging direction of the hook 13 and the ground intersect can be set as the reference point 34 as in the first embodiment, and the same effect as in the first embodiment can be obtained.

  Further, in the first embodiment, the dead zone (dead zone frame 32) is circular. However, it is different depending on the mode of the crane vehicle 1, and may be an ellipse, other regular shapes or irregular shapes. However, the present invention is not limited to the first embodiment.

  In the first embodiment, only the dead band 32 centered on the reference point 34 is displayed as the indication symbol 30 when the operation lever 14 is in the non-operation state. However, the indication symbol when the operation lever 14 is in the non-operation state. 30 may not be displayed, and is not limited to the above-described first embodiment.

  In the first embodiment, the crane vehicle 1 is shown as a work vehicle using the image display device 20, but a work vehicle having another configuration may be used as long as the work vehicle has a hook suspended from a boom. It is not limited to Example 1.

DESCRIPTION OF SYMBOLS 1 Crane vehicle (as an example of a working vehicle) 8 Boom 9 Sheave 11 Wire rope 13 Hook 14 Operation lever 15 Camera 20 Image display apparatus 21 Display part 22 Operation acquisition part 23 Marking generation part 30 Marking sign 31 Operation sign 32 Dead zone frame 33 Predicted trajectory symbol 34 Reference point

Claims (6)

A display unit for displaying an image including a hook photographed by a camera provided on a boom of a work vehicle and suspended from the boom by a wire rope;
An operation acquisition unit for acquiring information of a tilting operation performed by the operation lever that moves the hook;
A sign generation unit for generating a sign symbol indicating the aspect of the tilt operation performed on the operation lever on the display unit based on the information of the tilt operation,
The marking symbol indicates the size of the tilting operation in length and an operation symbol indicating the direction in which the tilting operation is performed, and a dead band of a predetermined distance from the non-operating state of the operating lever as the operation symbol. A dead band with equal scales,
The sign generation unit obtains the predicted movement trajectory of the hook by the tilt operation based on the tilt direction in the tilt operation information, and obtains the length of the operation symbol based on the tilt amount in the tilt operation information. ,
The display unit displays the dead band frame centering on a reference point serving as a reference for movement of the hook, and displays the operation symbol along the predicted movement trajectory extending from the reference point. Image display device. The sign symbol has a predicted trajectory symbol indicating the predicted movement trajectory,
The image display apparatus according to claim 1, wherein the display unit displays the predicted trajectory symbol extending from a tip of the operation symbol to an end of a display range in a mode different from the operation symbol.   The image display according to claim 1, wherein the reference point is a position where a hanging direction of the hook displayed on the display unit and a horizontal plane at a predetermined height intersect. apparatus.   The image display device according to claim 3, wherein the reference point is a position where a hanging direction of the hook intersects with the ground.   The image display device according to claim 4, wherein the reference point is a position where a vertical line passing through a center of a sheave provided at a tip of the boom intersects the ground.   The image display device according to claim 4, wherein the reference point is a position where a vertical line passing through a tip portion in a horizontal direction of a sheave provided at a tip of the boom intersects the ground.