JP2022133929A - Installation position display system and work vehicle - Google Patents

Abstract

To provide an installation position display system capable of displaying a range where a work vehicle can move and work on a construction site, and the work vehicle.SOLUTION: An installation position display system 1 comprises: a photographing device 2; a photographing position detection device 3 that detects a photographing position and a photographing direction D; an information acquisition device 4 that acquires work vehicle information IV, work information IW, and foundation information IG; an image processing device 6 that detects an image part of a ground surface GS included in a reality image RI, calculates at least one of a workable range WA of the work vehicle and a movable range MA of the work vehicle from the work vehicle information IV, the work information IW, and the foundation information IG, and generates a synthetic image CI in which a virtual image VI indicating the movable range MA and the workable range WA is superposed on the image part of the ground surface GS; and a display device 5.SELECTED DRAWING: Figure 5

Description

The present invention relates to an installation position display system and a work vehicle. More specifically, the present invention relates to an installation position display system for a work vehicle in which a boom that can be raised and lowered via a swivel base is provided on a traveling body, and a work vehicle equipped with the installation position display system.

2. Description of the Related Art Conventionally, construction sites such as civil engineering works and building works are leveled by land reclamation work such as excavation and reclamation according to the state of natural topography. At a construction site where the ground has been leveled, the ground is excavated and the excavated portion is backfilled in order to construct structures above and below the ground. In addition, at construction sites, ground improvement work and the like are carried out according to the condition of the ground and the use of the plot. However, at the construction site, it is difficult to ascertain the location of underground structures and the extent of construction such as reclamation, backfilling, and ground improvement work performed on the ground after each work is completed. Therefore, there is known a technique for visually ascertaining the state of underground structures and ground at a construction site using augmented reality technology. For example, it is like patent document 1.

The display control device described in Patent Document 1 is based on imaging data of a construction site captured by a camera, information regarding the position and posture of a user holding the camera, and information regarding a virtual model of the construction site. , computes a state virtual model representing the state of the construction site viewed from the imaging direction of the camera; The display device synthesizes and displays the imaging data and the calculated state virtual model. The user can confirm the position of the underground structure at the construction site, the range of backfilling, and the range of ground improvement work with a virtual model superimposed on the imaging data of the construction site.

In addition, at the construction site, various work vehicles such as mobile cranes and backhoes move within the construction site and perform various operations at their destinations. For example, the mobile crane carries a weight, which is a heavy object, and moves it to a predetermined position in a construction site, or transports the heavy object to an arbitrary position while being supported by outriggers. When the mobile crane moves within a construction site, it cannot move unless it is on the ground having a bearing force capable of supporting the weight of the vehicle. In addition, when transporting a heavy object, the mobile crane can only be installed on the ground having a supporting force capable of supporting the moment generated during transportation and the weight of the vehicle. Therefore, it is necessary for mobile cranes to know whether the ground on the path of movement or the installation position has sufficient bearing capacity.

On the other hand, at the construction site, the bearing capacity of the ground varies depending on the contents and conditions of the construction work of the natural topography, the backfilling accompanying the construction work, and the soil improvement work. The display control device of Patent Document 1 can confirm the position of the underground structure at the construction site, the range of backfilling, and the range of ground improvement work using VR technology. However, the display control device cannot determine whether the ground has a bearing capacity on which the mobile crane can be moved or installed.

Japanese Unexamined Patent Application Publication No. 2015-11368

SUMMARY OF THE INVENTION It is an object of the present invention to provide an installation position display system and a work system capable of providing information for determining the movement route or installation position of a work vehicle based on a work vehicle, the details of work performed by the work vehicle, and the bearing capacity of the ground. For the purpose of providing vehicles.

The present inventors have developed an installation position display system and an installation position display system capable of providing information for determining the movement route or installation position of a work vehicle based on the work vehicle, the work content of the work vehicle, and the bearing capacity of the ground. Considered the vehicle. As a result of intensive studies, the present inventors came up with the following configuration.

An installation position display system according to an embodiment of the present invention is an installation position display system that displays a ground surface on which a work vehicle having a boom that can be raised and lowered via a swivel base is provided on a traveling object.

The installation position display system includes a photographing device that photographs a real image, a photographing position detection device that detects a photographing position and a photographing direction of the photographing device, work vehicle information regarding the work vehicle, work information regarding the work of the work vehicle, and It comprises an information acquisition device for acquiring ground information relating to ground conditions, a display device, and an image processing device. The image processing device detects an image portion of the ground surface included in the real image. Further, the image processing device determines a movable range, which is a range in which the work vehicle can move on the ground surface, and a workable range of the work vehicle, based on the work vehicle information, the work information, and the ground information. Calculate at least one range with the workable range. Further, the image processing device generates a virtual image showing at least one of the movable range and the workable range according to the shape of the image portion of the ground surface. Further, the image processing device generates a composite image in which the virtual image is superimposed on the image portion of the ground surface in the real image.

As described above, the image processing device generates a virtual image showing the movable range or the workable range of the work vehicle according to the shape of the image portion of the ground surface. Further, the image processing device generates a composite image in which the virtual image is superimposed on the image portion of the ground surface in the real image. That is, the installation position display system calculates the range of ground that can support the work vehicle that is moving or that is working based on the type of the work vehicle and the content of the work. Accordingly, the installation position display system can provide information for determining the movement route or installation position of the work vehicle based on the work vehicle, the work content of the work vehicle, and the bearing capacity of the ground.

According to another aspect, the image processing device in the installation position display system of the present invention further superimposes the value of the allowable bearing capacity of the ground on the image portion of the ground surface in the real image from the acquired ground information. generating the composite image.

As mentioned above, the image processing device further displays the value of the ground bearing capacity. Therefore, the operator can select a more optimal movement route and installation position based on the allowable bearing capacity of the ground. Accordingly, the installation position display system can provide information for determining the movement route or installation position of the work vehicle based on the work vehicle, the work content of the work vehicle, and the bearing capacity of the ground.

According to another aspect, the information acquisition device in the installation position display system of the present invention acquires the current position of the work vehicle included in the work vehicle information, and the image processing device acquires the current position of the work vehicle while the work vehicle is moving and When the work vehicle is not positioned within the calculated movable range, or when the work vehicle is working and is not positioned within the workable range, a warning display is displayed on the display device.

As described above, the image processing device notifies the operator that the supporting force of the ground is insufficient for the type of work vehicle and the content of the work. Accordingly, the installation position display system can provide information for determining the movement route or installation position of the work vehicle based on the work vehicle, the work content of the work vehicle, and the bearing capacity of the ground.

According to another aspect, the image processing device in the installation position display system of the present invention calculates the load of the work vehicle during travel based on the work vehicle attitude information acquired from the work vehicle and the weight of the load being conveyed. Calculate the movement support force that is the support force of the ground necessary for supporting or the work support force that is the support force of the ground necessary to support the load of the work vehicle during work, and calculate the movement support force Alternatively, when the work bearing capacity exceeds a reference value based on the allowable bearing capacity of the ground, a warning is displayed on the display device.

As described above, the image processing device monitors the work load that occurs while the work vehicle is traveling or working. For example, the image processing apparatus performs work in a state different from the work based on the acquired work information, and the work support force, which is the support force required by the ground to support the work load generated, is the work support force of the ground. When the reference value based on the allowable bearing capacity is exceeded, a warning is sent to the display device to the effect that the bearing capacity of the ground is insufficient for the work vehicle performing the work. Accordingly, the installation position display system can provide information for determining the movement route or installation position of the work vehicle based on the work vehicle, the work content of the work vehicle, and the bearing capacity of the ground.

According to another aspect, the installation position display system of the present invention includes the photographing device, the photographing position detection device, the information acquisition device, the image processing device, and the display device. It's a mobile device.

As described above, since the installation position display system includes each device in the mobile terminal, the positional relationship between the position of the work vehicle and the movable range or the workable range can be displayed from a place other than the operator's seat of the work vehicle. can be visually recognized. Accordingly, the installation position display system can provide information for determining the movement route or installation position of the work vehicle based on the work vehicle, the work content of the work vehicle, and the bearing capacity of the ground.

A work vehicle according to an embodiment of the present invention is provided with a boom that can be raised and lowered via a swivel base on a traveling body, and is provided with the installation position display system described above.

As described above, in the work vehicle equipped with the installation position display system, the virtual image showing the workable range of the work vehicle is generated by the installation position display system according to the shape of the image portion of the ground surface. be. Further, in the work vehicle, the image processing device generates a composite image in which the virtual image is superimposed on the image portion of the ground surface in the real image. In other words, the work vehicle calculates the range of ground that can support the work load, which is the reaction force during movement or work, based on the content of the work. As a result, the work vehicle equipped with the installation position display system provides information for determining the moving route or installation position of the work vehicle based on the work vehicle, the content of the work performed by the work vehicle, and the bearing capacity of the ground. can do.

According to one embodiment of the present invention, the installation position display system and the work vehicle equipped with the installation position display system determine the moving route or installation position of the work vehicle based on the work vehicle and the details of the work performed by the work vehicle. can provide information to

FIG. 1 is a block diagram showing the overall configuration of the installation position display system according to the first embodiment of the present invention. FIG. 2 is a process diagram showing a synthetic image generation process of the installation position display system according to the first embodiment of the present invention. FIG. 3 is a diagram showing a state in which the ground surface is detected from a real image by the installation position display system according to the first embodiment of the present invention. FIG. 4 shows the generated virtual image. (A) is a diagram showing a plane image of a generated virtual image. (B) is a diagram showing a virtual image that can be superimposed on a real image. FIG. 5 is a diagram showing a synthesized image generated by the installation position display system according to the first embodiment of the invention. FIG. 6 is a diagram showing a usage state of a mobile terminal including the installation position display system according to the first embodiment of the present invention; FIG. 7 is a diagram showing display of allowable bearing force values in the installation position display system according to the first embodiment of the present invention; 8 is a diagram showing a display regarding an alarm by the installation position display system according to the first embodiment of the present invention; FIG. FIG. 9 is a side view showing the overall configuration of a mobile crane according to a second embodiment of the present invention; FIG. 10 is a block diagram showing the control configuration of the mobile crane according to the second embodiment of the present invention;

Each embodiment will be described below with reference to the drawings. In each figure, the same parts are denoted by the same reference numerals, and the description of the same parts will not be repeated. Note that the dimensions of the constituent members in each drawing do not faithfully represent the actual dimensions of the constituent members, the dimensional ratios of the respective constituent members, and the like.

[Embodiment 1]
<Overall composition>
An installation position display system 1 according to a first embodiment of the present invention will be described below with reference to FIG. FIG. 1 is a block diagram showing the overall configuration of an installation position display system 1 according to the first embodiment of the invention.

As shown in FIG. 1, the installation position display system 1 is a system that displays a position where a mobile crane MC, which is a work vehicle provided with a boom that can swing and raise and lower, can move or can be installed. The installation position display system 1 includes a photographing device 2 , a photographing position detection device 3 , an information acquisition device 4 , a display device 5 and an image processing device 6 .

The photographing device 2 is a device for photographing a construction site where the mobile crane MC moves or works. The photographing device 2 can photograph a predetermined range in order to photograph the surroundings of the mobile crane MC. The imaging device 2 can acquire control signals from the image processing device 6 . Further, the photographing device 2 can transmit a real image RI, which is a photographed image, to the image processing device 6 .

The photographing device 2 is composed of, for example, a 360-degree camera having a viewing angle of 360 degrees. Note that the imaging device 2 may be a camera that has a rotation mechanism and is capable of scanning a range of 360 degrees. In addition, the photographing device 2 may be interlocked with the control device of the mobile crane MC in order to photograph the extension direction of the boom as viewed from the operator's seat of the mobile crane MC. Further, the photographing device 2 may be provided in a remote control terminal that remotely controls the mobile crane MC, or a wearable terminal worn by the operator.

The shooting position detection device 3 is a device that detects the absolute coordinates of the shooting device 2 . The photographing position detection device 3 is provided integrally with the photographing device 2 or in the vicinity of the photographing device 2 . The imaging position detection device 3 is composed of, for example, a plurality of GNSS receivers provided in the imaging device 2 . A GNSS receiver is a receiver that constitutes a global navigation satellite system. The GNSS receiver receives ranging radio waves from satellites and calculates the latitude, longitude and altitude of the global coordinate system. The shooting position detection device 3 can acquire a control signal from the image processing device 6 . The photographing position detection device 3 detects the latitude, longitude, and altitude in the global coordinate system of the plurality of GNSS receivers provided in the photographing device 2 as absolute coordinates of the photographing device 2 (hereinafter simply referred to as “position coordinates P”). It can be sent to the processing device 6 .

In this embodiment, the imaging position detection device 3 is composed of a plurality of GNSS receivers provided in the imaging device 2, but is not limited to this. The shooting position detection device 3 may be a combination of a GNSS receiver and a gyro sensor or an orientation sensor. Also, the shooting position detection device 3 may be a plurality of beacons. Note that the photographing position detection device 3 may calculate the position coordinates P and the orientation of the photographing device 2 by photographing a marker installed at a predetermined position whose absolute coordinates are known at the construction site.

The information acquisition device 4 is a device that acquires various types of information. The information acquisition device 4 has a wired or wireless communication device 4a and an input device 4b. That is, the information acquisition device 4 can acquire information from an external server S by connecting to an external network N, for example. Further, the information acquisition device 4 can be connected to the control device of the mobile crane MC and acquire information from the control device. Further, the information acquisition device 4 can acquire information input by the input device 4b. The information acquisition device 4 obtains work vehicle information IV including information such as the vehicle weight and attitude information of the mobile crane MC, and transport information such as the weight, shape, lifting position, and suspension position of the load W transported by the mobile crane MC. Ground including work information IW including information about work and the allowable bearing capacity B1, which is the external force that the ground in each state can support, the area that has been filled, the area that has been backfilled, the area of the underground structure, the area that has been improved, and the external force that the ground in each state can support. Information IG is obtained from an external server S or a control device of mobile crane MC. Further, the information acquisition device 4 acquires the work vehicle information IV, the work information IW and the ground information IG from the input device 4b by the operator's input.

The display device 5 is a device that displays a composite image CI of the real image RI and the virtual image VI. Further, the display device 5 has an operation tool 5 a for operating the photographing device 2 , the photographing position detection device 3 , the information acquisition device 4 and the image processing device 6 . The display device 5 is configured by, for example, a touch panel capable of inputting position information on the display screen by touching the display screen. The display device 5 uses a touch panel as an operation tool 5a, and can input operation signals of the photographing device 2 and the image processing device 6 by a touch operation on the screen. Note that the operation tool 5 a may be provided separately from the display device 5 . The display device 5 may be provided in a remote control terminal that remotely controls the mobile crane MC, or a wearable terminal worn by the operator.

The image processing device 6 is a device that generates a composite image CI by superimposing the real image RI and the virtual image VI. The image processing device 6 may have a configuration in which a CPU, a ROM, a RAM, an HDD, etc. are connected via a bus. Alternatively, the image processing device 6 may be configured by a one-chip LSI or the like. The image processing device 6 can control the photographing device 2 , the photographing position detection device 3 and the information acquisition device 4 based on operation signals from an operation tool 5 a provided on the display device 5 . The image processing device 6 stores various programs and data for controlling the imaging device 2 , the imaging position detection device 3 and the information acquisition device 4 . The image processing device 6 stores specification data such as the angle of view and focal length of the camera, which is the photographing device 2 .

The image processing device 6 is connected to the photographing device 2 by wire or wirelessly. The image processing device 6 can transmit control signals to the imaging device 2 . That is, the image processing device 6 can control the imaging device 2 . Also, the image processing device 6 can acquire the real image RI captured by the imaging device 2 .

The image processing device 6 is connected to the shooting position detection device 3 by wire or wirelessly. The image processing device 6 can transmit a control signal to the shooting position detection device 3 . That is, the image processing device 6 is configured to be able to control the shooting position detection device 3 . Further, the image processing device 6 can acquire position information detected by the shooting position detection device 3 . The image processing device 6 can calculate the position coordinates Pc, which are the coordinates of the photographing position of the photographing device 2, and the photographing direction D (see FIG. 2) from the plurality of position coordinates P acquired from the photographing position detection device 3. Note that the image processing device 6 may calculate the position coordinate Pc and the shooting direction D by shooting a marker installed at a predetermined position whose absolute coordinates are known at the construction site. The image processing device 6 calculates the position coordinates Pc and the photographing direction D of the photographing device 2 using the acquired marker image, an IMU (acceleration, angular velocity, geomagnetism, etc.) sensor, and image processing (SLAM: Simultaneous Localization and Mapping, etc.) technology. do.

The image processing device 6 is connected to the information acquisition device 4 by wire or wirelessly. The image processing device 6 can transmit control signals to the information acquisition device 4 . That is, the image processing device 6 can control the information acquisition device 4 . Further, the image processing device 6 can acquire the work vehicle information IV, the work information IW, and the ground information IG acquired by the information acquisition device 4 .

The image processing device 6 calculates the mobile crane MC based on the calculated position coordinate Pc, which is the photographing position of the photographing device 2, the photographing direction D (see FIG. 2), and the acquired work vehicle information IV, work information IW, and ground information IG. It is possible to generate a virtual image VI showing at least one of a movable range MA, which is the range of the movable ground surface GS, and a workable range WA, which is the range of the ground surface GS in which the mobile crane MC can work. can.

The image processing device 6 is connected to the display device 5 by wire or wirelessly. The image processing device 6 can transmit a control signal and a composite image CI of the real image RI acquired from the imaging device 2 and the generated virtual image VI to the display device 5 . . Further, the image processing device 6 can acquire an operation signal input from the operation tool 5 a of the display device 5 .

<Generation Process of Composite Image CI>
Next, the process of generating the composite image CI will be described with reference to FIGS. 1 to 5. FIG. FIG. 2 is a process diagram showing the process of generating the composite image CI of the installation position display system 1 according to the first embodiment of the present invention. FIG. 3 is a diagram showing a state in which the ground surface GS is detected from the real image RI by the installation position display system 1 according to the first embodiment of the present invention. FIG. 4A is a diagram showing a plane image of the virtual image VI generated by the installation position display system 1 according to the first embodiment of the invention. FIG. 4B is a diagram showing a virtual image VI that can be superimposed on the real image RI generated by the installation position display system 1 according to the first embodiment of the invention. FIG. 5 is a diagram showing a composite image CI generated by the installation position display system 1 according to the first embodiment of the invention.

As shown in FIG. 2, the installation position display system 1 can perform each step of an information acquisition step S1, a ground surface detection step S2, a virtual image generation step S3, and a composite image generation step S4 by interlocking each device. . By executing each process, the installation position display system 1 converts a virtual image VI showing at least one of the movable range MA and the workable range WA of the mobile crane MC into a real image of the construction site (see FIG. 1). It is possible to generate a composite image CI superimposed on the RI.

As shown in FIGS. 1 and 2, the information acquisition step S1 is a step of acquiring various types of information. In the information acquisition step S1, when the operation tool 5a of the display device 5 is operated, the installation position display system 1 captures a real image RI of the inside of the construction site with the imaging device 2. FIG. The installation position display system 1 uses the image processing device 6 to acquire the real image RI captured by the imaging device 2 . Also, the installation position display system 1 acquires a plurality of position coordinates P calculated by the shooting position detection device 3 using the image processing device 6 . The installation position display system 1 also acquires the work vehicle information IV, the work information IW and the ground information IG from the external server S or the control device of the mobile crane MC by the information acquisition device 4 .

As shown in FIGS. 2 and 3, the ground surface detection step S2 is a step of detecting the range of the ground surface GS in the real image RI. In the ground surface detection step S2, the installation position display system 1 uses the image processing device 6 to detect the range (shaded portion) of the ground surface GS, which is the image portion of the ground surface in the real image RI. In other words, the image processing device 6 determines that the real image RI is not covered with a feature C that is an obstacle to the mobile crane MC, such as a building, material, or vehicle, and is at a predetermined distance from the obstacle. Detect the extent of the ground surface GS that does not contain the extent. The image processing device 6 detects the range of the ground surface GS by, for example, unsupervised machine learning. The image processing device 6 calculates the feature amount of each portion in the real image RI. The image processing device 6 divides the calculated feature amounts into groups by a method such as clustering. Furthermore, the image processing device 6 detects groups of the ground surface GS based on the database learned by machine learning. In this manner, the installation position display system 1 uses the image processing device 6 to detect the ground surface GS on which the mobile crane MC can move without interfering with obstacles from the real image RI. The image processing device 6 may detect the ground surface GS by SLAM technology such as Lidar (Laser Imaging Detection and Ranging), ToF (Time-of-Flight) sensor, or the like.

As shown in FIGS. 2 and 4A, the virtual image generation step S3 is a step of generating at least one of the movable range MA and the workable range WA of the mobile crane MC, which is the virtual image VI. be. In the virtual image generation step S3, the installation position display system 1 uses the image processing device 6 to determine the supporting force of the ground necessary to support the mobile crane MC during movement based on the work vehicle information IV and the work information IW. At least one of a movement support force B2 and a work support force B3, which is the support force of the ground required to support the mobile crane MC during a predetermined work, is calculated. Next, the installation position display system 1 generates the ground information IG including the acquired allowable bearing capacity B1 of the ground, the ground surface GS detected from the real image RI by the image processing device 6, and the calculated movement support of the mobile crane MC. A movable range MA (hatched portion), which is the range of the ground surface GS having a movement bearing force B2 capable of supporting the mobile crane MC during movement based on a force B2 and a work bearing force B3, and movement during work At least one of the workable range WA (dark hatched portion), which is the range of the ground surface GS having the work bearing capacity B3 capable of supporting the crane MC, is calculated. Note that the movable range MA is included in the workable range WA.

Furthermore, as shown in FIGS. 2 and 4B, in the virtual image generation step S3, the installation position display system 1 uses the image processing device 6 to determine the position of the imaging device 2 from the position coordinates P of the plurality of GNSS receivers. A coordinate Pc and an imaging direction D are calculated. The installation position display system 1 displays at least one of the calculated movable range MA and workable range WA based on the specification data of the photographing device 2 and the calculated position coordinates Pc and photographing direction D of the photographing device 2. A virtual image VI is generated which is transformed into a shape that matches the shape of the ground surface GS seen in the photographing direction D from the photographing device 2 .

As shown in FIG. 5, the synthetic image generating step S4 is a step of synthesizing the real image RI and the virtual image VI (see FIG. 2). In the composite image generation step S4, the installation position display system 1 generates a composite image CI by superimposing the virtual image VI on the real image RI with the image processing device 6 using specific coordinates in the real image RI as a reference. The composite image CI is an image in which at least one of the movable range MA and the workable range WA on the real image RI is displayed in a distinguishable manner. The synthetic image CI includes a real image RI including a construction site feature C, a ground surface GS (shaded portion), etc., a movable range MA (hatched portion) and a workable range WA (dark hatched portion). are superimposed and displayed as a virtual image VI. The installation position display system 1 displays the composite image CI on the display device 5 (see FIG. 1).

The installation position display system 1 configured as described above includes work vehicle information IV such as the vehicle weight of the mobile crane MC and boom length, work information IW such as the weight of the load W to be transported and the transport position, and the supporting force of the ground. Based on the ground information IG, the movable range MA, which is a range of ground having a moving support force B2 capable of supporting the mobile crane MC in motion at the current construction site, and the mobile crane MC in motion can be supported. At least one of the workable range WA, which is the range of the ground having a sufficient work supporting force B3, is calculated. The operator of the mobile crane MC refers to the composite image CI to convert the virtual image VI including the movable range MA or workable range WA of the mobile crane MC into the real image according to the progress of the construction work at the construction site. Recognize on RI. Accordingly, the installation position display system 1 can provide information for determining the moving route or installation position of the mobile crane MC based on the work vehicle information IV, the work information IW, and the ground information IG.

The installation position display system 1 includes a portable terminal 7 in which a photographing device 2, a photographing position detection device 3, an information acquisition device 4, a display device 5, and an image processing device 6 are integrated. may FIG. 6 is a diagram showing a usage state of the mobile terminal 7 including the installation position display system 1 according to the present invention.

As shown in FIG. 6, the installation position display system 1 includes, for example, a mobile terminal 7 having a touch panel. The mobile terminal 7 includes a camera as the photographing device 2, a GNSS receiver and a gyro sensor as the photographing position detection device 3, a communication device 4a such as a wireless LAN as the information acquisition device 4, and a touch panel as the display device 5. , an operation tool 5a, and a portable terminal 7 having an image processing device 6 (see FIG. 2). The installation position display system 1 generates a composite image CI based on a real image RI photographed from an arbitrary position desired by the operator.

In the installation position display system 1 configured in this way, since each device is included in the portable mobile terminal 7, the position and movement of the mobile crane MC can be displayed from any place other than the operator's seat of the mobile crane MC. The positional relationship with the possible range MA or workable range WA can be confirmed with the combined image CI. Thus, the installation position display system 1 can display the range in which the mobile crane MC can move and work on the construction site based on the image desired by the operator.

[Modification of First Embodiment]
Next, a modification of the installation position display system 1 according to the first embodiment will be described with reference to FIGS. 7 and 8. FIG. FIG. 7 is a diagram showing display of the value of the allowable bearing force B1 in the installation position display system 1 according to the first embodiment of this embodiment. FIG. 8 is a diagram showing a display regarding an alarm by the installation position display system 1 according to the first embodiment of the present invention.

As shown in FIG. 7 , the installation position display system 1 may numerically display the allowable bearing force B1 of the specified location on the screen of the display device 5 . In the composite image generation step S4 (see FIG. 2), the installation position display system 1 generates a composite image CI by superimposing the virtual image VI on the real image RI with the image processing device 6 using specific coordinates on the real image RI as a reference. Generate. Furthermore, the installation position display system 1 displays the acquired allowable bearing capacity B1 of the ground superimposed on the composite image CI. That is, the installation position display system 1 superimposes the distribution map of the allowable bearing force B1 and the numerical value of the allowable bearing force B1 on the composite screen and displays them. The installation position display system 1 may also be configured to display the required movement support force B2 or work support force B3 together with the allowable support force B1.

In the construction site, the installation position display system 1 configured as described above has a movable range MA, which is a ground range having a movement bearing force B2 capable of supporting the mobile crane MC in motion, and a mobile crane in operation. At least one of the workable range WA, which is the range of the ground having the work bearing force B3 capable of supporting MC, can be displayed in more detail. As a result, the installation position display system 1 can provide the operator with information for selecting the optimum movement route and installation position based on the value of the allowable bearing force B1 of the ground.

As shown in FIG. 8, the installation position display system 1 may display information about an alarm when the mobile crane MC is not located within a suitable ground area for work. In the information acquisition step S1, the installation position display system 1 acquires the position coordinates Pm, which are the coordinates of the current position of the mobile crane MC, using the information acquisition device 4 . The installation position display system 1 superimposes the obtained position coordinates Pm of the mobile crane MC on the composite image CI and displays them. Furthermore, the installation position display system 1 acquires the state of the mobile crane MC from the control device of the mobile crane MC. The installation position display system 1 displays the position coordinates Pm of the mobile crane MC during movement when it is not included in the movable range MA, or when the position coordinates Pm of the mobile crane MC during operation is included in the workable range WA. If not, the operator is notified by a warning display Wd in the form of graphics, colors, characters, etc., which is a warning-related display on the composite image CI on the display device 5 (see FIG. 1).

In the installation position display system 1 configured in this manner, the allowable bearing force B1 of the ground is the movement bearing force B2 required to support the load generated when the mobile crane MC travels, or The operator is notified that the work supporting force B3 required to support the generated load is insufficient. As a result, the installation position display system 1 actively displays information for determining whether or not the movement route or installation position of the mobile crane MC is appropriate based on the work vehicle information IV, the work information IW, and the ground information IG. can provide.

[Second embodiment]
Next, a crane 11, which is a work vehicle (rough terrain crane) equipped with the installation position display system 1 according to the second embodiment of the present invention, will be described with reference to FIG. FIG. 9 is a side view showing the overall configuration of a crane 11 according to the second embodiment of the invention. FIG. 10 is a block diagram showing the control configuration of the crane 11 according to the second embodiment of the invention. In this embodiment, the crane 11 (rough terrain crane) will be described as a work vehicle, but an all-terrain crane, a truck crane, a loading truck crane, an aerial work vehicle, or the like may also be used. That is, it can be applied to a work vehicle provided with a boom that can be raised and lowered via a swivel base on a traveling body.

As shown in FIG. 9, the crane 11 is a mobile crane that can be moved to an unspecified location. The crane 11 has a vehicle 12 , a crane device 16 that is a working device, and an installation position display system 1 .

The vehicle 12 is a traveling body that transports the crane device 16 . A vehicle 12 has a plurality of wheels 13 and runs using an engine 14 as a power source. The vehicle 12 is provided with outriggers 15 . The outriggers 15 have overhang beams that can be hydraulically extended on both sides in the width direction of the vehicle 12 and hydraulic jack cylinders that can be extended in a direction perpendicular to the ground.

The crane device 16 is a working device that lifts the load W with a wire rope. The crane device 16 includes a swivel base 17, a boom 19, a jib 19a, a main hook block 20, a sub-hook block 21, a hoisting hydraulic cylinder 22, a main winch 23, a main wire rope 24, a sub-winch 25, a sub-wire rope 26 and a cabin. 27 and the like.

The swivel base 17 is a driving device that allows the crane device 16 to swivel. The swivel base 17 is provided on the frame of the vehicle 12 via an annular bearing. The swivel base 17 is rotatable around the center of an annular bearing. The revolving base 17 is provided with a hydraulic revolving hydraulic motor 18 as an actuator. The turning hydraulic motor 18 is an actuator that is rotated by a turning valve 31 (see FIG. 10), which is an electromagnetic proportional switching valve. The swivel base 17 is provided with a swivel sensor 36 (see FIG. 10) which is a swivel angle detector for detecting the swivel angle θz (see FIG. 10) of the swivel base 17 and the swivel speed. A GNSS receiver 28 is provided on the swivel base 17 .

A swivel base camera 17 b (see FIG. 10 ), which is the photographing device 2 , is provided in front of the swivel base 17 and behind the swivel base 17 . The swivel base camera 17b can photograph an arbitrary direction by means of a camera operating tool (not shown).

The boom 19 is a movable strut that supports the main wire rope 24 and the sub wire rope 26 so that the load W can be lifted. The boom 19 is composed of a plurality of boom members. The base end of the base boom member of the boom 19 is swingably provided substantially at the center of the swivel base 17 . The boom 19 is configured to be telescopic in the axial direction by moving each boom member with a telescopic hydraulic cylinder (not shown), which is an actuator. The telescopic hydraulic cylinder is telescopically operated by an telescopic valve 32 (see FIG. 10), which is an electromagnetic proportional switching valve.

The boom 19 is provided with a jib 19a and a boom camera 19b (see FIG. 10). The boom 19 is also provided with an extension/retraction sensor 37 for detecting the extension/retraction length lb of the boom 19 and a hoisting sensor 38 (see FIG. 10) for detecting the hoisting angle .theta.x (see FIG. 4).

The main hook block 20 and the sub hook block 21 are hangers for hanging the load W. The main hook block 20 is provided with a plurality of hook sheaves around which the main wire rope 24 is wound, and a main hook 20a for hanging the load W. The sub-hook block 21 is provided with a sub-hook 21a for hanging the load W.

The hoisting hydraulic cylinder 22 is an actuator that raises and lowers the boom 19 and holds the posture of the boom 19 . The hoisting hydraulic cylinder 22 has an end of the cylinder portion swingably connected to the swivel base 17 and an end of the rod portion swingably connected to the base boom member of the boom 19 . The hoisting hydraulic cylinder 22 is expanded and contracted by a hoisting valve 33 (see FIG. 10), which is an electromagnetic proportional switching valve.

The main winch 23 and the sub winch 25 are winding devices that carry in (wind up) and let out (lower) the main wire rope 24 and the sub wire rope 26 . The main winch 23 is rotated by a main hydraulic motor (not shown) whose actuator is a main drum around which the main wire rope 24 is wound. The sub winch 25 is rotated by a sub hydraulic motor (not shown) whose actuator is a sub drum around which the sub wire rope 26 is wound.

The main hydraulic motor is rotationally operated by a main valve 34 (see FIG. 10), which is an electromagnetic proportional switching valve. The sub hydraulic motor is rotationally operated by a sub valve 35 (see FIG. 10), which is an electromagnetic proportional switching valve. The main winch 23 and the sub winch 25 are provided with a winding sensor 39 (see FIG. 10) for detecting the let-out amount lf (see FIG. 10) of the main wire rope 24 and the sub wire rope 26, respectively.

The cabin 27 is a cockpit covered with a housing. The cabin 27 is mounted on the swivel base 17 . The cabin 27 is provided with a travel operating tool 29 for operating the vehicle 12 to travel, a crane device operating tool 30 for operating the crane device 16, a display device 5, and the like (see FIG. 10).

As shown in FIG. 10, the control device 40 controls the actuators of the crane device 16 via each operation valve. The control device 40 may have a configuration in which a CPU, a ROM, a RAM, an HDD, and the like are connected via a bus, or may have a configuration including a one-chip LSI or the like. The controller 40 stores various programs and data for controlling the operations of actuators, switching valves, sensors, and the like.

The control device 40 controls the crane device operating tools 30 including the swivel base camera 17b, the boom camera 19b, the traveling operating tool 29, the turning operating tool, the hoisting operating tool, the telescopic operating tool, the main drum operating tool, the sub-drum operating tool, and the like. It is connected. The control device 40 can acquire the image from the swivel base camera 17b, the image from the boom camera 19b, and the operation amounts of the traveling operating tool 29 and the crane device operating tool 30. FIG.

The control device 40 is connected to the swing valve 31 , the expansion/contraction valve 32 , the hoisting valve 33 , the main valve 34 and the sub valve 35 . The controller 40 can transmit an actuation signal to each valve to actuate each actuator to a target actuation amount.

The control device 40 is connected to the turning sensor 36 , extension/contraction sensor 37 , undulation sensor 38 and winding sensor 39 . The control device 40 acquires the swivel angle θz, the extension length Lb, the hoisting angle θx of the swivel base 17, and the feed amount lf of the main wire rope 24 or the sub wire rope 26 (hereinafter simply referred to as "wire rope"). be able to.

The controller 40 is connected to the GNSS receiver 28 of the swivel base 17 . The control device 40 can calculate the position coordinate P of the turning center of the turning base 17 from the signal of the GNSS receiver 28 of the turning base 17 .

The control device 40 generates a control signal based on the amount of operation of the travel operating tool 29 and the crane device operating tool 30 .

The crane 11 configured in this way can move the crane device 16 to an arbitrary position by running the vehicle 12 . In addition, the crane 11 can increase the lifting height and working radius of the crane device 16 by setting the boom 19 to an arbitrary hoisting angle θx and telescopic length Lb using each operation tool. Also, the crane 11 can convey the load W by operating the swivel base 17 and the boom 19 .

The installation position display system 1 includes a swivel base camera 17 b that is the photographing device 2 , a GNSS receiver 28 of the swivel base 17 that is the photographing position detection device 3 , an information acquisition device 4 , an image processing device 6 , and a display device 5 . consists of

The imaging position detection device 3 acquires the position coordinates P of the center of rotation of the swivel base 17 . The imaging position detection device 3 is the GNSS receiver 28 of the swivel base 17 . The imaging position detection device 3 can transmit the position coordinates P of the GNSS receiver 28 of the swivel base 17 to the image processing device 6 via the information acquisition device 4 .

The information acquisition device 4 is connected to the control device 40 of the crane 11 . The information acquisition device 4 can acquire the real image RI acquired by the swivel base camera 17 b and the work vehicle information IV via the control device 40 . Further, the information acquisition device 4 can acquire the work vehicle information IV, the work information IW, and the ground information IG from the control device 40 or an external server S. Further, the information acquisition device 4 can acquire the position coordinates P of the turning center of the swivel base 17 as the position coordinates Pm of the crane 11 from the control device 40 .

The display device 5 is composed of a touch panel. The display device 5 is provided inside the cabin 27 of the crane 11 . The display device 5 is arranged in a position and direction that can be visually recognized by the operator in the cockpit.

The image processing device 6 can acquire, via the information acquisition device 4, the real image RI captured by the swivel base camera 17b, the work vehicle information IV, the work information IW, and the ground information IG. Further, the image processing device 6 can acquire the position coordinates Pm of the crane 11, the turning angle θz of the turning base 17, and the turning radius from the turning center to the turning base camera 17b via the information acquisition device 4. The image processing device 6 can calculate the position coordinate Pc and the photographing direction D (see FIG. 2) of the swivel base camera 17b from the acquired position coordinates P of the swivel base 17, the swivel angle θz detected by the swivel sensor 36, and the swivel radius. is. Note that the image processing device 6 may be configured integrally with the control device 40 of the crane 11 .

The installation position display system 1 of the crane 11 interlocks the swivel base camera 17b, the GNSS receiver 28, the swivel sensor 36, the information acquisition device 4, the image processing device 6, and the display device 5 to perform the information acquisition step S1, Each step of the ground surface detection step S2, the virtual image generation step S3, and the synthetic image generation step S4 can be performed (see FIG. 2). By performing each process, the installation position display system 1 superimposes and displays a virtual image VI showing at least one of the movable range MA and the workable range WA of the crane 11 on the real image RI of the construction site. An image CI can be generated.

In the crane 11 configured as described above, the installation position display system 1 generates a virtual image VI showing the workable range WA of the crane 11 according to the shape of the ground surface GS of the real image RI. Further, in the crane 11, the image processing device 6 generates a composite image CI in which the virtual image VI is superimposed on the ground surface GS in the real image RI. That is, the crane 11 calculates the range of ground that can support the work load applied to the ground from the wheels or outriggers 15 during movement or work. As a result, the crane 11 can present the operator with a range in which the crane 11 can move and work at the construction site.

[Modification of Second Embodiment]
Moreover, the crane 11 may be configured to include the mobile terminal 7 including the installation position display system 1 described above. The mobile terminal 7 is connected to the control device 40 of the crane 11 when positioned inside the cabin 27 . The mobile terminal 7 acquires the real image RI captured by the swivel base camera 17 b as the imaging device 2 , and acquires the signal from the GNSS receiver 28 of the swivel base 17 as the shooting position detection device 3 . Further, when the mobile terminal 7 is located outside the cabin 27, the image capturing device 2 acquires the real image RI captured by the built-in camera, and the image capturing position detection device 3 acquires a signal from the GNSS receiver of the mobile terminal 7. do. The mobile terminal 7 can switch between the photographing device 2 and the photographing position detection device 3 to be used depending on the positional relationship with respect to the crane 11 . Moreover, the mobile terminal 7 may be capable of remotely controlling the crane 11 .

In addition, the crane 11 notifies the operator by the installation position display system 1 when the work bearing force B3 required to support the work load from the crane 11 transmitted to the ground during work exceeds the reference value based on the allowable bearing force B1. You can warn me. The installation position display system 1 acquires from the control device 40 of the crane 11 by the image processing device 6 the turning angle θz of the swivel base 17 of the crane 11, the telescopic length Lb and the hoisting angle θx of the boom 19, and the wire rope payout amount lf. and the weight of the load W being conveyed, the work supporting force B3 required by the ground to support the work load is calculated. For example, when a load W heavier than the weight of the load W included in the work information IW is conveyed, the installation position display system 1 displays the above-mentioned A warning is displayed on the display device 5 to the effect that the bearing capacity of the ground is insufficient. Thus, the installation position display system 1 of the crane 11 can indicate whether or not the crane 11 is within a workable range at the construction site based on the work load actually transmitted from the crane 11 to the ground.

The above-described embodiment merely shows typical forms, and various modifications can be made without departing from the gist of one embodiment. It goes without saying that it can be embodied in various forms, and the scope of the present invention is indicated by the description of the scope of the claims. Including changes.

1 Installation position display system 2 Imaging device 3 Imaging position detection device 4 Information acquisition device 5 Display device 6 Image processing device 7 Portable terminal IV Work vehicle information IW Work information IG Ground information RI Real image VI Virtual image CI Composite image GS Ground surface MA Movable range WA Workable range MC Mobile crane

Claims (6)

An installation position display system for displaying a ground surface on which a work vehicle can operate, wherein the traveling body is provided with a boom that can be raised and lowered via a swivel base,
a photographing device for photographing a real image;
a shooting position detection device that detects the shooting position and shooting direction of the shooting device;
an information acquisition device that acquires work vehicle information about the work vehicle, work information about the work of the work vehicle, and ground information about the condition of the ground;
An image portion of the ground surface included in the real image is detected, and based on the work vehicle information, the work information, and the ground information, a movable range, which is a range in which the work vehicle can move on the ground surface, and the work. calculating at least one of a workable range, which is a workable range of the vehicle, and matching a virtual image showing at least one of the movable range and the workable range to the shape of the image portion of the ground surface; an image processing device that generates a composite image in which the virtual image is superimposed on the image portion of the ground surface in the real image;
and a display device that displays the composite image. The image processing device is
2. The installation position display system according to claim 1, wherein from the obtained ground information, the synthetic image is generated by further superimposing the value of the allowable bearing capacity of the ground on the image portion of the ground surface in the real image. The information acquisition device is
acquiring the current position of the work vehicle included in the work vehicle information;
The image processing device is
When the work vehicle is moving and is not positioned within the calculated movable range, or when the work vehicle is working and is not positioned within the workable range, a warning display is displayed on the display device. The installation position display system according to claim 1 or 2. The image processing device is
Movement supporting force, which is the supporting force of the ground required to support the load when the working vehicle travels, or the working vehicle, based on the posture information of the working vehicle acquired from the working vehicle and the weight of the load being conveyed Calculate the work bearing capacity, which is the bearing capacity of the ground necessary to support the load during the work, and if the movement bearing capacity or the work bearing capacity exceeds the reference value based on the allowable bearing capacity of the ground, the 4. The installation position display system according to any one of claims 1 to 3, wherein a warning is displayed on the display device. 5. The portable terminal according to any one of claims 1 to 4, wherein the photographing device, the photographing position detection device, the information acquisition device, the image processing device, and the display device are integrally configured. The installation position indication system described in . A work vehicle having a boom that can be raised and lowered through a swivel base on a traveling body, the work vehicle comprising the installation position display system according to any one of claims 1 to 5.

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