JP6017691B2 - Information presenting apparatus, crane system and information presenting method - Google Patents

Information presenting apparatus, crane system and information presenting method Download PDF

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Publication number
JP6017691B2
JP6017691B2 JP2015526428A JP2015526428A JP6017691B2 JP 6017691 B2 JP6017691 B2 JP 6017691B2 JP 2015526428 A JP2015526428 A JP 2015526428A JP 2015526428 A JP2015526428 A JP 2015526428A JP 6017691 B2 JP6017691 B2 JP 6017691B2
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Prior art keywords
information
driver
image information
crane
support
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JPWO2015145725A1 (en
Inventor
豊原 尚
尚 豊原
伸郎 吉岡
伸郎 吉岡
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住友重機械搬送システム株式会社
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Priority to PCT/JP2014/059134 priority Critical patent/WO2015145725A1/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00Other constructional features or details
    • B66C13/18Control systems or devices
    • B66C13/46Position indicators for suspended loads or for crane elements

Description

  The present invention relates to an information presentation device, a crane system, and an information presentation method.
  A large container crane or the like has a high lift, and the pile shape of containers stacked on a container ship changes in a complicated manner, so that a high level of skill is required for the operation of the lifting work. For example, the operator of the container crane performs an operation of installing the suspended load at a predetermined position while visually checking the state of the container on the container ship below the driver's seat. At this time, in order to carry out the suspended load work efficiently, the ability to accurately grasp the positional relationship between the container and the suspended load is essential.
  There has been proposed a device that presents information to an operator of a device and assists a blind spot area that can be viewed through a rearview mirror or the like (for example, Patent Document 1).
Japanese Patent Laid-Open No. 11-119687
  As described above, in order to efficiently perform a work using a large heavy machine such as a container crane, a skilled operation skill based on accumulated experience is required. For example, the larger the crane, the greater the distance between the suspended load (container) and the driver, so the driver can move the distance between the suspended suspended load and the surrounding obstacles (such as other containers loaded on the container ship). It becomes difficult to grasp the feeling. In this case, an inexperienced driver raises the suspended load to an unnecessarily high height or slows the speed of transportation because the driver is not conscious of ensuring safety, and the efficiency of the suspended work is reduced as a whole. In recent years, with the increase in the size of container ships, the size of container cranes has also increased, and the skills required for safe operation of the cranes have further increased.
  In view of the above problems, the present invention provides an information presentation apparatus, a crane system, and an information presentation method capable of safely operating a crane even for an inexperienced driver.
According to the first aspect of the present invention, the information presenting apparatus is installed on the trolley, a boom that is extended and disposed above the object to be suspended, a trolley that is movable along the boom, and the trolley. Suspending means capable of being lifted and lowered by suspending the object, and provided so as to allow the driver located in the driver's seat to be visually recognized by the driver positioned below the object. A display unit capable of displaying predetermined image information in a field of view when the driver looks at the operation window. And an operation support information acquisition unit that acquires operation support information for supporting an operation of a suspended work by the driver, and image information including at least the acquired operation support information is generated and output to the display unit An image information generation unit.
According to such a configuration, even when the driver turns downward for the operation, operation support information for supporting the operation is provided within the range of the field of view. Therefore, the driver can visually recognize the operation target information without changing the posture while directly visualizing the object and the surrounding environment, and it is safe and efficient even if the operator has little experience in operating the crane. It becomes possible to operate.
According to the second aspect of the present invention, in the above-described information presentation device, the operation support information acquisition unit includes a motion information acquisition unit that acquires motion information of the crane, and the image information generation unit includes: Image information including the operation information is generated as operation support information.
According to such a configuration, the crane operator can visually recognize the operation information of the crane while directly viewing the object and its surroundings, so that the height and position of the object can be adjusted quickly and accurately. Can be done.
According to the third aspect of the present invention, in the information presentation device described above, the operation support information acquisition unit acquires the object video information via the imaging device that captures a range located below the suspension means. And the image information generation unit generates image information including the object video information as the operation support information.
According to such a configuration, object image information obtained by photographing the object and the surrounding situation from another angle within the range of the driver's field of view is provided. Therefore, the driver can confirm the positional relationship between the object and the surrounding obstacles from another angle while directly viewing the object and the surrounding situation, so the driver can further It is possible to operate safely and efficiently.
According to the fourth aspect of the present invention, in the information presentation device described above, the operation support information acquisition unit acquires profile information indicating profile information indicating an outline of the object located below the suspension means. The image information generation unit generates image information including the profile information as the operation support information.
According to such a configuration, an image imitating the object and the surrounding contour (profile) is provided within the range of the driver's field of view. Therefore, the driver can grasp the height and positional relationship between the target object and the surrounding obstacles while directly viewing the target object and the surrounding conditions, so that the driver can be more secure and safe. It becomes possible to operate efficiently.
According to a fifth aspect of the present invention, in the above information presentation apparatus, the operation support information acquisition unit includes an attribute information acquisition unit that acquires attribute information for each of the predetermined objects, and the image The information generation unit generates image information including the attribute information as the operation support information.
According to such a configuration, based on the attribute information for each object, a procedure list indicating the order of objects to be handled and information for identifying the object are displayed in the driver's field of view. Can do. Accordingly, the driver can accurately and quickly determine the object to be carried next, so that the cargo handling operation can be performed more efficiently.
According to the sixth aspect of the present invention, in the information presentation device described above, the image information generation unit associates each of the attribute information with each of the objects that are directly viewed from the operation window. The image information is generated as follows.
According to such a configuration, attribute information is attached in association with each of the objects that are directly viewed from the operation window, so the crane driver looks at the difference between the stacked containers. It becomes possible to grasp, and cargo handling work can be performed more efficiently.
According to a seventh aspect of the present invention, in the information presentation device described above, the display unit is attached to a wearable device that the driver wears on the head.
According to such a configuration, the wearable device arranges the display unit within the range of the driver's field of view while following the change in the posture even when the driver faces downward for operation. Therefore, the driver can visually recognize the operation support information while directly visualizing the object and the surrounding situation without changing the posture. Moreover, since it is realizable only by a driver | operator wearing a wearable apparatus, the installation load of an information presentation apparatus can be reduced.
According to an eighth aspect of the present invention, in the information presentation device described above, the wearable device further includes a posture detection unit that detects driver posture information, and the display unit is based on the posture information. The image information is displayed when the driver is viewing the lower side.
By adopting such a configuration, unnecessary information is not displayed in a situation where the driver does not require operation support information, so that the driver is not distracted and the troublesomeness of wearing the wearable device is reduced. be able to.
  According to the ninth aspect of the present invention, a crane system includes the above-described information presentation device, a boom that is extended and disposed above an object to be suspended, and a trolley that is movable along the boom. Suspending means that is installed on the trolley and is capable of moving up and down by suspending the object; and the object that is installed above the object and is suspended below the driver located in the driver's seat. A crane including an operator's cab having an operation window provided so as to be visible.
  According to the tenth aspect of the present invention, the information presentation method is installed on the trolley, a boom that is extended and arranged above the object to be suspended, a trolley that is movable along the boom, and the trolley. Suspending means capable of being lifted and lowered by suspending the object, and provided so as to allow the driver located in the driver's seat to be visually recognized by the driver positioned below the object. An information presentation method used when operating a crane equipped with a cab having an operation window, wherein operation support information for supporting an operation of a lifting work by the driver is acquired, and at least the acquisition The image information including the operation support information is generated, and when the driver looks at the operation window, the image information is output to a display unit capable of displaying predetermined image information in the field of view.
  It is possible to provide an information presentation device, a crane system, and an information presentation method capable of safely operating a crane even for an inexperienced driver.
It is a figure explaining the whole structure of the crane which concerns on 1st Embodiment. It is a figure which shows the structure inside the cab of the crane which concerns on 1st Embodiment. It is a figure which shows the structure of the wearable apparatus which concerns on 1st Embodiment. It is a figure which shows the function structure of the information presentation apparatus which concerns on 1st Embodiment. It is a figure which shows the image information displayed on the display part which concerns on 1st Embodiment. It is a 1st flowchart figure which shows the process sequence of the information presentation apparatus which concerns on 1st Embodiment. It is a 2nd flowchart figure which shows the process sequence of the information presentation apparatus which concerns on 1st Embodiment. It is a figure which shows the function structure of the information presentation apparatus which concerns on 2nd Embodiment. It is a figure which shows the image information displayed on the display part which concerns on 2nd Embodiment. It is a figure which shows the function structure of the information presentation apparatus which concerns on 3rd Embodiment. It is a figure which shows the image information displayed on the display part which concerns on 3rd Embodiment. It is a figure which shows the function structure of the information presentation apparatus which concerns on 4th Embodiment. It is a figure explaining the example of the sight which a driver | operator visually recognizes through the transparent display part which concerns on 4th Embodiment. It is a figure which shows the function structure of the information presentation apparatus which concerns on 5th Embodiment. It is a figure which shows the example of the container attribute table which the ground terminal apparatus which concerns on 5th Embodiment memorize | stores. It is a figure explaining the example of the sight which a driver | operator visually recognizes through the transparent display part which concerns on 5th Embodiment.
<First Embodiment>
Hereinafter, a crane system according to a first embodiment will be described with reference to the drawings.
The crane system according to the present embodiment includes a crane (a crane 10 described later) and an information presentation device (an information presentation device 20 described later). In this embodiment, a crane is a container crane which performs the loading / unloading operation | work of the container on a container ship. The information presentation device is mounted on the container crane, and provides information to the driver through vision for supporting the driver's operation of the lifting work.
[Overall configuration of crane]
Drawing 1 is a figure showing the whole crane composition concerning a 1st embodiment.
As shown in FIG. 1, the crane 10 includes a leg structure portion 11, a boom 12, a trolley 13, a cab 14, and a spreader 15 (suspending means).
The leg structure 11 is installed on the ground of the quay and supports the entire other configuration of the crane 10 while extending upward. The leg structure 11 has a traversing mechanism 11a at the base end, and can traverse the entire crane 10 along the rail provided on the ground. While the boom 12 is supported by the leg structure 11, the suspended ship (container A) and the object to be suspended (a plurality of containers loaded on the container ship 50) are located on the side where the container ship 50 is anchored. Stretched. The boom 12 is rotatable in a direction in which the tip is directed upward. The trolley 13 is capable of traveling (moving in the left-right direction on the paper surface) along rails arranged in the extending direction of the boom 12.
  The cab 14 and the spreader 15 are movable in the extending direction of the boom 12 as the trolley 13 moves. A driver who operates the crane 10 gets on the cab 14. The internal structure of the cab 14 will be described later. The spreader 15 is suspended by a rope extending downward from the trolley 13 and can fix the container A serving as a suspended load. Further, the spreader 15 can be raised and lowered while the container A is fixed and suspended by the rope being wound or lowered in the trolley 13.
  With the configuration as described above, the crane 10 is installed on the quay of the harbor and loads and unloads a plurality of containers loaded on the container ship 50 to be anchored.
FIG. 2 is a diagram illustrating an internal structure of a cab of the crane according to the first embodiment.
As shown in FIG. 2, the cab 14 includes a driver's seat 141, an operation panel 142, an operation window 143, and a terminal device 21 inside.
The driver seat 141 is a seat where the driver X of the crane 10 is located. The operation panel 142 is provided with an input interface (lever, switch, etc.) required for the driver X to operate various operations of the crane 10. The operation window 143 is provided so that the driver X located in the driver's seat 141 can visually recognize the suspended load (container A or the like) suspended below. The terminal device 21 is, for example, a general personal computer. A specific functional configuration of the terminal device 21 will be described later.
  The driver X located in the driver's seat 141 can visually recognize the spreader 15 and the container A suspended and suspended from the spreader 15 through the operation window 143 disposed below the driver X. The driver X operates the crane 10 via the operation panel 142 arranged on the side surface of the driver seat 141 while visually checking the state of the container A and its surroundings (presence of obstacles) through the operation window 143. Carry out the lifting work.
  In the present embodiment, as shown in FIG. 2, the driver X wears the wearable device 22 on the head. The wearable device 22 can display predetermined image information in the field of view when at least the driver X faces the operation window 143.
FIG. 3 is a diagram illustrating the structure of the wearable device according to the first embodiment.
As shown in FIG. 3, the wearable device 22 is a glasses-type terminal device worn on the head of the driver X, and includes a display unit 222 that can display predetermined image information in the field of view of the driver X. ing. Accordingly, the driver X can visually recognize the image information through the display unit 222 while simultaneously viewing the suspended container A and the like when looking down downward during the operation.
The aspect of the wearable device 22 is not limited to the glasses-type type as shown in FIG. 3, and may be, for example, a head-mounted terminal device having a transparent display that can visually recognize the background. That is, the wearable device 22 may be in any form as long as it can display image information in at least one region of the field of view regardless of the posture of the driver X's head.
[Functional configuration of information presentation device]
FIG. 4 is a diagram illustrating a functional configuration of the information presentation apparatus according to the first embodiment.
As shown in FIG. 4, the information presentation device 20 according to the present embodiment includes a terminal device 21 installed in the cab 14 and a wearable device 22 worn by the driver X. In addition, the terminal device 21 receives input of predetermined information from the crane control device 31 provided in the crane 10.
  The crane control device 31 is a control mechanism that operates various movable parts of the crane 10 based on the operation of the driver X. The crane control device 31 can acquire operation information representing the operation state of the crane 10, specifically, various information such as the traverse coordinates, the hoisting coordinates, the undulation angle, the traverse speed, the hoisting speed, and the traveling speed of the crane 10. And
The terminal device 21 includes a CPU (Central Processing Unit) 210, a communication connection unit 213, and a wireless communication module 214.
The CPU 210 is a functional unit that controls the overall operation of the terminal device 21. The CPU 210 functions as an operation support information acquisition unit 211 (operation information acquisition unit 211a) and an image information generation unit 212 by reading a predetermined program into an internal storage area. The functions of the operation support information acquisition unit 211 and the image information generation unit 212 will be described below.
The communication connection unit 213 is a connection interface for wired connection (or wireless connection) with the crane control device 31, whereby the terminal device 21 can communicate with the crane control device 31.
The operation support information acquisition unit 211 (operation information acquisition unit 211a) sequentially receives input of operation information indicating the current operation state of the crane 10 as operation support information from the crane control device 31 via the communication connection unit 213. .
The image information generation unit 212 generates image information including at least the operation support information (that is, operation information) acquired by the operation information acquisition unit 211a, and outputs the image information to the display unit 222 of the wearable device 22. At this time, the image information generation unit 212 outputs the image information to the display unit 222 via the wireless communication modules 214 and 221 provided in the self device and the wearable device 22.
The wireless communication module 214 is a communication interface for the terminal device 21 to exchange information with the wearable device 22 wirelessly. The wireless communication module 214 realizes wireless communication according to a predetermined wireless communication protocol with another wireless communication module 221 provided in the wearable device 22.
The display unit 222 included in the wearable device 22 is a small liquid crystal display or the like, and includes image information (including operation information) input from the terminal device 21 (image information generation unit 212) via the wireless communication module 221. The image information is displayed based on the above. The driver X wearing the wearable device 22 can grasp the current operation state of the crane by visually recognizing the image information (operation information). The image information displayed on the display unit 222 will be described later.
Note that the output of the image information from the terminal device 21 to the wearable device 22 may be performed by wired communication via a predetermined communication cable instead of wireless communication.
  Further, the wearable device 22 according to the present embodiment includes an attitude detection unit 223 inside. The posture detection unit 223 has an acceleration sensor inside, for example, detects the posture of the head of the driver X to which the wearable device 22 is worn, and posture information (information indicating whether or not the user is facing downward). ) Can be obtained.
[Image information]
FIG. 5 is a diagram illustrating image information displayed on the display unit according to the first embodiment.
As shown in FIG. 5, the image information generation unit 212 according to the present embodiment, based on the motion information acquired by the motion information acquisition unit 211 a, specifically, the traversal coordinates in the leg structure unit 11, Information (numerical values) such as traversing speed, winding coordinates of spreader 15 by trolley 13, hoisting speed, hoisting angle of boom 12, traveling speed of trolley 13, ON / OFF of twist lock, load of suspended load (container A), etc. , Parameter) is generated.
  The image information P1 generated by the image information generation unit 212 is output to the display unit 222 of the wearable device 22 via the wireless communication modules 214 and 221 (see FIG. 5).
6A and 6B are first and second flowcharts showing the processing procedure of the information presentation apparatus according to the first embodiment. 6A shows a processing procedure in the terminal device 21, and FIG. 6B shows a processing procedure in the wearable device 22.
As illustrated in FIG. 6A, the operation support information acquisition unit 211 (operation information acquisition unit 211a) acquires operation information of the crane 10 from the crane control device 31 (step S11). Next, the image information generation unit 212 generates image information P1 (FIG. 5) based on the acquired operation information (step S12). The image information generation unit 212 further outputs the generated image information P1 to the wearable device 22 via the wireless communication modules 214 and 221 (step S13). CPU210 determines whether the driving | operation of the crane 10 was complete | finished based on the presence or absence of the input of the signal which shows the driving | operation completion of the crane 10 (step S14). When the input of the signal indicating the operation end of the crane 10 is received via the operation panel 142 (step S14: YES), the terminal device 21 ends the process. On the other hand, when the input of the signal indicating the completion of the operation of the crane 10 is not accepted (step S14: NO), the process returns to step S11, and the process of acquiring operation information to outputting image information is repeated.
  On the other hand, as shown in FIG. 6B, the wearable device 22 acquires the image information P1 generated by the image information generation unit 212 via the wireless communication module 221 (step S21). Next, the wearable device 22 according to the present embodiment acquires posture information via the posture detection unit 223, and determines whether or not the driver X is facing downward (step S22). Specifically, the posture detection unit 223 determines that the driver X is facing downward when the direction of gravitational acceleration in the built-in acceleration sensor is included within a predetermined determination reference range. When the wearable device 22 determines that the driver X is facing downward (step S22: YES), the wearable device 22 displays the acquired image information P1 on the display unit 222 (step S23). On the other hand, when it is determined that the driver X is not facing downward (step S22: NO), new image information P1 is acquired without displaying the image information P1 (without performing step S23). In addition, about the process of the completion | finish determination of the crane 10 in step S24, it is equivalent to the above-mentioned step S14. In this case, the wearable device 22 receives an input of a signal indicating the end of operation of the crane 10 via the wireless communication module 221.
As described above, the wearable device 22 according to the present embodiment displays the image information P1 when the driver X faces downward to visually recognize the situation such as the suspended load (container A). With this configuration, the driver X provides the operation information only when the operation information (operation support information) of the crane 10 is required (that is, when the operation is performed while facing downward). Is done. Therefore, since unnecessary information is not displayed in a situation where the driver X does not require operation information, the driver X is not distracted, and the troublesomeness of wearing the wearable device 22 can be reduced.
Note that the wearable device 22 according to another embodiment is not limited to this aspect. In other words, even when the driver X faces a different direction other than downward, the display of the image information P1 may be continued as it is, or other image information corresponding to the directed direction may be displayed. .
  As described above, according to the information presentation apparatus according to the first embodiment, even when the driver X faces downward for the operation, the operation support information for supporting the operation within the range of the field of view. (In the present embodiment, operation information of the crane 10) is provided. Therefore, the driver X can visually recognize the operation support information at the same time without changing the posture while directly viewing the container A as a suspended load and the surrounding situation. Even with little experience, it is possible to operate safely and efficiently.
  In addition, although the terminal device 21 mentioned above was demonstrated as what is mounted in the cab 14 of the crane 10 (FIG. 2), the function of the said terminal device 21 is another terminal provided in places other than the cab 14. It can also be realized by a device.
<Second Embodiment>
Next, a crane system according to a second embodiment will be described with reference to the drawings.
The crane system according to the present embodiment provides predetermined video information to the driver via a photographing device provided outside the crane.
FIG. 7 is a diagram illustrating a functional configuration of the information presentation apparatus according to the second embodiment.
As shown in FIG. 7, the terminal device 21 of the information presentation device 20 according to the present embodiment is configured to accept input of predetermined object video information from the imaging device 32 in addition to the crane control device 31. Yes.
  The imaging device 32 is, for example, a monitoring camera, and is provided outside the crane 10 so that a predetermined range located below the spreader 15 can be imaged. Specifically, the imaging device 32 is attached to a position (such as the ground) where the suspended container A and its periphery can be imaged over a wide range from an angle different from the direction of the line of sight of the driver X. Moreover, the imaging device 32 may be attached so as to face downward from the trolley 13, the spreader 15, etc., for example, so that the range which becomes a blind spot from the driver | operator X can be image | photographed (refer FIG. 1).
As shown in FIG. 7, the imaging device 32 includes a drive mechanism 32a. The drive mechanism 32a can change the housing posture of the photographing device 32 by driving, and thereby can change the photographing range of the photographing device 32 as desired. In addition, the drive mechanism 32a can further drive a lens or the like to perform enlargement / reduction of an object to be photographed.
The drive mechanism 32a acquires operation information from the crane control device 31, and changes the posture of the imaging device 32 so as to correspond to the coordinates (transverse coordinates, hoisting coordinates, etc.) indicated by the operation information. Thereby, the imaging device 32 can change the imaging range so as to follow the suspended load in accordance with the movement of the suspended load (container A).
  In addition to the operation information acquisition unit 211a according to the first embodiment, the operation support information acquisition unit 211 further includes a video information acquisition unit 211b. The video information acquisition unit 211b receives an object video indicating the video (video showing the suspended load and its surroundings) taken by the imaging device 32 as operation support information from the imaging device 32 via the communication connection unit 213. Accepts information input sequentially.
FIG. 8 is a diagram illustrating image information displayed on the display unit according to the second embodiment.
As illustrated in FIG. 8, the image information generation unit 212 according to the present embodiment performs the operation based on the operation information acquired by the operation information acquisition unit 211a and the object video information acquired by the video information acquisition unit 211b. Image information P2 including information and object video information is generated.
Specifically, the image information P2 includes an image area P21 where the operation information of the crane 10 is displayed, and an image area P22 where the object video information (video captured by the imaging device 32) is displayed. . The image area P22 includes an image Pa of the crane 10, an image Pb of the container A as a suspended load, and images Pc of a plurality of containers stacked on the ship of the container ship 50.
The image information P2 generated by the image information generation unit 212 is output to the display unit 222 of the wearable device 22 (see FIG. 8).
  Since the processing procedure of the information presentation apparatus 20 according to the second embodiment is substantially the same as that of the first embodiment, detailed description thereof is omitted. However, the operation support information acquisition unit 211 (the operation information acquisition unit 211a and the video information acquisition unit 211b) according to the present embodiment receives the operation information from each of the crane control device 31 and the imaging device 32 in step S11 (FIG. 6A). And processing for acquiring both the object video information.
  As described above, according to the information presentation device according to the second embodiment, within the range of the view of the driver X, not only the operation information of the crane 10 but also the image of the suspended load and the surrounding situation taken from different angles. Is provided. Accordingly, the driver X can confirm the positional relationship between the container A and the surrounding obstacles from another angle while directly viewing the suspended container A and the surrounding situation. Person X can operate more safely and efficiently.
<Third Embodiment>
Next, a crane system according to a third embodiment will be described with reference to the drawings.
The crane system according to the present embodiment provides predetermined profile information to the driver via a predetermined profile sensor provided in the crane.
FIG. 9 is a diagram illustrating a functional configuration of the information presentation apparatus according to the third embodiment.
As shown in FIG. 9, the terminal device 21 of the information presentation device 20 according to the present embodiment is configured to accept input of predetermined profile information from the profile sensor 33 in addition to the crane control device 31.
  The profile sensor 33 is a device that irradiates an object to be measured with a laser and can measure the distance between the device itself and the laser reflecting surface according to the incident time of the reflected light. The profile sensor 33 according to the present embodiment can detect a two-dimensional profile (contour) of a plurality of containers and the like loaded on the container ship 50 by scanning the laser in one axial direction. For example, the profile sensor 33 is provided in the trolley 13, the spreader 15, etc., and scans the laser along a traveling direction of the trolley 13 (the extending direction of the boom 12) in a predetermined range below the profile sensor 33. Thereby, the profile sensor 33 can detect the profiles (contours) in the height direction of a plurality of containers loaded on the container ship 50.
  The operation support information acquisition unit 211 according to the present embodiment further includes a profile information acquisition unit 211c in addition to the operation information acquisition unit 211a according to the first embodiment. The profile information acquisition unit 211c inputs profile information indicating profile information (suspended load and surrounding contour information) acquired by the profile sensor 33 as operation support information from the profile sensor 33 via the communication connection unit 213. Are accepted sequentially.
FIG. 10 is a diagram illustrating image information displayed on the display unit according to the third embodiment.
As shown in FIG. 10, the image information generation unit 212 according to the present embodiment is based on the operation information acquired by the operation information acquisition unit 211a and the profile information acquired by the profile information acquisition unit 211c. And the image information P3 containing profile information is produced | generated.
Specifically, the image information P3 includes an image region P31 in which operation information of the crane 10 is displayed, and an image region P32 in which a contour image formed based on the profile information acquired by the profile sensor 33 is displayed. , Is included. In the image area P32, an image Pm showing the outline of the container A as a suspended load and an image Pn showing the outlines of a plurality of containers stacked on the container ship 50 are displayed.
The image information P3 generated by the image information generation unit 212 is output to the display unit 222 of the wearable device 22 (see FIG. 10).
In the present embodiment, the profile sensor 33 attached to the crane 10 is not limited to one, and may be attached to a plurality of different locations. In this case, the image information generation unit 212 stores in advance the relative positional relationship between the plurality of profile sensors 33 and synthesizes profile information acquired from different profile sensors 33 based on the positional relationship. Thus, one profile information is generated. By doing so, the contour that cannot be detected by one profile sensor 33 as a blind spot can be supplemented by the other profile sensor 33, so that more detailed profile information can be provided to the driver X. .
  Since the processing procedure of the information presentation apparatus 20 according to the third embodiment is substantially the same as that of the first and second embodiments, detailed description thereof is omitted. In this case, the operation support information acquisition unit 211 (the operation information acquisition unit 211a and the profile information acquisition unit 211c) according to the present embodiment operates from each of the crane control device 31 and the profile sensor 33 in step S11 (FIG. 6A). Processing to acquire both information and profile information is performed.
As described above, according to the information presentation apparatus according to the third embodiment, not only the operation information of the crane 10 but also the image imitating the suspended load and the surrounding contour (profile) is provided within the range of the view of the driver X. Is done. Therefore, the driver X can grasp the height and the positional relationship between the container A and the surrounding obstacles while directly viewing the suspended container A and its surroundings. Can be operated more safely and efficiently.
Further, since the information presentation apparatus according to the present embodiment is profile information acquired by the profile sensor 33, the amount of information is less than that of video information, and information can be updated at high speed. The configuration can be simplified.
  In the present embodiment, the profile information acquired by the profile sensor 33 has been described as two-dimensional profile information (see FIG. 10). However, in other embodiments, the profile information is not limited to this aspect. For example, the profile sensor 33 may be able to scan in the biaxial direction and acquire three-dimensional profile information.
  In addition, the information presentation apparatus 20 (operation support information acquisition unit 211) according to another embodiment includes a video information acquisition unit 211b according to the second embodiment, a profile information acquisition unit 211c according to the third embodiment, It is also possible to provide both. In this case, the image information generation unit 212 according to the other embodiment includes image information including both the object video information acquired by the video information acquisition unit 211b and the profile information acquired by the profile information acquisition unit 211c. It may be generated. Specifically, the image information generation unit 212 displays an image region P22 (FIG. 8) in which object video information (video captured by the imaging device 32) is displayed, and a contour image formed based on the profile information. Image information having both of the displayed image areas P32 (FIG. 10) is generated.
  In addition, as for the information presentation apparatus 20 which concerns on the above-mentioned 1st-3rd embodiment, as for all, the display part is attached to the wearable apparatus with which the driver | operator X wears on a head. By adopting such a configuration, the driver X can be realized only by wearing the wearable device, so that the burden of laying the information presentation device 20 can be reduced.
<Fourth Embodiment>
Next, a crane system according to a fourth embodiment will be described with reference to the drawings.
In the crane system according to the present embodiment, the transparent display device is applied to the operation window disposed below the driver X located in the driver's seat.
FIG. 11 is a diagram illustrating a functional configuration of the information presentation apparatus according to the fourth embodiment.
As shown in FIG. 11, the information presentation device 20 according to the present embodiment includes a terminal device 21 and a transparent display device 25. Since the functional configuration of the terminal device 21 is the same as that of the first embodiment, detailed description thereof is omitted.
The transparent display device 25 includes a wireless communication module 251 and a transparent display unit 252.
The transparent display device 25 is a display device having a feature that allows the background behind the display screen to be seen through while displaying image information on the display screen. Specifically, the transparent display device 25 includes a transparent display unit 252. The transparent display unit 252 is an aspect of the display unit, and is installed so as to cover part or all of the operation window 143 (see FIG. 2) provided below the cab 14. The transparent display unit 252 can display predetermined image information to the driver X and can be seen through the background. Thus, the driver X can directly visually recognize the spreader 15, the suspended load (container A), and the like that are positioned beyond the transparent display unit 252 (and the operation window 143).
The wireless communication module 251 is equivalent to the wireless communication module 221 described above, and is a communication interface for exchanging information with the wireless communication module 214 of the terminal device 21 wirelessly. The transparent display device 25 acquires the image information generated by the image information generation unit 212 via the wireless communication module 214.
In addition, the exchange of information between the terminal device 21 and the transparent display device 25 is not limited to wireless communication, and may be performed by wired communication.
FIG. 12 is a diagram illustrating an example of a scene visually recognized by the driver through the transparent display unit according to the fourth embodiment.
FIG. 12 shows an example of a scene that the driver X according to the present embodiment can visually recognize from the driver's seat 141 through the operation window 143 below the driver's seat 141. Here, as described above, the transparent display unit 252 according to the present embodiment is installed on the entire surface of the operation window 143. Further, the transparent display unit 252 displays image information P4 including operation support information (in this embodiment, operation information of the crane 10) acquired via the wireless communication module 251. As shown in FIG. 12, the image information P <b> 4 is displayed at the corner of the transparent display unit 252.
Further, since the transparent display portion 252 can be seen through the background, the driver X is positioned below the transparent display portion 252 and the operation window 143 in an area other than the area where the image information P4 is displayed. The spreader 15 to be suspended, the suspended container A, and the containers stacked in the vicinity thereof can be directly seen (see FIG. 12).
  As described above, according to the information presentation apparatus according to the fourth embodiment, when the driver X turns downward for the operation, the display unit (transparent display unit 252) disposed at the position where the driver enters the field of view. Operation support information (operation information) for supporting the operation is displayed. Moreover, since the transparent display part 252 can see the background transparently, the driver | operator X can also visually recognize the operation assistance information simultaneously, visually recognizing the container A which is a suspended load, and the surrounding condition. Therefore, even if the experience of operation of the crane 10 is shallow, it can be operated safely and efficiently.
  In the first to third embodiments, the image information is displayed on the wearable device 22 worn by the driver X on the head, but in the present embodiment, the image information is displayed on the operation window 143. It is assumed that it is displayed on the installed transparent display unit 252. Thereby, since it is not necessary to wear equipment, such as wearable device 22, work burden of driver X can be reduced.
  In the fourth embodiment, the transparent display unit 252 has been described as one that displays operation information acquired from the crane control device 31 as operation support information in the corner of the operation window 143 (FIG. 12). Other embodiments are not limited to this aspect. That is, the transparent display unit 252 includes object video information, profile information, and the like acquired through the imaging device 32 and the profile sensor 33 as operation support information, as in the second and third embodiments. Image information may be displayed.
<Fifth Embodiment>
Next, a crane system according to a fifth embodiment will be described with reference to the drawings.
In the crane system according to the present embodiment, the transparent display device is applied to the operation window disposed below the driver X located in the driver's seat, and the attributes defined in advance for each container to be suspended. Information is displayed on a transparent display device to assist the driver in operating.
FIG. 13 is a diagram illustrating a functional configuration of the information presentation apparatus according to the fifth embodiment.
As shown in FIG. 13, the information presentation device 20 according to the present embodiment includes a terminal device 21 and a transparent display device 25. The terminal device 21 receives input of attribute information for each container from the ground terminal device 34 in addition to the crane control device 31.
  The ground terminal device 34 is a terminal device installed in a work room of a container yard. The ground terminal device 34 is associated with a container ID for identifying a plurality of containers loaded on the container ship 50, coordinate information indicating where each container is loaded on the container ship 50, and the like. A container attribute table (attribute information) is stored.
  The operation support information acquisition unit 211 according to the present embodiment further includes an attribute information acquisition unit 211d in addition to the operation information acquisition unit 211a according to the first embodiment. The attribute information acquisition unit 211d receives input of attribute information stored in the ground terminal device 34 as operation support information from the ground terminal device 34 via the communication connection unit 213. Further, the attribute information acquisition unit 211d according to the present embodiment further acquires three-dimensional model data imitating the structure of the container ship 50 to be anchored and the loaded container.
FIG. 14 is a diagram illustrating an example of a container attribute table stored in the ground terminal device according to the fifth embodiment.
The container attribute table is an aspect of the attribute information, and identifies a container ID for identifying a container, a container ship ID for identifying a loaded container ship, and where the container ship is expected. 4 is a table for associating each of loading position coordinates (X, Y, Z), a work procedure indicating the order of containers to be loaded and unloaded, and position coordinates (X, Y, Z) arranged in the container yard. The container attribute table is created in advance by a distribution manager or the like and stored in the ground terminal device 34 installed in the container yard.
Note that the container attribute table shown in FIG. 14 is an example, and is not limited to this, and may include other information.
FIG. 15 is a diagram illustrating an example of a scene visually recognized by the driver through the transparent display unit according to the fifth embodiment.
FIG. 15 shows an example of a scene that the driver X according to the present embodiment can visually recognize from the driver's seat 141 through the operation window 143 below the driver's seat 141. Similar to the fourth embodiment, the transparent display unit 252 according to this embodiment is installed on the entire surface of the operation window 143. Further, since the transparent display portion 252 can be seen through the background, the driver X can use the transparent display portion 252 and the operation window 143 to spread the spreader 15 located below, the suspended container A, and the surrounding area. The containers stacked in the stack can be directly visually recognized (see FIG. 15).
  The transparent display unit 252 displays image information P51 to P53 including the operation support information (in this embodiment, operation information and attribute information of the crane 10) acquired via the wireless communication module 251. Here, the image information P51 is operation information of the crane 10.
  The image information generation unit 212 according to the present embodiment generates procedure list image information P52 indicating the work procedure of the driver X based on the attribute information (container attribute table) acquired by the attribute information acquisition unit 211d. Specifically, the image information generation unit 212 lists the container ID and the yard position coordinates associated with the container ID in the order shown in the work procedure of the container attribute table (see FIG. 15). By displaying this image information P52 on the transparent display unit 252, the driver X can grasp the transport procedure of the containers stacked on the container ship 50 and the arrangement position in the container yard.
  Furthermore, the image information generation unit 212 according to the present embodiment includes the loading position coordinates of the attribute information (container attribute table) acquired by the attribute information acquisition unit 211d, the container ID, and the 3D model data that conforms to the container ship ID. , Each piece of attribute information (container ID) generates image information P53 associated with each of the containers that are directly viewed from the operation window 143.
  Specifically, the image information generation unit 212 determines from the driver seat 141 where the driver X is located based on the relationship between the operation information of the crane 10 (transverse coordinates, hoisting coordinates, etc.) and the anchoring position of the container ship 50. A process of matching the scene of the container ship 50 viewed through the operation window 143 with the three-dimensional model data of the container ship 50 created in advance is performed. Then, the image information generation unit 212 refers to the three-dimensional model data of the container ship 50, the container ID and the loading position coordinates (X, Y, Z) of each container loaded on the container ship 50, and actually The image information P53 is generated so that the container ID of each container is attached to the position corresponding to each container in the three-dimensional model data matched with the scene. As a result, the image information P53 indicating the container ID is displayed so as to correspond to each of the containers directly visible from the driver X, so that the driver can accurately display a plurality of containers stacked on the container ship 50. Can be identified.
  As described above, according to the information presenting apparatus according to the fifth embodiment, a procedure list indicating the order of containers in which the driver X performs cargo handling is displayed on the transparent display unit 252. In addition, the container ID is assigned so that the driver X corresponds to each container that is actually visually recognized through the transparent display unit 252 (operation window 143). Accordingly, the driver X can grasp the container to be carried next at a glance, and can accurately and quickly determine the container, so that the cargo handling operation can be performed more efficiently.
  As a modification of the fifth embodiment, the image information generation unit 212, for example, through the transparent display unit 252 so that the height of the suspended container A and its surroundings can be grasped at a glance. A color distribution (color gradation such as red, blue, yellow, etc.) corresponding to the height may be attached to a directly visible container or the like. Moreover, you may make it attach | subject a color etc. to the surrounding location where the container A currently suspended is adjoining.
  In addition, although the crane which concerns on each above-mentioned embodiment was demonstrated as what is a container crane installed in a quay, in other embodiment, it is not limited to this aspect. In other words, the crane on which the information presentation device is mounted is a mode in which the driver works while directly viewing the suspended load (container A) and the object (a plurality of containers loaded on the container ship 50) positioned below the crane. Any other crane may be used.
  As mentioned above, although some embodiment of this invention was described, these embodiment is shown as an example and is not intending limiting the range of invention. These embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the scope of the invention. These embodiments and modifications thereof are included in the invention described in the claims and equivalents thereof, as long as they are included in the scope and gist of the invention.
  According to the above-described information presentation device and crane system, even an inexperienced driver can safely operate the crane.
DESCRIPTION OF SYMBOLS 1 Crane system 10 Crane 11 Leg structure part 11a Traversing mechanism 12 Boom 13 Trolley 14 Driver's cab 141 Driver's seat 142 Operation panel 143 Operation window 15 Spreader (suspending means)
20 Information presentation device 21 Terminal device 210 CPU
211 Operation support information acquisition unit 211a Operation information acquisition unit 211b Video information acquisition unit 211c Profile information acquisition unit 211d Attribute information acquisition unit 212 Image information generation unit 213 Communication connection unit 214, 221, 251 Wireless communication module 22 Wearable device 222 Display unit 223 Attitude detection unit 25 Transparent display device 252 Transparent display unit 31 Crane control device 32 Imaging device 32a Drive mechanism 33 Profile sensor 34 Ground terminal device 50 Container ship

Claims (9)

  1. A boom extended and arranged above the object to be suspended; a trolley movable along the boom; and a suspension means installed on the trolley and capable of lifting and lowering the object. In a crane provided with a driver's cab that is installed above the object and has an operation window provided so that a driver located in a driver's seat can visually recognize the object suspended below the object. An information presentation device,
    When the driver looks at the operation window, a display unit capable of displaying predetermined image information in the field of view;
    An operation support information acquisition unit for acquiring operation support information for supporting the operation of the lifting work by the driver;
    Generating image information including at least the acquired operation support information, and outputting the image information to the display unit;
    Equipped with a,
    The display unit is attached to a wearable device worn on the head of the driver,
    The wearable device further includes a posture detection unit that detects driver posture information,
    The said display part is an information presentation apparatus which displays the said image information, when the said driver | operator has visually recognized the downward direction based on the said attitude | position information .
  2. The operation support information acquisition unit includes an attribute information acquisition unit that acquires attribute information for each of the predetermined objects,
    The image information generation unit generates image information including the attribute information as the operation support information, and each of the attribute information is associated with each of the objects directly viewed from the operation window. Generate image information
    The information presentation apparatus according to claim 1.
  3. A boom extended and arranged above the object to be suspended; a trolley movable along the boom; and a suspension means installed on the trolley and capable of lifting and lowering the object. In a crane provided with a driver's cab that is installed above the object and has an operation window provided so that a driver located in a driver's seat can visually recognize the object suspended below the object. An information presentation device,
    When the driver looks at the operation window, a display unit capable of displaying predetermined image information in the field of view;
    An operation support information acquisition unit for acquiring operation support information for supporting the operation of the lifting work by the driver;
    Generating image information including at least the acquired operation support information, and outputting the image information to the display unit;
    Equipped with a,
    The operation support information acquisition unit includes an attribute information acquisition unit that acquires attribute information for each of the predetermined objects,
    The image information generation unit generates image information including the attribute information as the operation support information, and each of the attribute information is associated with each of the objects directly viewed from the operation window. An information presentation device that generates image information .
  4. The operation support information acquisition unit has an operation information acquisition unit that acquires operation information of the crane,
    The information presentation device according to any one of claims 1 to 3, wherein the image information generation unit generates image information including the operation information as the operation support information.
  5. The operation support information acquisition unit includes a video information acquisition unit that acquires object video information via an imaging device that captures a range located below the suspension unit.
    The information presentation device according to any one of claims 1 to 4, wherein the image information generation unit generates image information including the object video information as the operation support information.
  6. The operation support information acquisition unit has a profile information acquisition unit that acquires profile information indicating an outline of the object located below the suspension means,
    The information presentation apparatus according to claim 1, wherein the image information generation unit generates image information including the profile information as the operation support information.
  7. The information presentation device according to any one of claims 1 to 6 ,
    A boom extended and arranged above the object to be suspended; a trolley movable along the boom; and a suspension means installed on the trolley and capable of lifting and lowering the object. A crane having an operation window installed above the object and provided so that a driver located in a driver's seat can visually recognize the object suspended below the object; ,
    Crane system with
  8. A boom extended and arranged above the object to be suspended; a trolley movable along the boom; and a suspension means installed on the trolley and capable of lifting and lowering the object. A cab having an operation window provided above the object and provided so that a driver located in a driver's seat can visually recognize the object suspended below the object. An information presentation method used when driving,
    Obtaining operation support information for supporting the operation of the suspended work by the driver;
    Generating image information including at least the acquired operation support information, and when the driver looks at the operation window, output to a display unit capable of displaying predetermined image information in the field of view ,
    The display unit is attached to a wearable device worn on the head of the driver,
    The wearable device further detects driver posture information,
    The said display part is an information presentation method which displays the said image information, when the said driver | operator has visually recognized the downward direction based on the said attitude | position information .
  9. A boom extended and arranged above the object to be suspended; a trolley movable along the boom; and a suspension means installed on the trolley and capable of lifting and lowering the object. A cab having an operation window provided above the object and provided so that a driver located in a driver's seat can visually recognize the object suspended below the object. An information presentation method used when driving,
    Obtaining operation support information for supporting the operation of the suspended work by the driver;
    Generating image information including at least the acquired operation support information, and when the driver looks at the operation window, output to a display unit capable of displaying predetermined image information in the field of view ,
    The operation support information includes predetermined attribute information for each object,
    The image information includes the attribute information as the operation support information,
    The information presentation method which produces | generates image information so that each of the said attribute information is matched with each of the said target object visually recognized directly from the said operation window .
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CN105189327A (en) 2015-12-23

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