JP6528474B2 - Image display device - Google Patents

Description

  The present invention relates to an image display device.

The boom and jib (hereinafter referred to as a boom and the like) of the crane are attached with a camera for capturing an image of the subject below. From the boom or the like, the hook is suspended by the wire rope, and the suspended load is slung on the hook. Then, the camera captures an object on which a wire rope, a hook, a suspended load and the like are projected on a horizontal surface such as a ground surface.
The image taken by the camera is displayed on a monitor provided in an operator's room where the operator operates the crane. When the operator operates the crane, the operator operates the crane while looking at the image displayed on the monitor to move the suspended load to a desired location (see, for example, Patent Document 1).

Japanese Patent Application Laid-Open No. 6-30315

The operator of the crane adjusts the operation input to the operation unit while observing the movement of the hook projected on the monitor.
However, when the hook starts to move or the operation is changed, the movement of the hook follows the operator's intention only from the image of the hook projected on the monitor due to the inertia of the hook or the load, the influence of wind, etc. Sometimes it can not be determined instantly whether it is a thing or not.
Further, in the system from the operation unit to the pump for driving the boom or the like, there is a so-called dead zone in which the hook hung on the boom or the like does not actually start moving even when the operation is inputted to the operation unit. Therefore, the operator determines the movement of the hook by inputting the operation beyond the dead zone (the operation in which the hook actually starts to move) and confirming on the monitor that the boom or the like has actually started to move.
The present invention has been made in view of the above circumstances, and it is possible to make the operator easily recognize the moving direction of the hook displayed on the display unit, and to recognize that the hook has actually started to move. It is an object of the present invention to provide an image display apparatus that can

  According to the present invention, a display unit for displaying an image captured by a camera provided on a boom of a crane and displaying an image including a hook suspended from the boom by a wire rope, and an operation input to an operation unit for moving the hook A movement direction for obtaining the movement direction of the hook with respect to the horizontal surface by the operation signal acquisition unit for acquiring the operation signal output and the operation input to the operation unit, based on the operation signal acquired by the operation signal acquisition unit A setting unit; and an operation signal determination unit that determines whether the operation signal acquired by the operation signal acquisition unit is an operation signal for actually moving the hook, the display unit sets the movement direction While displaying the mark which specifies the movement direction of the said hook calculated | required by the part together with the image of the said hook, according to the result of determination by the said operation signal determination part An image display device to vary the display mode of the indicia.

  According to the image display device of the present invention, the movement direction of the hook displayed on the display unit can be easily recognized by the operator, and the operator can be recognized that the hook has actually started to move. .

It is a schematic diagram which shows the mode of the crane operation | work which moves a suspended load using a crane. It is a schematic diagram which shows an example of the image display apparatus installed in the operator room. It is a block diagram which shows the structure of an image display apparatus. It is a schematic diagram which shows the example (display example 1) which displays a single arrow as a mark on a display panel, (A) is a mode which displayed the arrow corresponding to a dead zone, (B) respond | corresponds to a sensitive zone. The aspect which does not display the arrow 500a is respectively shown. It is a schematic diagram which shows the example (display example 2) which displays a single arrow as a mark on a display panel, (A) is a mode which blinked and displayed the arrow corresponding to a dead zone, (B) is a sensitive zone. The mode of the display which lighted the arrow continuously corresponding to each is shown, respectively. It is a schematic diagram which shows the example (display example 3) which displays a single arrow as a mark on a display panel, (A) is a mode which displayed the arrow in dark color corresponding to a dead zone, (B) is a sensitive zone. The aspect which displayed the arrow in the other color (or light color) corresponding to, respectively is shown. It is a schematic diagram which shows the example (display example 4) which displayed on the display panel the triangle mark which faced the 1st quadrant seeing from the origin of xy coordinate system as a single mark. Displayed on the display panel with two components, an arrow along the vertical direction y of the display panel (an example of a first symbol) and an arrow along the horizontal direction x of the display panel (an example of a second symbol) as marks. It is a schematic diagram which shows the example (display example 5). It is a schematic diagram which shows the example which displayed the single arrow which represents a virtual locus line as a mark on a display panel. FIG. 5 is a schematic view showing an example in which, in addition to the single arrow shown in FIG. 4 as a mark, an arrow along the direction of movement of the hook with respect to the horizontal surface by the elevation operation of the hook is displayed on the display panel.

Hereinafter, embodiments of an image display apparatus according to the present invention will be described with reference to the drawings.
<Crane work>
FIG. 1 is a schematic view showing a state of a crane operation for moving a suspended load 700 using a crane 800. As shown in FIG. The crane 800 is provided with a boom 810 that is extended, retracted, and pivoted, a hook 830 that moves up and down, and an operation unit 820 that is input with operations of extending, retracting, and pivoting the boom 810, and lifting and lowering the hook 830. A wire rope 840 wound around or wound down by a winch motor is wound on a sheave provided at the tip of the boom 810. The wire rope 840 is suspended with a hook 830 on which the suspended load 700 is hooked. The load 700 is raised and lowered together with the hook 830 by the operation of winding up or lowering the wire rope 840 by the winch motor.

  In addition, in this specification, the "boom" means the whole structure used as the arm which made the fulcrum the end of upper revolving superstructure. Thus, the term "boom" as used herein includes not only the boom which is a box-shaped structural jib, but also the lattice-structured jib and the auxiliary jib for extending the boom.

The expansion, contraction and turning of the boom 810, and the elevation of the hook 830 are performed by the operator of the crane 800 inputting an operation to the operation unit 820 provided in the operator room 850.
Specifically, operation unit 820 outputs an operation signal S corresponding to the input operation. The operation signal S output from the operation unit 820 controls the operation of a hydraulic pump, a direction control valve, a flow control valve, and the like. Then, the hydraulic motor and hydraulic cylinder are operated by the operations of the hydraulic pump, the direction control valve, the flow control valve and the like to extend and retract the boom 810, raise and lower the swing, and raise and lower the hook 830.

In addition, at the tip of the boom 810, a monitoring camera 300 is provided that captures an image of the lower subject including the hook 830. The imaging range of the monitoring camera 300 is, for example, the range indicated by a broken line in FIG.
FIG. 2 is a schematic view showing an example of the image display apparatus 100 installed in the operator room 850. As shown in FIG. The image P taken by the surveillance camera 300 is displayed on the display panel 12 of the image display device 100 shown in FIG. The surveillance camera 300 is installed at a position deviated from the vertical line of the hook 830. Therefore, in the display panel 12, the image 840 A of the wire rope 840 in the image P is displayed as an image 840 A obliquely extending from the outside of the display panel 12.

<Image display device>
FIG. 3 is a block diagram showing the configuration of the image display apparatus 100. As shown in FIG. As shown in FIG. 3, the image display device 100 includes a display unit 10, an operation signal acquisition unit 20, a movement direction calculation unit 30, and an operation signal determination unit 50.
The display unit 10 includes a display control unit 11 that processes the content to be displayed based on the input information, and a display panel 12 that displays an image P according to the content processed by the display control unit 11. Then, as described above, the display control unit 11 receives the image P captured by the monitoring camera 300, processes the image P to be displayed on the display panel 12, and the display panel 12 displays the processed image P. Do. The image P also includes an image 830A of the hook 830.

  The operation signal acquisition unit 20 acquires the operation signal S output by the operation input to the operation unit 820 so as to move the hook 830. The movement direction calculation unit 30 obtains the movement direction of the hook 830 with respect to a horizontal surface such as a ground surface by the operation input to the operation unit 820. The movement direction calculation unit 30 obtains the movement direction of the hook 830 with respect to the horizontal surface based on the operation signal S acquired by the operation signal acquisition unit 20. The operation signal determination unit 50 determines whether the operation signal S acquired by the operation signal acquisition unit 20 is an operation signal for actually moving the hook 830.

  Here, in machines including the crane 800, there is a so-called insensitive zone in which the hook 830 does not actually start moving even when an operation is input to the operation unit 820. This dead zone occurs, for example, for the following reasons. That is, the operation unit 820 detects an input operation and outputs an operation signal S corresponding to the detected operation. However, when the hydraulic pressure generated by the hydraulic pump or the like according to the opening degree of the flow control valve or the directional control valve according to the operation signal S is smaller than the load of the load 700, the hook 830 does not start moving.

Therefore, the dead zone mainly occurs in the range where the operation input to the operation unit 820 is small. Then, the hook 830 actually starts to move by the input of the operation whose size exceeds the dead zone.
The operation signal acquisition unit 20 of the image display device 100 acquires the operation signal S including the above-described dead zone.

  Thus, in the operation in the dead zone, since the hook 830 does not actually start moving, the moving direction of the hook 830 will not exist. However, even if the input operation signal S is the operation signal S corresponding to the above-described insensitive zone, the movement direction calculation unit 30 moves the hook 830 with respect to the horizontal surface assuming that no load is present. Find the wax movement direction.

  The movement direction of the hook 830 with respect to the horizontal plane calculated by the movement direction calculation unit 30 is input to the display control unit 11 of the display unit 10. The display control unit 11 specifies a moving direction corresponding to the image 830A of the hook 830 displayed on the display panel 12 based on the moving direction of the hook 830 with respect to the input horizontal surface (see FIG. 4 described later) Generate Then, the display panel 12 superimposes and displays the mark 500 generated by the display control unit 11 on the image P including the image 830A of the hook 830.

In addition, it is a result determined by the operation signal determination unit 50 (an operation signal S is an operation signal for actually moving the hook 830 (hereinafter referred to as an operation signal output corresponding to the operation of the sensitive band)) or The display control unit 11 also receives a determination result indicating whether the signal S is an operation signal that does not actually move the hook 830 (hereinafter referred to as an operation signal output corresponding to the operation of the dead zone). Ru. The display control unit 11 generates a mark of a different aspect as the mark 500 specifying the moving direction of the hook 830 according to the result determined by the operation signal determination unit 50, and outputs the generated mark to the display panel 12.
That is, the mark 500 displayed on the display panel 12 differs depending on whether the operation input to the operation unit 820 is an operation corresponding to the insensitive band or an operation corresponding to the sensitive band.

(Display example 1 of the mark)
FIG. 4 is a schematic view showing an example (display example 1) in which a single arrow 500a is displayed on the display panel 12 as the mark 500, and FIG. 4A shows a mode in which the arrow 500a is displayed corresponding to the dead zone, B) shows an aspect in which the arrow 500 a is not displayed corresponding to the sensitive band.
In the example illustrated in FIG. 4, the movement direction calculation unit 30 sets the movement direction of the hook 830 with respect to the horizontal plane as the first movement of the hook 830 with respect to the horizontal plane by the expansion and contraction operation of the boom 810 (for example, The second movement of the hook 830 with respect to the horizontal plane by the operation of the longitudinal direction (y direction) and the turning of the boom 810 (eg, the movement of the display panel 12 along the horizontal direction (x direction)) Divide into the direction of

  Then, the display control unit 11 performs vector addition of the first movement and the second movement input from the movement direction calculation unit 30 as the mark 500 for specifying the movement direction of the hook 830 to be displayed on the display panel 12. A single arrow 500a (an example of a single mark) is generated along the obtained direction.

  When the operation signal S is the operation signal of the dead zone according to the determination result input from the operation signal determination unit 50, the display control unit 11 generates a single generated signal as shown in FIG. 4 (A). An arrow 500 a is displayed on the display panel 12. When displaying a single arrow 500a on the display panel 12, the display control unit 11 controls the start point of the arrow 500a to correspond to the position of the image 830A of the hook 830 on the displayed image P. .

On the other hand, when the operation signal S is an operation signal in the sensitive band, as shown in FIG. 4B, the display control unit 11 does not display the arrow 500 a on the display panel 12.
When the hook 830 is moved by inputting an operation to the operation unit 820, the operation signal S of the dead zone is output from the operation unit 820, and then the operation signal S of the sensitive zone is output. Therefore, as shown in FIG. 4A, an arrow 500a specifying the moving direction of the hook 830 is displayed on the display panel 12 while the operation signal S in the dead zone is being output. Then, the operation signal S in the sensitive band is output beyond the dead zone, and when the hook 830 actually starts to move, the arrow 500a displayed on the display panel 12 disappears as shown in FIG. 4B.

  According to the image display device 100 configured in this manner, from the stage (the dead zone) before the hook 830 actually starts to move, an arrow representing the movement direction in which the hook 830 is about to move together with the image 830A of the hook 830 500 a is displayed on the display panel 12. Therefore, according to the image display apparatus 100 of the present embodiment, by making the operator visually recognize the arrow 500 a displayed on the display panel 12, the operator can instantly recognize the moving direction of the hook 830.

  Moreover, according to the image display device 100 of the present embodiment, by indicating the moving direction of the hook 830 with a single arrow 500a, of the three operations of the expansion and contraction of the boom 810, the undulation of the boom 810 and the swing of the boom 810. Even when at least two operations are being performed simultaneously (combined operation is performed), the movement direction of the display panel 12 on the two-dimensional plane is set corresponding to the movement direction of the hook 830 with respect to the horizontal plane. , Can be intuitively recognized by the operator.

Furthermore, according to the image display device 100 of the present embodiment, when the operation input to the operation unit 820 is switched from the dead zone to the sensitive zone, the display of the arrow 500a disappears, and the display mode changes. This enables the operator to recognize that the hook 830 actually starts moving at that timing. Moreover, since the hook 830 actually starts to move and the mark 500 is not displayed, the background image of the moving destination of the hook 830 is not blocked by the mark 500.
The display control unit 11 causes the display panel 12 to display the arrow 500a when the operation signal S is the operation signal of the insensitive band when the operation signal S is the operation signal of the insensitive zone. The display mode may be made different.

  Further, in the case where the operation signal S acquired by the operation signal acquisition unit 20 is an operation signal corresponding to a combined operation for extending and retracting the boom 810 and raising and lowering the boom 810, the radius of the hook 830 with respect to the pivot center in the horizontal plane is When changing due to this combined operation, even after the hook 830 actually starts moving, the display control unit 11 causes the display panel 12 to display the mark 500 for identifying the moving direction of the hook 830 without hiding it. You may control.

When the operator inputs an operation to the operation unit 820 so as to perform a complex operation, the operator may not intuitively recognize the correspondence between the content being operated and the actual movement of the hook 830. There is. Then, in the case of a combined operation in which the radius of pivoting of the hook 830 changes, the operator can display on the display panel 12 a mark 500 identifying the moving direction of the hook 830 even after the hook 830 actually starts moving. On the other hand, attention can be drawn to the positional relationship between the hook 830 and the surroundings.
Even in this case, when the radius with respect to the pivot center of the hook 830 in the horizontal plane does not change due to this combined operation, after the hook 830 actually starts to move, the display control unit 11 determines the moving direction of the hook 830 Control is made to hide the identification mark 500.

(Display example 2 of the mark)
The display example 1 of FIG. 4 is an aspect in which the mark 500 continuously displayed during the operation period corresponding to the dead zone is not displayed at the timing when the operation corresponding to the sensitive band is switched. However, the image display apparatus according to the present invention is not limited to the one that switches display and non-display, as long as the display mode of the mark 500 is changed by switching the operation from the dead zone to the sensitive zone.

FIG. 5 is a schematic view showing an example (display example 2) in which a single arrow 500a is displayed on the display panel 12 as the mark 500, and (A) blinks the arrow 500a corresponding to the dead zone and displays The aspect (B) shows the aspect of the display which lighted the arrow 500a continuously corresponding to the sensitive zone, respectively.
The display control unit 11 displays the mark 500 on the display panel 12 as shown in FIG. 5A, for example, during the operation period corresponding to the insensitive band (during the period when the operation signal S of the insensitive band is output). During the operation corresponding to the sensitive band (during the period when the operation signal S of the sensitive band is output), the mark 500 is continuously displayed on the display panel 12 as shown in FIG. 5B. You may make it display by lighting.

The display example 2 of the mark 500 also makes it possible for the operator to recognize that the hook 830 has actually started to move by changing from the blinking display of the mark 500 to the display of continuous lighting. When the mark 500 is displayed blinking, the operator is made aware that it is before the hook 830 actually starts to move, and when the mark 500 is displayed continuously lit. , Makes the operator aware that the hook 830 has actually started to move.
Therefore, the display mode of the mark 500 is adapted to the operator's consciousness, and the operator can easily intuitively recognize the correspondence between the display mode and the presence or absence of the movement of the hook 830.

(Display example 3 of the mark)
FIG. 6 is a schematic view showing an example (display example 3) in which a single arrow 500a is displayed on the display panel 12 as the mark 500, and (A) shows the arrow 500a in dark color corresponding to the dead zone. A mode (B) shows a mode which displayed arrow 500a with other colors (or light color) corresponding to a sensitive zone, respectively.

The display control unit 11 displays the mark 500 on the display panel 12 as shown in FIG. 6A, for example, during the period of the operation corresponding to the dead zone (during the period when the operation signal S of the dead zone is output). During the operation corresponding to the sensitive band (during an operation signal S of the sensitive band being output), the mark 500 is displayed on the display panel 12 as shown in FIG. 6B. It may be displayed in color (or light color).
Such a display example 3 of the mark 500 also allows the operator to recognize that the hook 830 has actually started to move due to the change in the color displayed by the mark 500.

(Display example 4 of the mark)
In each of the display examples 1 to 3 of the mark 500 described above, a single arrow 500a is applied as the mark 500 for identifying the moving direction of the hook 830, but the image display device according to the present invention It is not limited to one arrow 500a.
FIG. 7 is a schematic view showing an example in which a triangular mark 500b directed to the first quadrant from the origin of the xy coordinate system is displayed on the display panel 12 instead of the mark 500 as a single arrow 500a. Arrow 500a shown in display examples 1 to 3 is an arrow directed to a single direction obtained by vector addition of the first movement and the second movement of the hook 830.

However, from the viewpoint of making the operator instantly recognize the movement direction of the hook 830 by a single mark (not limited to the arrow 500 a), the single mark accurately indicates the movement direction of the hook 830. Often not required. That is, when the operator is made to instantly recognize the moving direction of the hook 830, it is often sufficient to display a mark specifying the rough moving direction of the hook 830.
In particular, in the operation in the dead zone before the hook 830 actually starts to move, the display of the mark is an announcement of the movement of the hook 830 in the subsequent sensitive band, so the movement direction specified by the mark is extremely accurate Not required until.

  Therefore, the display control unit 11 determines the direction of the first movement of the hook 830 (the positive direction or the negative direction of the y direction) and the second direction of the movement (the positive direction of the x direction). The movement direction is from the origin of the xy coordinate system to the first quadrant or to the second quadrant, Identify which side is pointing in the quadrant or in the fourth quadrant.

  Specifically, when the direction of the first movement is positive and the direction of the second movement is positive, the display control unit 11 determines that the movement direction is in the first quadrant, and the first movement If the direction of the movement is positive and the direction of the second movement is negative, the movement direction is identified as pointing to the second quadrant, and the direction of the first movement is negative and the direction of the second movement is positive Specifies that the direction of movement points to the fourth quadrant, and specifies that the direction of movement points to the third quadrant if the direction of the first movement is negative and the direction of the second movement is negative .

  Then, the display control unit 11 generates, as a single mark, a triangular mark 500b whose apex is directed to the identified quadrant as shown in FIG. 6 instead of the arrow 500a. In FIG. 6, since the identified quadrant is the first quadrant, a triangular mark 500b whose apex is directed to the first quadrant is displayed.

  The direction of the apex of the triangular mark 500b directed to the first quadrant is the direction of an angle of 45 degrees counterclockwise from the origin with respect to the x direction, and the triangular mark 500b directed to the second quadrant The direction of the vertex of is an angle direction of 135 degrees counterclockwise from the origin relative to the x direction, and the direction of the vertex of the triangular mark 500b directed to the first quadrant is relative to the x direction from the origin And the direction of the apex of the triangular mark 500b directed to the first quadrant is an angle of 315.degree. Counterclockwise from the origin with respect to the x direction. It is a direction.

According to the image display device 100 configured in this manner, the rough movement direction of the hook 830 is the first quadrant in the xy coordinate system with the image 830A of the hook 830 as the origin according to the direction of the apex of the triangular mark 500b. The second quadrant, the third quadrant, or the fourth quadrant can be identified, and the operator can instantly recognize the moving direction of the hook 830.
Then, in the image display device 100, the display control unit 11 changes the display mode by displaying / non-displaying, switching the display mode by blinking / continuous lighting, or changing the color of the triangle mark 500b. Switch the display mode.

(Display example 5 of the mark)
FIG. 8 shows the mark 500, an arrow 500y (an example of a first mark) along the vertical direction y of the display panel 12, and an arrow 500x (an example of a second mark) along the horizontal direction x of the display panel 12. It is a schematic diagram which shows the example (display example 5) displayed on the display panel 12 by two components of.
In the example shown in FIG. 8, the movement direction calculation unit 30 does not have to actually expand or contract the moving direction of the hook 830 with respect to the horizontal surface because of the expansion and contraction of the boom 810 (because of the dead zone). The same as the operation of the first movement of the hook 830 with respect to the horizontal plane by the operation of the same), and the operation of the pivot of the boom 810 (the operation may not actually be pivoted due to the dead zone. The same shall apply hereinafter). , The direction of the second movement of the hook 830 with respect to the horizontal plane.

  Then, the display control unit 11 displays the image 830A of the hook 830 displayed on the display panel 12 as the mark 500 displayed on the display panel 12 based on the first movement direction input from the movement direction calculation unit 30. Based on the arrow 500 y (first mark) along the corresponding first movement direction (longitudinal direction y of the display panel 12) and the direction of the second movement input from the movement direction calculation unit 30, display An arrow 500x (second mark) along a second movement direction (horizontal direction x of the display panel 12) corresponding to the image 830A of the hook 830 displayed on the panel 12 is generated.

At this time, the display control unit 11 generates the arrows 500 y and 500 x by associating the start points of the two arrows 500 y and 500 x with the position of the image 830 A of the hook 830 in the image P displayed on the display panel 12. The display panel 12 displays two arrows 500x and 500y as the mark 500 specifying the moving direction of the hook 830, and the respective start points of the arrows 500x and 500y correspond to the image 830A of the hook 830.
Then, in the image display apparatus 100, the display control unit 11 changes the display mode by displaying / non-displaying the two arrows 500x and 500y, switches the display mode by blinking / continuous lighting, changes the color And change the display mode.

  The position of the image 830A of the hook 830 on the image P displayed on the display panel 12 may be determined by the display control unit 11 through image processing such as pattern matching, or the display control unit 11 may be configured to The display control unit 11 may obtain information based on the length and the ups and down angles and the feed length (the driving state of the winch motor) of the wire rope 840 on which the hook 830 is hung.

  According to the image display device 100 configured in this manner, when an operation is input to the operation unit 820, the hook 830 will be moved together with the image 830A of the hook 830 from the stage before the hook 830 actually starts to move. Arrows 500 y and 500 x indicating the moving direction are displayed on the display panel 12.

Therefore, according to the image display device 100 of the present embodiment, by indicating the moving direction of the hook 830 with the arrows 500x and 500y corresponding to the components in two directions, at least one operation of the expansion and contraction and the ups and downs of the boom 810 The operator can be made to recognize whether the operation of turning the boom 810 is being performed simultaneously (the combined operation is being performed).
As for the arrow 500y, in the case where the single operation of the expansion and contraction of the boom 810 or the single operation of the unevenness is performed, the expansion and contraction operation of the boom 810 is simultaneously performed (the combined operation is performed), and the turning is performed. It will be displayed when the working radius of the hook 830 from the center changes.

(Display example 6 of the mark)
FIG. 9 is a schematic view showing an example (display example 6) in which a single arrow 500c representing a virtual locus line as the mark 500 is displayed on the display panel 12. As shown in FIG. In the example illustrated in FIG. 9, the movement direction calculation unit 30 sets the movement direction of the hook 830 with respect to the horizontal plane, the first movement direction of the hook 830 with respect to the horizontal plane by the expansion and contraction operation of the boom 810, and It divides into the direction of the 2nd movement of hook 830 to the level surface by the operation of turning.

  Then, the display control unit 11 combines the linear trajectory of the first movement input from the movement direction calculation unit 30 with the arc-shaped trajectory of the second movement as the mark 500 displayed on the display panel 12. An arrow 500c representing a single virtual trajectory is generated.

  At this time, the display control unit 11 generates the arrow 500 c by correlating the start point of the arrow 500 c representing a single virtual locus line with the position of the image 830 A of the hook 830 on the image P displayed on the display panel 12. Do. In addition, when the determination result that the operation signal S is the operation signal corresponding to the sensitive band is input from the operation signal determination unit 50, the display control unit 11 causes the display panel 12 to display the generated arrow 500c. Control.

On the other hand, when the determination result that the operation signal S is the operation signal corresponding to the dead zone is input from the operation signal determination unit 50, the display control unit 11 displays so as to hide the generated arrow 500c. Control the panel 12;
According to the image display device 100 configured as described above, in the operation of the sensitive band, the movement of the hook 830 when the movement actually starts, the display panel 12 with the arrow 500 c of the virtual locus line in which the movement direction changes temporally. By displaying on the screen, the operator can easily predict the arrival position of the hook 830.

  If the display control unit 11 does not display the mark 500 for identifying the moving direction of the hook 830 by the operation of the insensitive zone, the hook 830 is switched to the operation in the sensitive band during the operation of the insensitive zone. There will be no indication of the direction of movement. Therefore, during the operation of the insensitive zone, the display control unit 11 does not display the arrow 500 c as non-display, but instead uses the mark 500 of a display mode different from the arrow 500 c (for example, the triangular mark shown in FIG. It is preferable to generate 500b etc.) and display the generated mark 500.

  In this case, when the insensitive zone is operated, the mark 500 in a mode different from the arrow 500c displayed in the operation of the sensitive zone is displayed. Therefore, when the operation in the insensitive zone is switched to the operation in the insensitive zone. The movement direction of the hook 830 can be notified to the operator. Furthermore, the operator can be made aware that the operation of the insensitive band is switched to the operation of the sensitive band.

(Display example 7 of the mark)
FIG. 10 shows an example in which, in addition to the single arrow 500a shown in FIG. 4 as the mark 500, the display panel 12 displays an arrow 500z along the direction of movement of the hook 830 with respect to the horizontal surface by the elevation operation of the hook 830. It is a schematic diagram which shows (the display example 7). In the example shown in FIG. 10, the movement direction calculation unit 30 sets the movement direction of the hook 830 with respect to the horizontal plane, the first movement direction of the hook 830 with respect to the horizontal plane by the expansion and contraction operation of the boom 810, and The direction of the second movement of the hook 830 with respect to the horizontal plane by the turning operation and the direction of the third movement of the hook 830 with respect to the horizontal plane by the raising and lowering operation of the hook 830 are divided.

  Then, the display control unit 11 vector-adds the first movement and the second movement input from the movement direction calculation unit 30, and generates a single arrow 500a. The display control unit 11 also generates an arrow 500z along the image 840A of the wire rope 840 displayed on the display panel 12 based on the third movement input from the movement direction calculation unit 30.

At this time, the display control unit 11 generates the arrows 500 a and 500 z by making each start point of the arrows 500 a and 500 z correspond to the position of the image 830 A of the hook 830 on the image P displayed on the display panel 12. In addition, when the determination result that the operation signal S is the operation signal corresponding to the sensitive band is input from the operation signal determination unit 50, the display control unit 11 displays the generated arrows 500a and 500z on the display panel 12. Control to make it
On the other hand, when the determination result that the operation signal S is the operation signal corresponding to the dead zone is input from the operation signal determination unit 50, the display control unit 11 does not display the generated arrows 500a and 500z. Control the display panel 12.

  According to the image display device 100 configured as described above, at least two operations among the three operations of the expansion and contraction, the ups and downs, and the turning of the boom 810 are performed at the same time (the combined operation is performed). Even these movements are indicated by a single arrow 500a. Therefore, even when the combined operation of the boom 810 is performed, the operator can intuitively recognize the moving direction of the display panel 12 on the two-dimensional plane.

Further, according to the image display device 100 of this display example 7, in the operation of the sensitive zone, the movement of the hook 830 corresponding to the expansion, the tilting and the turning of the boom 810 is indicated by the single arrow 500 a. Elevation is indicated by another arrow 500z. Therefore, when the hook 830 actually starts to move, the three-dimensional movement of the hook 830 is divided into the movement of the hook 830 in accordance with the movement of the boom 810 and the movement in the vertical direction by the elevation of the hook 830. Can be recognized.
The display control unit 11 adds vectors of the first movement, the second movement, and the third movement input from the movement direction calculation unit 30 into a single mark 500 (arrow 500 a and arrow 500 z The mark obtained by vector addition may be generated, and the single mark may be displayed on the display panel.

  In the display example 7 as well as the display example 6, the display control unit 11 does not display the mark 500 for specifying the moving direction of the hook 830 by the operation of the dead zone. For this reason, during the operation of the dead zone, no notice of the moving direction of the hook 830 when switching to the operation in the sensitive band is indicated. Therefore, the display control unit 11 does not hide the arrows 500a and 500z during the operation of the insensitive zone, and instead uses the mark 500 different from the arrows 500a and 500z (for example, as shown in FIG. 5A). It is preferable to generate the indicated flashing arrow 500a etc. and to display the generated indicia 500.

  In this case, since the mark 500 of an aspect different from the arrows 500a and 500z displayed in the operation of the sensitive band is displayed in the operation of the insensitive band, switching to the operation in the sensitive band is performed during the operation of the insensitive band. The operator can be informed of the direction of movement of the hook 830 when the user moves. Furthermore, the operator can be made aware that the operation of the insensitive band is switched to the operation of the sensitive band.

DESCRIPTION OF SYMBOLS 10 display part 11 display control part 12 display panel 20 operation signal acquisition part 30 movement direction calculation part 50 operation signal determination part 100 image display apparatus 300 monitoring camera 800 crane 810 boom 820 operation part 830 hook 840 wire rope

Claims (10)

A display unit for displaying an image captured by a camera provided on a boom of a crane and including a hook suspended from the boom by a wire rope;
An operation signal acquisition unit that acquires an operation signal output by an operation input to an operation unit that moves the hook;
A movement direction setting unit which obtains the movement direction of the hook with respect to the horizontal surface based on the operation signal acquired by the operation signal acquisition unit by the operation input to the operation unit;
And an operation signal determination unit that determines whether the operation signal acquired by the operation signal acquisition unit is an operation signal that actually moves the hook.
The display unit displays, together with an image of the hook, a mark that specifies the moving direction of the hook obtained by the moving direction setting unit, and the display unit displays the mark according to the result of the determination by the operation signal determination unit. Change the display mode of the mark ,
The display unit displays a mark specifying the moving direction when the operation signal is not an operation signal for actually moving the hook, and when the operation signal is an operation signal for actually moving the hook, the display unit images display device that does not display the indicia to identify the movement direction. When the operation signal acquired by the operation signal acquisition unit is an operation signal corresponding to a combined operation of extending and retracting the boom and raising and lowering the boom:
When the radius with respect to the pivot center of the hook in the horizontal plane changes due to the combined operation, the display unit displays a mark that specifies the moving direction of the hook along the direction of the radius; The image display apparatus according to claim 1 , wherein the display unit does not display a mark that specifies the moving direction of the hook along the radius direction when the radius with respect to the pivot center of the hook does not change due to the combined operation. . When the operation signal is an operation signal of combined operation of movement corresponding to expansion and contraction of the boom and movement corresponding to swing of the boom, and the operation signal is not an operation signal for actually moving the hook The display unit performs vector addition of a first movement of the hook with respect to the horizontal surface by an operation of extension and contraction of the boom and a second movement of the hook with respect to the horizontal surface by an operation of a pivot of the boom. a single mark along the obtained direction, the image display apparatus according to claim 1 or 2 to display as a sign for identifying the direction of movement. When the operation signal is not an operation signal for actually moving the hook, the display unit is a first mark along the direction of the first movement of the hook with respect to the horizontal surface by the expansion and contraction operation of the boom. When, by the operation of the turning of the boom, and a second indicia along the direction of the second movement of the hook that is displayed on the display unit, according to claim 1 for displaying a mark for specifying the moving direction or The image display apparatus as described in 2 . A display unit for displaying an image captured by a camera provided on a boom of a crane and including a hook suspended from the boom by a wire rope;
An operation signal acquisition unit that acquires an operation signal output by an operation input to an operation unit that moves the hook;
A movement direction setting unit which obtains the movement direction of the hook with respect to the horizontal surface based on the operation signal acquired by the operation signal acquisition unit by the operation input to the operation unit;
And an operation signal determination unit that determines whether the operation signal acquired by the operation signal acquisition unit is an operation signal that actually moves the hook.
The display unit displays, together with an image of the hook, a mark that specifies the moving direction of the hook obtained by the moving direction setting unit, and the display unit displays the mark according to the result of the determination by the operation signal determination unit. Change the display mode of the mark ,
When the operation signal is an operation signal of combined operation of movement corresponding to expansion and contraction of the boom and movement corresponding to swing of the boom, and the operation signal is not an operation signal for actually moving the hook The display unit performs vector addition of a first movement of the hook with respect to the horizontal surface by an operation of extension and contraction of the boom and a second movement of the hook with respect to the horizontal surface by an operation of a pivot of the boom. a single mark along the obtained direction, the image display device that displays as a sign for identifying the direction of movement. A display unit for displaying an image captured by a camera provided on a boom of a crane and including a hook suspended from the boom by a wire rope;
An operation signal acquisition unit that acquires an operation signal output by an operation input to an operation unit that moves the hook;
A movement direction setting unit which obtains the movement direction of the hook with respect to the horizontal surface based on the operation signal acquired by the operation signal acquisition unit by the operation input to the operation unit;
And an operation signal determination unit that determines whether the operation signal acquired by the operation signal acquisition unit is an operation signal that actually moves the hook.
The display unit displays, together with an image of the hook, a mark that specifies the moving direction of the hook obtained by the moving direction setting unit, and the display unit displays the mark according to the result of the determination by the operation signal determination unit. Change the display mode of the mark ,
When the operation signal is not an operation signal for actually moving the hook, the display unit is a first mark along the direction of the first movement of the hook with respect to the horizontal surface by the expansion and contraction operation of the boom. And a second mark along the direction of the second movement of the hook displayed on the display unit by the operation of turning of the boom, as an image display specifying the movement direction . The image display according to claim 5 or 6, wherein the display unit makes the display color of the mark specifying the moving direction different according to whether the operation signal is an operation signal for actually moving the hook. apparatus. When the operation signal is not an operation signal for actually moving the hook, the display unit blinks and displays a mark specifying the movement direction, and the operation signal is an operation signal for actually moving the hook The image display apparatus according to claim 5 or 6 , wherein the mark specifying the movement direction is displayed by continuous lighting. When the display unit is an operation signal for actually moving the hook, the display unit performs a first movement of the hook with respect to the horizontal surface and an operation of swinging the boom by the expansion and contraction operation of the boom. in accordance, the second single mark and the along the direction obtained by vector addition the movement of the hook relative to the horizontal plane, either one of claims 5 to 8 to be displayed as indicia identifying the direction of movement The image display device according to item 1. When the display unit is an operation signal for actually moving the hook, a linear trajectory of the first movement of the hook with respect to the horizontal surface by the expansion and contraction operation of the boom, and claim by the operation of the boom of the swing, a single virtual trajectory curve obtained by combining the arcuate trajectory of the second movement of the hook relative to the horizontal plane is displayed as a sign for identifying the movement direction 5 8. The image display device according to any one of to 8 .