JP6551639B1 - Camera device, suspended load monitoring system, and work machine - Google Patents

Abstract

The camera device is a camera device that is fixed to the tip of the boom of the crane, and in the state fixed to the tip of the boom, vertically below the tip of the boom in the full range of angles at which the boom can be raised and lowered. An image capturing unit capable of capturing the image, an image extracting unit that extracts second image data of a predetermined region including a crane hook from the first image data captured by the image capturing unit, and the extracted second image data A transmission unit for transmitting to the network.

Description

  The present invention relates to a camera device, a suspended load monitoring system, and a work machine.

  Patent Document 1 discloses a crane having a downward camera at the tip of a boom. Such a crane captures an image of the lower end of the boom (a hook, a surface on which a load is arranged, such as the ground) by means of a camera. And the operation of the boom is assisted by displaying the image photographed by the camera on the monitor.

  In the case of the crane disclosed in Patent Document 1, the camera needs to be downward. Since the boom undulates by rotating around the base end portion, when the camera is fixed to the boom, the orientation of the camera depends on the change in the boom tilt angle based on the boom undulation, It deviates from the downward direction.

  Therefore, in the case of the crane disclosed in Patent Document 1, the camera is supported by the boom so as to be rotatable about an axis parallel to the rotation axis of the boom. Specifically, a motor that rotates the camera around the support shaft is provided so that the camera is always directed downward even when the boom is tilted, or a structure such as a gimbal mechanism that is always directed downward by the weight of the camera is provided. doing.

JP 2013-142037 A

  However, in the camera device provided in the crane disclosed in Patent Document 1, a mechanical movable part such as a mechanism that always keeps the camera downward tends to cause a failure. In addition, such mechanical movable parts increase the amount of projection of the camera from the boom or increase the number of parts.

  An object of the present invention is to provide a camera device, a suspended load monitoring system, and a work machine that do not require a mechanical movable part for changing the direction of the camera with respect to the boom.

  One aspect of the camera device according to the present invention is a camera device fixed to the tip of a boom of a crane, and in a state of being fixed to the tip of the boom, the boom can cover the entire range of angles at which the boom can be raised and lowered. And an image extracting unit for extracting second image data of a predetermined area including a hook of a crane from the imaging unit capable of imaging the lower portion in the vertical direction of the front end portion of the tip and the first image data imaged by the imaging unit A transmission unit that transmits the second image data to the outside.

  One aspect of the suspended load monitoring system according to the present invention is a display unit for displaying the above-described camera device, a receiving unit for receiving the second image data transmitted from the transmitting unit, and the second image data received by the receiving unit. And.

  One aspect of the working machine according to the present invention is equipped with the above-described suspended load monitoring system.

  ADVANTAGE OF THE INVENTION According to this invention, the camera apparatus which does not require the mechanical movable part for changing direction of a camera with respect to a boom, a suspended load monitoring system, and a working machine can be provided.

FIG. 1 is a side view showing a rough terrain crane as an embodiment of a working machine provided with a suspended load monitoring system including a camera device according to the present invention. FIG. 2 is a block diagram showing a configuration of the suspended load monitoring system shown in FIG. FIG. 3 is a schematic view showing the boom in the most collapsed state. FIG. 4 is a schematic view showing the range of an image captured by the camera in the relief state corresponding to FIG. 3 and the range of the extracted image. FIG. 5 is a schematic view showing a roughly middle relief state in which the boom is in the most collapsed state and in the most upright state. FIG. 6 is a schematic view showing the range of an image captured by the camera in the relief state corresponding to FIG. 5 and the range of the extracted image. FIG. 7 is a schematic view showing a state in which the boom is most upright. FIG. 8 is a schematic view showing the range of an image captured by the camera in the relief state corresponding to FIG. 7 and the range of the extracted image. FIG. 9 is a schematic view showing a state in which the extension length of the wire rope is longer than the extension length shown in FIG. 5 when the boom is in the up and down state shown in FIG. FIG. 10 is a schematic view showing the range of an image captured by the camera in the relief state corresponding to FIG. 9 and the range of the extracted image.

  Hereinafter, embodiments of a camera device, a suspended load monitoring system, and a working machine according to the present invention will be described.

<Structure of Rough Terrain Crane>
FIG. 1 is a side view showing a camera device 10, a suspended load monitoring system 40, and a rough terrain crane 100 according to an embodiment of the present invention. The rough terrain crane 100 corresponds to an example of a working machine. Moreover, FIG. 2 is a block diagram which shows the structure of the suspended load monitoring system 40 shown in FIG.

  The illustrated rough terrain crane 100 includes a traveling body 50, a swing body 60, and a boom 70, as shown in FIG. The traveling body 50 includes a traveling device, an outrigger, and the like for traveling the road and the work site by itself. The revolving unit 60 is provided above the traveling unit 50, and is rotatable (pivotable) about the vertical axis C1 with respect to the traveling unit 50. The swivel body 60 includes a cabin 61 on which a user rides.

  The cabin 61 includes a device for performing a driving operation for moving the traveling body 50 and moving the rough terrain crane 100. The rough terrain crane 100 further includes an operation device or the like for operating the operation of the boom 70 in the cabin 61. As an example, the operator can operate the telescopic operation, the hoisting operation, and the turning operation of the boom 70 by the operating device in the cabin 61.

  A base end portion of the boom 70 is supported by the revolving body 60 via an axis C2 (foot pin). Such a boom 70 is rotatable with respect to the swing body 60 with the axis C2 as a rotation center. Each of the base boom 71 of the boom 70 and the revolving unit 60 is connected to an undulating cylinder 81 that is hydraulically expanded and contracted. The boom 70 rotates around the axis C <b> 2 based on the expansion and contraction of the hoisting cylinder 81.

  FIG. 3 is a schematic view showing the boom 70 in the most collapsed state (also referred to as the first state of the boom). FIG. 4 is a schematic view showing the range of an image taken by the camera 11 and the range of the image to be extracted in the relief state (that is, the first state of the boom) corresponding to FIG. FIG. 5 also refers to a roughly middle relief state (also referred to as a boom third state) in which the boom 70 is in the most collapsed state (that is, the first state of the boom) and in the most upright state (also referred to as the second state of the boom). ). FIG. 6 is a schematic view showing the range of an image taken by the camera 11 and the range of the extracted image in the relief state (that is, the third state of the boom) corresponding to FIG. FIG. 7 is a schematic diagram showing a state where the boom 70 stands up most (that is, the second state of the boom). FIG. 8 is a schematic view showing the range of an image taken by the camera 11 and the range of the extracted image in the relief state (that is, the second state of the boom) corresponding to FIG. 7.

  For example, the boom 70 changes from a first state shown in FIG. 3 (state of undulation angle θ1 relative to the horizontal plane P1) to a second state shown in FIG. 7 (undulation angle θ3 (<90 [°]) relative to the horizontal plane P1). The undulation is made with respect to the revolving structure 60 in the angle range of the state. The elevation angle θ1 and the elevation angle θ3 may be regarded as an angle formed by the central axis Lb of the boom 70 and the horizontal plane P1.

  The boom 70 may include one or more intermediate booms 72 between the proximal base boom 71 and the distal top boom 76. The base boom 71, the middle boom 72, and the top boom 76 are combined in an expandable and telescopic manner. The intermediate boom 72 is stored inside the base boom 71 along the direction of the central axis Lb of the boom 70 (also referred to as the axial direction of the boom 70) in the contracted state of the boom.

  In addition, the top boom 76 is stored inside the intermediate boom 72 along the axial direction of the boom 70 in the contracted state of the boom. The boom 70 is extended by the top boom 76 and / or the middle boom 72 projecting axially from the distal end side of the base boom 71. When the top boom 76 and the intermediate boom 72 are stored in the base boom 71, the boom 70 contracts.

  A sheave 79 is provided to a boom head 78 provided at the tip of the top boom 76. A winch (not shown) is provided near the base end portion of the boom 70 in the revolving structure 60. A wire rope 82 for suspension load is wound around the winch. The wire rope 82 is routed from the winch to the sheave 79 along the axial direction of the boom 70. A portion of the wire rope 82 that is closer to the tip than the portion that is hung around the sheave 79 is suspended from the sheave 79 in the vertical direction. A hook block 84 is provided at the tip (also referred to as the lowermost part) of the wire rope 82.

  The suspended load is suspended by a hook 83 provided on the hook block 84. The hook 83 is lowered by unwinding the wire rope 82 wound around the winch. Also, the hook 83 is lifted by winding the wire rope 82 in a winch.

  In crane operation, the hoisting and hanging of the wire rope 82 by the winch, the ups and downs and expansion and contraction of the boom 70, and the pivoting of the revolving unit 60 move the suspended load suspended on the hook 83 to a predetermined position.

<Configuration of load monitoring system>
The rough terrain crane 100 is provided with a suspended load monitoring system 40 that captures an image of the suspended load suspended from the hook 83 from above and allows the captured image to be viewed in the cabin 61. The suspended load monitoring system 40 includes a camera device 10, a display device 20, and a transmission line 30, as shown in FIG.

  The camera device 10 is provided on the boom head 78. The boom head 78 may be considered as an example of the tip of the boom. The display device 20 is provided in the cabin 61. The display device 20 may be regarded as an example of a display unit. The transmission line 30 is provided along the boom 70 and connects the camera device 10 and the display device 20. The transmission line 30 can change its length according to the expansion and contraction of the boom 70 (in other words, according to the change in the distance between the camera device 10 and the display device 20).

  The camera device 10 includes a camera 11, a camera control unit 12, and a first transmission unit 13. The camera 11 corresponds to an example of an imaging unit. The camera control unit 12 corresponds to an example of an image extraction unit and a control unit. The first transmission unit 13 corresponds to an example of a transmission unit.

  The camera 11, the camera control unit 12, and the first transmission unit 13 are integrally modularized. The camera 11 is a digital camera having an imaging element (image sensor) such as a CCD or CMOS and a lens (optical system). The lens may be a wide angle lens. The lens may be constituted by a single lens or may be constituted by a plurality of lenses. The light emitted from the subject passes through the lens of the camera 11 and forms an image on an imaging surface (for example, an image sensor) of the camera 11. Here, the optical axis of the camera device 10 may be regarded as a straight line passing the center of the lens of the camera 11 and perpendicular to the lens surface. The first direction of the optical axis indicated by the arrow P in FIGS. 3, 5 and 7 means the direction from the image plane to the lens. Hereinafter, the first direction of the optical axis is simply referred to as the direction of the optical axis P.

The camera 11 is in a posture in which the boom 70 faces downward in the vertical direction at _a predetermined undulation angle θa out of all the angular ranges in which the boom 70 can undulate (angle range from the undulation angle θ1 to the undulation angle θ3). It is fixed at 78. The state where the camera 11 faces downward in the vertical direction means a state where the direction of the optical axis P of the camera 11 faces downward in the vertical direction. Predetermined derricking angle theta _a, the optical axis P of the camera device 10 may be considered as a boom derricking angle of the state where the vertically oriented downward. Predetermined derricking angle theta _a, for example, be a substantially intermediate derricking angle θ2 shown in FIG. 5 (≒ (θ1 + θ3) / 2). The predetermined derricking angle theta _a is not limited to the derricking angle .theta.2. As an example, a predetermined derricking angle theta _a is larger than the relief angle .theta.2, derricking angle θ3 may be smaller derricking angle than (see FIG. 7). As an example, a predetermined derricking angle theta _a is smaller than the relief angle .theta.2, derricking angle θ1 may be larger derricking angle than (see FIG. 3).

  As shown in FIGS. 3, 5, and 7, the angle formed by the central axis Lb of the boom 70 and the optical axis P of the camera 11 is constant even when the undulation angle θ of the boom 70 changes. . Since the boom 70 is raised and lowered within the above-described angle range, the direction of the optical axis P of the camera 11 fixed to the boom head 78 changes according to the raising and lowering angle of the boom 70. That is, in the first state (the undulation angle θ1) of the boom 70 shown in FIG. 3, the direction of the optical axis P is a direction that is biased toward the side closer to the boom 70 than below the vertical direction. On the other hand, in the second state (undulation angle θ3) of the boom 70 shown in FIG. 7, the direction of the optical axis P is a direction that is biased toward the far side from the boom 70 rather than the lower side in the vertical direction. As described above, the direction of the optical axis P of the camera 11 is not always directed downward. In other words, the direction of the optical axis P of the camera 11 changes with a change in the undulation angle θ of the boom 70.

  However, the wide-angle lens of the camera 11 is a wide-angle lens in which the vertical direction below the tip of the boom 70 is imaged on the imaging device in all angular ranges (range from the relief angle θ1 to the relief angle θ3) where the boom 70 can be undulated. It has an angle of view α. In other words, the wide-angle lens of the camera 11 connects a predetermined region including the hook 83 vertically suspended by the wire rope 82 from the sheave 79 to the imaging element in all angular ranges in which the boom 70 can move up and down. It has a wide angle of view α to be imaged.

  Note that the image sensor of the camera 11 has a size L0 corresponding to the angle of view α for the undulating direction of the boom 70 and the angle of view for the turning direction of the boom 70, as can be seen from the image G1 shown in FIG. It is formed with a size K0 (K0 <L0) corresponding to an angle of view smaller than α. In other words, the camera 11 has a size L0 in the lateral direction (also referred to as a first direction) corresponding to the undulation direction of the boom 70 and a vertical direction (also referred to as a second direction) corresponding to the turning direction of the boom 70. Image data having a size K0 (K0 <L0) (also referred to as first image data) can be generated. In the image G1 shown in FIG. 4, the vertical direction may be the first direction and the horizontal direction may be the second direction. Since the size of the image sensor depends on the number of pixels of the image sensor, the number of pixels corresponding to the undulation direction is larger than the number of pixels corresponding to the turning direction.

  In this manner, the camera 11 can include in its imaging range a load suspended on the hook 83 disposed below the sheave 79 in the vertical direction in the entire angular range in which the boom 70 can be raised and lowered. The predetermined region may be, for example, a region including a portion of the suspended load suspended from the hook 83 and a periphery at least in the vicinity of the portion of the suspended load (such as a ground on which the suspended load is raised or lowered).

  For example, FIG. 4 shows an image G <b> 1 captured by the camera 11 in the first state (see FIG. 3) at the undulation angle θ <b> 1 where the boom 70 is most inclined. In the image G1, the angle of view α of the camera 11 in the undulation direction of the boom 70 (hereinafter simply referred to as the undulation direction) corresponds to the horizontal size L0 of the image G1.

  The horizontal direction of the image G1 may be regarded as corresponding to the undulation direction of the boom 70. Of the angle of view α in the up and down direction shown in FIG. 3, the end closest to the boom 70 corresponds to the first end of the angle of view α in the up and down direction. On the other hand, the end edge farthest from the boom 70 among the angle of view α in the undulating direction shown in FIG. 3 corresponds to the second end of the angle of view α in the undulating direction. The first end (left end in FIG. 4) in the image G1 corresponds to the first end of the angle of view α.

  In the image G1, the second end (the right end in FIG. 4) corresponds to the second end of the angle of view α. In the image G1, the image of the hook 83 is formed so as to be biased to the second end portion (the range L1 of the image G1) of the image G1.

  In the image G1, a predetermined area including at least the hook 83 may be the first area. The first area may be an area including at least the hook 83 and the whole of the hanging load suspended by the hook 83 in the image G1. The first region may include a wire rope 82.

  The first region may be a region defined by a horizontal range L1 of the image G1 and a vertical size K0. The range L1 is a range between the second end and a position (also referred to as a first position) separated from the second end by a predetermined distance in the horizontal direction of the image G1. The camera control unit 12 preferably determines the first region in consideration of the range of the suspended load.

Further, the range L1 may correspond to the range A1 (see FIG. 3) at the angle of view α in the up and down direction. The range A1 is a range (including the second end) of θ _a (not shown, corresponding to the angle of the range A1) from the second end of the angle of view α. The θ _a may be, for example, 30 °.

  The range L1 is a range (angle of view) required for crane work. The range L1 is a range (angle of view) that should be determined by a range in which the suspended load sways and a range that an operator should know in order to move the suspended load. The worker may manually set the range L1 according to the work situation. Alternatively, the camera control unit 12 may automatically adjust the setting of the range L1 in accordance with the work situation. The camera control unit 12 may obtain information on the work status from the control unit (not shown) of the rough terrain crane 100. The information related to the work status may be, for example, information related to the swinging of the suspended load and / or information related to factors affecting the swinging of the suspended load (such as wind speed). Further, the information on the work situation may include information on the suspended load (such as the size of the suspended load).

  The image corresponding to the first area may be regarded as an image of high importance in crane operation. On the other hand, in the second region other than the first region in the image G1, an image other than the hook 83 separated upward from the hook 83 is formed. Therefore, the image corresponding to the second area in the image G1 may be regarded as an image of low importance in the crane operation.

  As an example, the second area may be regarded as an area not including the hook 83 and the wire rope 82 in the image G1. In the case where the image G1 includes a hanging load, the second area may be regarded as an area not including the hook 83, the wire rope 82, and the hanging load in the image G1.

  FIG. 8 shows an image G3 captured by the camera 11 in the second state (see FIG. 7) at the undulation angle θ3 where the boom 70 stands most. The relationship between the image G3 and the angle of view α in the undulating direction of the camera 11 is the same as the relationship between the image G1 and the angle of view α of the undulating direction of the camera 11.

  In the image G3, the image of the hook 83 is focused on a portion closer to the first end of the image G3 (range L3 of the image G3). In the image G3, a predetermined area including at least the hook 83 is defined as a first area. The first area may be an area including at least the hook 83 and the entire suspended load suspended by the hook 83 in the image G3. The first region may include a wire rope 82.

  The first region may be a region defined by the horizontal range L3 of the image G3 and the vertical size K0. The range L3 is a range between a first end (left end in FIG. 8) and a position (also referred to as a second position) separated from the first end by a predetermined distance in the horizontal direction of the image G3. The camera control unit 12 preferably determines the first region in consideration of the range of the suspended load.

Further, the range L3 may correspond to the range A2 (see FIG. 7) at the angle of view α in the up and down direction. The range A2 is a range (including the first end) of θ _b (not shown, corresponding to the angle of the range A2) from the first end of the angle of view α. θ _b may be, for example, 30 °.

  On the other hand, in the second region other than the first region in the image G3, an image other than the hook 83 separated upward from the hook 83 is formed. Therefore, the image corresponding to the second area in the image G3 may be regarded as an image of low importance in the crane operation.

  As an example, the second region may be regarded as a region that does not include the hook 83 and the wire rope 82 in the image G3. In the case where the image G3 includes a hanging load, the second area may be regarded as an area not including the hook 83, the wire rope 82, and the hanging load in the image G3.

  Moreover, FIG. 6 shows the image G2 which the camera 11 imaged in the 3rd state (refer FIG. 5) of relief angle (theta) 2 of the boom 70. As shown in FIG. The relationship between the image G2 and the angle of view α in the up and down direction of the camera 11 is the same as the relationship between the image G1 and the angle of view α in the up and down direction of the camera 11.

  In the image G2, the image of the hook 83 is imaged at the central portion (a range L2 of the image G2) of the image G2. In the image G2, a predetermined area including at least the hook 83 is defined as a first area. The first area may be an area including at least the hook 83 and the whole of the hanging load suspended by the hook 83 in the image G2.

  The first region may be a region defined by a horizontal range L2 of the image G2 and a vertical size K0. The range L2 may be a predetermined range including the central position of the image G2 in the lateral direction of the image G2. The camera control unit 12 preferably determines the first region in consideration of the range of the suspended load.

Further, the range L2 may correspond to the range A3 (see FIG. 5) at the angle of view α in the up and down direction. The range A3 may correspond to the range of θ _c (not shown, corresponding to the angle of the range A3) about the median of the angle of view α. The θ _c may be, for example, 30 °. An image corresponding to such a first area may be regarded as an image of high importance in crane operation.

  On the other hand, in the second area other than the first area in the image G2, an image other than the hook 83 separated from the hook 83 is formed. Therefore, the image corresponding to the second area in the image G2 may be regarded as an image of low importance in the crane operation.

  As an example, the second area may be regarded as an area not including the hook 83 and the wire rope 82 in the image G2. In the case where the image G2 includes a hanging load, the second area may be regarded as an area not including the hook 83, the wire rope 82, and the hanging load in the image G2.

  Of the wide-angle images (for example, the images G1, G2, and G3) captured by the camera 11, the camera control unit 12 corresponds to a part of the lower region (for example, the image) corresponding to the undulation angle of the boom 70. Only the first region of G1, G2, G3) is cut out (extracted). In addition, the camera control unit 12 performs image extraction and compresses data corresponding to the extracted image to reduce the data amount.

  Images taken by the camera 11 (for example, G1, G2, G3) correspond to an example of first image data. The image data extracted from the first image data by the camera control unit 12 corresponds to an example of second image data. The image data obtained by compressing the second image data by the camera control unit 12 corresponds to an example of third image data.

  The camera control unit 12 acquires the ascent and descent angle of the hook 83 from the overload prevention device or the like provided on the rough terrain crane 100 via the transmission line 30 and the first transmission unit 13. Further, a part of the region extracted by the camera control unit 12 is, for example, an image portion corresponding to the predetermined region described above.

  The camera control unit 12 excludes a portion of the image of low importance out of the size L0 in the up-and-down direction of the boom 70, and extracts only a part of the lower area including the hook 83. Specifically, the camera control unit 12 corresponds to the undulation state (undulation angle) in FIG. 3 and is indicated by a range L1 in FIG. 4 out of the size L0 of the image G1 (first image data) shown in FIG. To be extracted (second image data).

  Moreover, the camera control part 12 respond | corresponds to the undulation state (undulation angle) of FIG. 5, among the size L0 of the image G2 (1st image data) shown in FIG. 6, the part shown by the range L2 in FIG. (Second image data) is extracted. Furthermore, the camera control unit 12 corresponds to the undulation state (undulation angle) in FIG. 7 and is a portion (indicated by a range L3 in FIG. 8) of the size L0 of the image G3 (first image data) shown in FIG. (Second image data) is extracted.

  The camera control unit 12 determines at least one of the position, size, and range of the first region (second image data) in the first image data (images G1, G2, and G3) according to the undulation angle of the boom 70. It can be understood that one parameter is set.

  In the case of the present embodiment, the position of the first region in the first image data (images G1, G2, G3) is set to the second of the first image data (images G1, G2, G3) as the relief angle of the boom 70 becomes larger. It moves continuously from the end side toward the first end side (for example, from the right side to the left side in FIG. 4).

  That is, FIG. 3, FIG. 5, and FIG. 7 show images (images G1, G2, and G3) captured by the camera 11 at typical undulation angles in the undulation state of the boom 70. FIG. In the undulation angle between the undulation state of FIG. 5 and the undulation state of FIG. 5, the camera control unit 12 extracts the range between the extraction range of FIG. 4 and the extraction range of FIG. 6 corresponding to the undulation angle. You may Similarly, in the undulation angle between the undulation state of FIG. 7 and the undulation state of FIG. 5, the camera control unit 12 is between the extraction range of FIG. 8 and the extraction range of FIG. 6 corresponding to the undulation angle. You may extract the range of

  Regarding the size of the first region, the horizontal dimension and / or the vertical dimension of the range L1, the range L2, and the range L3 of the image extracted corresponding to the undulation angle of the boom 70 are the same. Alternatively, it may be changed according to the undulation angle of the boom 70 (also the inclination angle of the optical axis P with respect to the lower side in the vertical direction).

  As the wide-angle lens of the camera 11 moves away from the optical axis P (the inclination angle with respect to the optical axis P increases), the image formed on the image sensor is distorted, and the error between the subject and the image increases. For this reason, in order to reduce the sense of incongruity when the image is displayed on the monitor 21, the range L1 or L3 which is an image farther from the optical axis P is made smaller than the range L2 which is an image closer to the optical axis P. It is also good.

  The camera control unit 12 does not extract only a part of the image taken by the camera 11 with the turning direction of the boom 70 being the size K0. However, the camera control unit 12 may perform extraction so as to change the size of the boom 70 in the turning direction. In addition, as will be described later, the camera control unit 12 performs extraction so as to change the size of the boom 70 in the turning direction as well as the size of the boom 70 in the up-and-down direction corresponding to the feeding length of the wire rope 82. It is also good.

  Here, an example of a method for setting the range of the image to be extracted from the image captured by the camera 11 by the camera control unit 12 based on the delivery length L (m) of the wire rope 82 will be described. The camera control unit 12 sets Δα that satisfies Equation 1 below. Δα is an angle of view corresponding to a portion of the image angle α in the undulation direction of the camera 11 from which an image is to be extracted. In the following formula 1, L is a feeding length (m) of the wire rope 82. ΔS is a work range (m) that the operator wants to check during work. ΔS may be determined in consideration of the swing of the load and the like. As an example, when the suspended load swings by ± 2 (m), ΔS is an amount of 4 (m) or more.

  Δα [deg] = arctan (ΔS / L) (1)

The camera control unit 12 uses the portion of the angle of view α in the undulation direction of the camera 11 corresponding to the range of Δα centered on the hook 83 as second image data, and image data (first image data) captured by the camera 11. Extract from The angle of view α in the up-and-down direction of the camera 11 needs to satisfy the following equation (2). Theta ₇₀ is an angle at which the boom 70 can be raised and lowered.

α θ θ ₇₀ + ΔS (2)

  The first transmission unit 13 transmits data (third image data) of the image extracted and compressed by the camera control unit 12 to the second transmission unit 23 of the display device 20 through the transmission line 30. The image data transmitted from the first transmission unit 13 to the second transmission unit 23 through the transmission line 30 is not image data corresponding to the entire range of the wide-angle image captured by the camera 11 but is extracted by the camera control unit 12. This data corresponds to a part of the image. Such data is compressed, so the amount of data is smaller than the data of the image corresponding to the entire range of the wide-angle image.

  In the case of this embodiment, the size of the image data (second image data) extracted by the camera control unit 12 from the first image data (for example, the images G1, G2, and G3) does not matter regardless of the relief angle of the boom 70. It is constant. Therefore, the size of the third image data obtained by the camera control unit 12 compressing the second image data is also constant regardless of the undulation angle of the boom 70. However, the sizes of the second image data and the third image data may be changed according to the undulation angle of the boom 70.

  Therefore, when the first transmission unit 13 transmits the image data to the second transmission unit 23 through the transmission line 30, it requires transmission compared to the case of transmitting the image data corresponding to the entire range of the wide-angle image. Time (transmission time) can be shortened. Moreover, the load (transmission load) required for the transmission process can be reduced.

  The display device 20 includes a monitor 21 (display device), a display control unit 22, and a second transmission unit 23 (reception unit). The display control unit 22 develops data corresponding to the partial image (the image of the extracted partial area) received by the second transmission unit 23 from the transmission line 30, and displays the data as a visible image on the monitor 21. . The monitor 21 displays a visible image corresponding to the data processed by the display control unit 22.

  According to the suspended load monitoring system 40 and the camera device 10 of the present embodiment configured as described above, the camera device 10 is fixed to the boom 70 but has a wide-angle optical system (for example, a lens). Therefore, even if it does not move with respect to the boom 70, a predetermined range in the vertical direction including the hook 83 can be included in the imaging range regardless of the elevation angle of the boom 70.

  Therefore, the suspended load monitoring system 40 and the camera device 10 do not need to move the camera 11 of the camera device 10 with respect to the boom 70, and are compared with a camera device having a movable part for moving the camera 11 with respect to the boom 70. As a result, it is possible to eliminate the failure of the movable part, to improve the maintainability (reduce the trouble of the failure repair) and to improve the durability.

  In addition, the suspended load monitoring system 40 and the camera device 10 of the present embodiment are not extracted by the first transmission unit 13 to the outside of the entire image captured by the camera 11, but are extracted by the camera control unit 12. The first transmission unit 13 sends only the image portion of the image to the outside. Thereby, compared with the case where the 1st transmission part 13 sends out the whole image image | photographed with the camera 11, the load of the transmission operation | movement by the 1st transmission part 13 is reduced, and / or the sending time is shortened. it can.

  Further, in the suspended load monitoring system 40 and the camera device 10 according to the present embodiment, the camera control unit 12 responds to the hoisting angle of the boom 70 input to the camera control unit 12 (for example, the hoisting state in FIGS. 3, 5, and 7). Thus, a part of the image to be cut out of the entire wide-angle image photographed by the camera 11 is changed as shown in FIGS. 4, 6, and 8, for example. Therefore, the hanging load monitoring system 40 and the camera device 10 can extract the hook 83 and the image range in which the hanging load is changed according to the rising and falling angle as a partial image corresponding to the rising and falling angle.

  In the suspended load monitoring system 40 and the camera device 10 according to the present embodiment, the camera control unit 12 sets the size of the partial image extracted in accordance with the undulation angle of the boom 70 (the size in the undulation direction) to the undulation angle. Regardless of this, the size of the image input from the first transmission unit 13 to the display control unit 22 through the transmission line 30 and the second transmission unit 23 becomes a constant size regardless of the undulation angle.

  Accordingly, when the suspended load monitoring system 40 outputs the input image to the monitor 21, the display control unit 22 performs a resizing process (a process of changing the size of the image displayed on the monitor 21) according to the undulation angle. There is no need to do it. In other words, the suspended load monitoring system 40 can output to the monitor 21 without performing any resizing process, or only perform the same resizing process regardless of the undulation angle, so that the load on the display control unit 22 can be reduced. .

  Similarly, when outputting the output image to an external monitor, the camera device 10 causes the control device that controls the display of the monitor to perform resizing processing (changes the size of the image displayed on the monitor) according to the undulation angle. Processing).

  FIG. 9 is a schematic view showing a state in which the wire rope 82 is fed out longer than the feed length shown in FIG. 5 when the boom 70 is in the up and down state shown in FIG. FIG. 10 is a schematic view showing the range of an image captured by the camera 11 and the range of the extracted image in the relief state corresponding to FIG.

  For example, in the suspended load monitoring system 40 and the camera device 10 according to the present embodiment, the camera control unit 12 determines whether the camera 11 is in accordance with the extended length of the wire rope 82 input to the camera device 10 from, for example, an overload prevention device. The size of a part of an image to be cut out (extracted) from the wide-angle image photographed in step 1 may be changed. That is, the camera control unit 12 changes a part of the image to be extracted according to the undulation angle of the boom 70, and changes the size of the image to be extracted according to the length of the wire rope 82 drawn out from the winch. It may be changed.

  Specifically, the hanging load monitoring system 40 and the camera device 10 can make the size of the image to be extracted smaller, for example, as the length of the wire rope 82 fed out becomes longer.

  That is, for example, in the example shown in FIG. 5, when the length from the boom head 78 to the hook block 84 suspended downward in the vertical direction (corresponding to the length of the wire rope 82) M1, the camera control unit 12 The image extracted by the is the range L2 in the up and down direction of the boom 70, and the size K0 in the turning direction of the boom 70.

  On the other hand, for example, as in the example shown in FIG. 9, the length from the boom head 78 to the hook block 84 suspended downward in the vertical direction (corresponding to the length of the wire rope 82) M2 is long. When longer than M1 (M1 <M2), the image (second image data) extracted by the camera control unit 12 from the image G4 (first image data) shown in FIG. , L4 smaller than the size L2 (<L2), and in the turning direction of the boom 70, the size K1 is smaller than the size K0.

  Thus, the image which camera control part 12 extracts may become small as the delivery length of wire rope 82 becomes long. That is, as the feeding length of the wire rope 82 becomes longer, the distance from the camera 11 to the hook 83 becomes longer.

  As this distance increases, the hook 83 photographed by the camera 11 and the suspended load suspended by the hook 83 relatively decrease in size in the photographed image. In this manner, by reducing the size of the image extracted by the camera control unit 12, it is possible to enlarge the size of the hook 83 and the image of the hanging load suspended on the hook 83 with respect to the size of the extracted image.

  Then, the image extracted by the camera control unit 12 is input to the display control unit 22 via the first transmission unit 13, the transmission line 30, and the second transmission unit 23. The display control unit 22 adjusts the input image (extracted image) to a size corresponding to the size of the monitor 21.

  That is, the display control unit 22 matches the size of the monitor 21 and displays the extracted image (the extracted image is displayed on the entire display surface of the monitor 21), the pixels of the extracted image To thin out (when the number of pixels of the extracted image is larger than the number of pixels of the display surface of the monitor 21), interpolate (when the number of pixels of the extracted image is smaller than the number of pixels of the display surface of the monitor 21) Display processing. Thereby, the extracted image is displayed on the entire display surface of the monitor 21 on the monitor 21.

  Thus, the display control unit 22 adjusts the size of the image such that the extracted image is displayed on the entire display surface of the monitor 21. Therefore, even when an image having a small image size is displayed on the monitor 21, it is possible to prevent the size of the hook 83 and the image of the hanging load from being reduced.

  In addition, although the image which the camera-control part 12 extracts becomes small as the delivery length of the wire rope 82 becomes long, the range of the image made the small is the range where the hook 83 and the hanging load are image | photographed Needless to say.

  The disclosures of the specification, drawings and abstract contained in the Japanese application of Japanese Patent Application No. 2018-029473 filed on February 22, 2018 are all incorporated herein by reference.

  The camera apparatus according to the present invention is applicable not only to rough terrain cranes, but also to various cranes such as all terrain cranes, truck cranes, and loading type truck cranes (also referred to as cargo cranes).

DESCRIPTION OF SYMBOLS 10 Camera apparatus 11 Camera 12 Camera control part 13 1st transmission part 20 Display apparatus 21 Monitor 22 Display control part 23 2nd transmission part 30 Transmission line 40 Hanging load monitoring system 50 Traveling body 60 Revolving body 61 Cabin 70 Boom 71 Base boom 72 Intermediate boom 76 Top boom 78 Boom head 79 Sheave 81 Lifting cylinder 82 Wire rope 83 Hook 84 Hook block 100 Rough terrain crane C1, C2 axis P optical axis P1 horizontal plane G1, G2, G3 image

Claims (6)

A camera device fixed to a tip of a boom of a crane,
An imaging unit capable of capturing an image of the lower end of the boom in the vertical direction within the entire range of angles at which the boom can be raised and lowered in a state fixed to the tip of the boom;
An image extraction unit for extracting second image data of a predetermined area including the hook of the crane from the first image data imaged by the imaging unit;
The extracted the second image data, e Bei a transmission unit for transmitting to the outside, the,
In the fixed state, the angle between the direction of the optical axis of the imaging unit and the central axis of the boom does not change according to the undulation of the boom.
Camera device. A camera device fixed to a tip of a boom of a crane,
An imaging unit capable of capturing an image of the lower end of the boom in the vertical direction within the entire range of angles at which the boom can be raised and lowered in a state fixed to the tip of the boom;
An image extraction unit for extracting second image data of a predetermined area including the hook of the crane from the first image data imaged by the imaging unit;
A transmission unit that transmits the extracted second image data to the outside;
And a controller configured to set at least one of the position, the size, and the range of the predetermined area in the first image data based on the information on the elevation angle of the boom .
Camera device. The camera apparatus according to claim 2 , wherein the control unit sets the range of the predetermined area based on information on a delivery length of a wire rope of the crane. The size of the second image data is constant regardless of the information on the hoisting angle camera device according to claim 2 or 3. The camera apparatus according to any one of claims 1 to 4 .
A receiving unit that receives the second image data transmitted from the transmitting unit;
And a display unit for displaying the second image data received by the receiving unit. The suspended load monitoring system according to claim 5 is mounted
Work machine.

Images