JP6600545B2 - Control device, mechanical system, control method, and program - Google Patents

Description

  The present invention relates to a control device, a mechanical system, a control method, and a program.

  A technique related to Patent Document 1 is disclosed. Patent Document 1 discloses a crane capable of extending, retracting, and turning. The crane operator operates a manual lever, a remote control terminal, or the like included in the crane to cause the crane to perform a desired operation.

JP2013-193825A

  As a result of studying work using the above-described crane, the present inventors have found the following problems.

  As an example of the operation using the crane, an operation of lifting the object with the crane, moving the object by operating the crane, and arranging the object at a desired position after the movement can be considered.

  FIG. 1 shows an image diagram of the work. A crane 30 is mounted on the vehicle 40. The crane 30 lifts the object 60. The figure shows a state after the object 60 is moved to the vicinity of the desired arrangement position and before the arrangement. An operator 50 is present near the desired arrangement position. In order to place the object at a desired position, the worker 50 performs fine adjustment of the position before the object 60 is lowered to the ground.

  For example, the worker 50 verbally transmits an instruction to move the object 60 in a predetermined direction to an operator (not shown) of the crane 30. The operator of the crane 30 operates the crane 30 in accordance with instructions from the worker 50. Thereby, the object 60 moves in a desired direction. For example, in this way, fine adjustment of the position of the object 60 is performed.

  Such work has the following problems. The worker 50 is based on himself / herself, such as “move to the right (viewed from the user)”, “move to the left (viewed from the user)”, “keep away from me”, “close to me”, etc. It is easy to tell the direction of movement in the direction (viewed from you). In the case of such an instruction, the operator of the crane 30 needs to interpret the direction in which the object 60 should be moved based on the result of the visual recognition and the content of the instruction after visually confirming the direction in which the worker 50 faces. In such a case, the burden on the operator of the crane 30 increases. Further, the operator of the crane 30 can misinterpret the direction in which the object 60 is moved. And the situation which moves the object 60 in the direction different from the direction which the worker 50 intends may generate | occur | produce. As a result, work efficiency is deteriorated.

  In addition, a means for conveying the direction in which the worker 50 moves the object 60 in a direction based on the operator of the crane 30 (a direction viewed from the operator of the crane 30) or in a direction based on the crane 30 is also conceivable. However, in this case, the burden on the worker 50 increases. In addition, a situation may occur in which the worker 50 transmits an incorrect direction and moves in a direction different from the intended direction. As a result, work efficiency is deteriorated.

  Similar problems may occur in operations using other mechanical devices other than the crane 30.

  An object of the present invention is to provide a technique for improving the efficiency of work using a mechanical device.

According to the present invention,
A control device for controlling a moving unit movable in the horizontal direction,
An image analysis unit that analyzes an image including a worker and detects a relative relationship between a direction in which the moving unit faces and a direction in which the worker faces;
An instruction receiving unit that receives an instruction input for moving the moving unit in a predetermined direction according to a relative direction with respect to the worker;
Based on the relative relationship detected by the image analysis unit, a conversion unit that converts the direction received by the instruction receiving unit into a direction based on the moving unit;
A control unit that outputs a control signal for moving the moving unit in a predetermined direction based on a conversion result by the converting unit;
I have a,
The moving unit is a predetermined portion of the boom that can perform an expansion / contraction operation, a hoisting operation, and a turning operation, and a control device is provided in which a direction in which the moving unit faces is determined based on an extension direction of the boom .

  Moreover, according to this invention, the mechanical system which has the said control apparatus and a mechanical apparatus provided with the boom which can perform expansion-contraction operation | movement, raising / lowering operation | movement, and turning operation | movement is provided.

Moreover, according to the present invention,
A control device that controls a moving unit that is movable in the horizontal direction,
An image analysis step of analyzing an image including a worker and detecting a relative relationship between a direction in which the moving unit faces and a direction in which the worker faces;
An instruction receiving step for receiving an instruction input for moving the moving unit in a predetermined direction according to a relative direction with respect to the worker;
Based on the relative relationship detected in the image analysis step, a conversion step for converting the direction received in the instruction reception step into a direction based on the moving unit;
A control step of outputting a control signal for moving the moving unit in a predetermined direction based on the conversion result of the conversion step;
The execution,
The moving part is a predetermined part of the boom capable of extending / contracting, raising / lowering, and turning, and a control method is provided in which a direction in which the moving part faces is determined based on an extension direction of the boom .

Moreover, according to the present invention,
A control device that controls a moving unit that can move in the horizontal direction,
Image analysis means for analyzing an image including a worker and detecting a relative relationship between a direction in which the moving unit faces and a direction in which the worker faces;
An instruction receiving means for receiving an instruction input for moving the moving unit in a predetermined direction according to a relative direction with respect to the worker;
Conversion means for converting the direction received by the instruction receiving means into a direction based on the moving unit based on the relative relationship detected by the image analysis means;
Control means for outputting a control signal for moving the moving section in a predetermined direction based on a conversion result by the conversion means;
To function as,
The moving part is a predetermined part of the boom capable of extending, retracting and turning, and a program is provided in which the direction in which the moving part is directed is determined based on the extending direction of the boom .

  ADVANTAGE OF THE INVENTION According to this invention, the technique for improving the efficiency of the operation | work using a mechanical apparatus is implement | achieved.

4 is a diagram for explaining an example of work using a crane 30. FIG. It is a figure which shows an example of the hardware constitutions of the apparatus of this embodiment. It is an example of a functional block diagram of mechanical system 1 of this embodiment. It is a figure showing an example of crane 30 of this embodiment. It is an example of a functional block diagram of control device 10 of this embodiment. It is a figure for demonstrating an example of the relationship between the crane 30 and the camera 70 of this embodiment. It is a figure for demonstrating an example of the flame | frame 71 which the image analysis part 11 of this embodiment analyzes. It is a figure for demonstrating an example of the flame | frame 71 which the image analysis part 11 of this embodiment analyzes. It is a figure for demonstrating the concept of the process of the conversion part 13 of this embodiment. It is a figure for demonstrating the concept of the process of the conversion part 13 of this embodiment. It is a figure for demonstrating an example of a process of the control part 14 of this embodiment. It is a figure for demonstrating an example of the mechanical apparatus of this embodiment.

  First, an example of a hardware configuration of the device (control device, moving unit) of the present embodiment will be described. FIG. 2 is a block diagram illustrating a hardware configuration of the apparatus according to the present embodiment. As shown in FIG. 2, the apparatus includes a processor 1A, a memory 2A, an input / output interface 3A, a peripheral circuit 4A, and a bus 5A. The peripheral circuit includes various modules.

  The bus 5A is a data transmission path through which the processor 1A, the memory 2A, the peripheral circuit 4A, and the input / output interface 3A transmit / receive data to / from each other. The processor 1A is an arithmetic processing device such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit). The memory 2A is a memory such as a RAM (Random Access Memory) or a ROM (Read Only Memory). The input / output interface 3A includes an interface for transmitting / receiving information to / from devices such as sensors and remote control terminals. The processor 1A issues a command to each module and performs a calculation based on the calculation result.

  Hereinafter, this embodiment will be described. Note that the functional block diagram used in the following description of the embodiment shows functional unit blocks rather than hardware unit configurations. In these drawings, each device is described as being realized by one device, but the means for realizing it is not limited to this. That is, it may be a physically separated configuration or a logically separated configuration. In addition, the same code | symbol is attached | subjected to the same component and description is abbreviate | omitted suitably.

<Embodiment>
First, an outline of the present embodiment will be described. The mechanical system of the present embodiment includes a moving unit and a control device.

  The moving unit can move in the horizontal direction. The movement of the moving unit is controlled by a computer.

  The control device controls the moving operation of the moving unit. The control device receives an instruction input for moving the moving unit in a predetermined direction from the operator. Then, the control device moves the moving unit in a predetermined direction in accordance with an instruction received from the operator. The control device has the following characteristics in order to improve the efficiency of work using the moving unit.

(1) An instruction input for moving the moving unit in a predetermined direction is received according to a relative direction based on the worker 50 at the site.
“Relative direction with respect to the worker 50 at the site” is, for example, “right direction (viewed from the worker 50)”, “left direction (viewed from the worker 50)”, “(worker 50 "From the direction away from"), "the direction toward (from the worker 50)" can be considered, but is not limited thereto.
(2) Analyzing an image obtained by photographing the on-site worker 50 from a predetermined direction, and detecting a relative relationship between the direction in which the on-site worker 50 faces and the direction in which the moving unit faces.
(3) Based on the detected relative relationship, the input “relative direction based on the on-site worker 50” is converted to “direction based on the moving unit”.
(4) The moving unit is moved in a predetermined direction based on the conversion result.

  Next, the configuration of the mechanical system of the present embodiment will be described in detail. FIG. 3 shows an example of a functional block diagram of the mechanical system 1 of the present embodiment. As illustrated, the mechanical system 1 includes a control device 10 and a moving unit 20.

  The moving unit 20 can move in the horizontal direction. The movement of the moving unit is controlled by a computer. The moving unit is a part or all of the mechanical device.

  The mechanical device of this embodiment is a crane. And the top of the boom of a crane becomes a moving part. The top of the boom can be moved in the horizontal direction by combining the boom turning operation, the telescopic operation, and the hoisting operation. As a result, the object 60 lifted through the hook suspended from the top of the boom can be moved in the horizontal direction.

  FIG. 4 shows an example of the crane 30. As shown in the drawing, the crane 30 has a column 32 mounted on a revolving body that rotates freely. A boom 34 is fixed to the column 32 with a boom foot pin and a hoisting cylinder 33. The boom 34 can be raised and lowered by extending and retracting the raising and lowering cylinder 33. Further, the boom 34 can be expanded and contracted by expanding and contracting the telescopic cylinder 35 built in the boom 34.

  Further, the hook 37 is suspended using the wire rope 36. The top of the boom 34 is a fulcrum. That is, the hook 37 is suspended from the top of the boom 34. The position of the hook 37 moves up and down by winding or unwinding the wire rope 36 with a winding device.

  The operation of the crane 30 can be controlled using a manual lever 31 or a remote operation terminal (not shown) installed on the main body. For example, as illustrated in FIG. 1, the crane 30 may be mounted on a vehicle 40 such as a truck.

  Next, FIG. 5 shows an example of a functional block diagram of the control device 10 of the present embodiment. The control device 10 controls the moving operation of the moving unit 20. The control device 10 of the present embodiment controls the operation (swing operation, expansion / contraction operation, and hoisting operation) of the boom 34 of the crane 30. As illustrated, the control device 10 includes an image analysis unit 11, an instruction reception unit 12, a conversion unit 13, and a control unit 14.

  The image analysis unit 11 analyzes an image including the on-site worker 50 and detects a relative relationship between the direction in which the moving unit 20 faces and the direction in which the worker 50 faces.

  In this embodiment, a camera is attached to the boom 34 of the crane 30. The camera captures a vertically downward direction. In this way, the worker 50 can be photographed from above. The camera may shoot moving images or may shoot still images continuously. The image analysis unit 11 analyzes an image (frame) taken by the camera.

  An example of the relationship between the crane 30, the camera 70, and the worker 50 will be described with reference to FIG. The figure shows a state where the ground is looked down from above. In the figure, the vehicle 40, the crane 30, the camera 70, and the like are simply shown within a range that does not hinder the description. A crane 30 mounted on the vehicle 40 lifts the object 60 via a hook 37 (not shown) suspended from the top of the boom 34. The worker 50 is performing work such as position adjustment near the object 60.

  For example, as shown in the figure, the camera 70 is attached to the top (near the tip) of the boom 34 or the vicinity thereof. The camera 70 is preferably attached to the boom 34 via an attitude adjustment mechanism. The posture adjustment mechanism keeps the shooting direction (optical axis direction) of the camera 70 substantially vertically downward regardless of the state of the boom 34 (expanded state, undulating state, turning state). Since the attitude adjustment mechanism can be realized according to the prior art, description thereof is omitted here.

  The camera 70 is attached to the boom 34 in a predetermined direction. In the figure, the camera 70 is attached so that the direction in which the extension direction of the boom 34 is projected onto the horizontal plane (hereinafter referred to as “projection extension direction”) is on the top. The vertical and horizontal directions of the frame 71 photographed by such a camera 70 are as shown in the figure. The extending direction of the boom 34 is a direction in which the top of the boom 34 moves when the boom 34 is extended from the state (expanded state, undulating state, turning state).

  In addition, the direction which attaches the camera 70 to the boom 34 is not limited to what was demonstrated using FIG. For example, the camera 70 may be attached so that the direction inclined by X ° (0 ° <X ° <360 °) in the horizontal direction from the projection extension direction of the boom 34 is on the upper side.

  According to the camera 70 attached as described above, it is possible to take an image so that the hook 37 suspended from the top of the boom 34 is included in the image. As a result, as shown in the frame 71 of FIG. 6, it is possible to photograph the object 60 being lifted via the hook 37 (not shown) and the worker 50 working near the object 60 so as to include the image. it can.

  The image analysis unit 11 analyzes the image captured by the camera 70 as described above, and performs “processing for detecting the worker 50”, “processing for detecting the direction in which the worker 50 faces”, “in the image” A process of detecting a relative relationship between the direction in which the worker 50 faces and the direction in which the moving unit 20 faces in the image is executed. Note that the image analysis unit 11 may perform these processes on all the frames, or may perform these processes every predetermined frame. Hereinafter, these processes will be described in order.

"Process to detect worker 50"
The image analysis unit 11 holds in advance a feature amount indicating the appearance feature of the worker 50. Then, the image analysis unit 11 detects the worker 50 from the image by searching the image using the feature amount as a key.

  For example, a predetermined mark is attached to a predetermined position of the helmet worn by the worker 50 (a position that can be seen when viewed from the vertically upward direction, for example, near the top of the helmet). And the image analysis part 11 detects the worker 50 who covered the said helmet by searching an image using the feature-value of the said mark as a key. In the case of the example shown in FIG. 6, the worker 50 is wearing a helmet with an arrow mark. In addition, you may attach | subject a predetermined | prescribed mark to the other thing which the worker 50 wears. A mark other than the arrow mark may be attached.

“Process to detect the direction in which the worker 50 faces in the image”
“The direction in which the worker 50 faces” is synonymous with “the direction in which the face of the worker 50 faces”, “the direction in which the face of the worker 50 directly faces”, and the like.

  The image analysis unit 11 detects the direction in which the worker 50 faces in the image based on the appearance characteristics of the worker 50.

  For example, the image analysis unit 11 may detect the direction in which the worker 50 faces based on the direction in which a predetermined mark attached to the helmet worn by the worker 50 faces. In the example shown in FIG. 6, an arrow mark is attached to the helmet. The arrow mark points to the front (face facing direction) of the worker 50 in a state where the helmet is correctly worn. In the case of this example, the image analysis unit 11 can detect the direction indicated by the arrow mark as the direction in which the worker 50 faces.

  The image analysis unit 11 outputs a direction in which the worker 50 faces in the image as a detection result of the processing. The way of expressing the facing direction is a design matter. For example, as shown in FIG. 7, the upper direction of the frame 71 is 0 °, the right direction is 90 °, the lower direction is 180 °, and the left direction is 270 °. It may be expressed by angle information.

  A frame 71 in FIG. 7 shows a state in which only the helmet worn by the worker 50 is extracted. In the case of this example, the image analysis unit 11 outputs a detection result “270 °”.

“Process for detecting the relative relationship between the direction in which the worker 50 faces in the image and the direction in which the moving unit 20 faces in the image”
First, the direction in which the moving unit 20 faces in the image will be described. The “direction in which the moving unit 20 faces” can be arbitrarily defined. For example, the “projection extension direction of the boom 34” may be defined as “the direction in which the moving unit 20 (the top of the boom 34 faces)”. In addition, a direction inclined by Y ° (0 ° <Y ° <360 °) in the horizontal direction from the projection extension direction may be defined as “a direction in which the moving unit 20 (the top of the boom 34 faces)”.

  As described above, when the direction in which the moving unit 20 faces is defined as the direction with reference to the boom 34, the direction in which the moving unit 20 faces in the image can be specified based on the direction of the camera 70 attached to the boom 34. .

  When the camera 70 is mounted so that the projection extension direction of the boom 34 is upward, the upward direction of the frame 71 shown in FIG. 7 is the projection extension direction of the boom 34 in the image. When the camera 70 is mounted so that the direction inclined by X ° (0 ° <X ° <360 °) in the horizontal direction from the projection extension direction of the boom 34 is upward, it is inclined by X ° from the upper direction of the frame 71. The direction is the projection extension direction of the boom 34 in the image.

  Thus, the projection extension direction of the boom 34 in the image can be specified in advance based on the direction of the camera 70 attached to the boom 34. The direction in which the moving unit 20 defined as described above faces can be specified based on the projection extension direction of the boom 34 specified in the image.

  The direction in which the moving unit 20 faces in the image can be expressed in the same manner as the direction in which the worker 50 faces in the image. For example, as shown in FIG. 7, it can be represented by angle information in which the upper direction of the frame 71 is 0 °, the right direction is 90 °, the lower direction is 180 °, and the left direction is 270 °.

  The image analysis unit 11 holds in advance information indicating the direction in which the moving unit 20 faces in the image. For example, the operator calculates the direction in which the moving unit 20 faces in the image (eg, angle information as described above) based on the orientation of the camera 70 attached to the boom 34, the definition of the direction in which the moving unit 20 faces, and the like. To do. Then, the operator registers the calculation result in the image analysis unit 11 as information indicating the direction in which the moving unit 20 faces in the image.

  Next, a process for detecting a relative relationship between the direction in which the worker 50 faces in the image and the direction in which the moving unit 20 faces in the image will be described.

  When the image analysis unit 11 detects the direction in which the worker 50 faces in the image by image analysis, the “direction in which the detected worker 50 faces” is registered in advance as the “direction in which the moving unit 20 faces in the image”. The relative relationship with is calculated.

  Although the method of expressing the relative relationship is a design matter, for example, the image analysis unit 11 may represent the relative relationship with a displacement from one direction to the other direction as a reference. Good. For example, the relative direction may be indicated by a displacement from “the direction in which the moving unit 20 faces in the image” as a reference to “the direction in which the worker 50 faces in the image”. The displacement can be expressed by, for example, a clockwise rotation angle, but is not limited thereto.

  In the example shown in FIG. 7, from the direction in which the moving unit 20 faces in the image (upward direction of the frame 71, 0 °) to the direction in which the worker 50 faces in the image (left direction of the frame 71, 270 °). This displacement is expressed as “270 °”.

  Similarly, in the example illustrated in FIG. 8, the direction in which the worker 50 faces in the image from the direction in which the moving unit 20 faces in the image (upward direction of the frame 71 .0 °) (upper left direction of the frame 71. 315 °). .) Is expressed as “315 °”.

  Returning to FIG. 5, the instruction receiving unit 12 receives an instruction input for moving the moving unit 20 in a predetermined direction based on a relative direction with respect to the worker 50.

  “Relative direction with reference to worker 50” is, for example, “right direction (viewed from worker 50)”, “left direction (viewed from worker 50)”, “(from worker 50)”. "Direction away from", "Direction toward (to worker 50)", etc. are conceivable. Although four variations are shown here, other variations may exist. The number of instruction input variations may be other.

  For example, the instruction receiving unit 12 can receive the instruction input as described above via the manual lever 31 or the remote operation terminal described with reference to FIG.

  In the case of this example, each of the plurality of manual levers 31 and each of the plurality of operation objects (operation buttons, operation levers, icons displayed on the touch panel display, etc.) of the remote operation terminal are referred to based on the above “worker 50”. Each of the “relative direction variations” is associated with each other. By operating each manual lever 31 and each operation target, an instruction input for moving the moving unit 20 in a corresponding direction (a relative direction with respect to the worker 50) is made.

  For example, the worker 50 informs the operator of the crane 30 of the direction in which the moving unit 20 is moved using the expression of variations of the instruction input. The operator of the crane 30 inputs instructions according to the contents heard from the worker 50.

  As another example, the instruction receiving unit 12 may include an input unit that allows the operator 50 to input an instruction. As shown in FIG. 1, the worker 50 who works near the object 60 may have both hands occupied. Therefore, a means that enables input without manual operation is preferable.

  For example, the instruction receiving unit 12 may include a microphone that detects a voice uttered by the worker 50, a vibration sensor that detects vibrations that propagate through the body of the worker 50 (vibrations that change according to the utterance content), and the like. Good. And the instruction | indication reception part 12 may analyze the signal detected by these, and may receive an analysis result as instruction | indication input. In the case of the example, when the worker 50 speaks the instruction input variation, a voice or vibration signal corresponding thereto is input to the instruction receiving unit 12. The instruction receiving unit 12 analyzes the input signal and receives the analysis result (any one of the above-described instruction input variations) as an instruction input.

  Returning to FIG. 5, based on the relative relationship detected by the image analysis unit 11, the conversion unit 13 uses the direction received by the instruction receiving unit 12 (the direction based on the worker 50) as a reference and the moving unit 20 as a reference. Convert to the direction.

  Here, the concept of the conversion process will be described. The conversion algorithm is a design matter.

  The relationship shown in FIG. 9A is obtained by the relative relationship detected by the image analysis unit 11. In the figure, the relative relationship between the direction in which the moving unit 20 faces and the direction in which the worker 50 faces is shown.

  The “relative direction with respect to the worker 50 (instruction input)” received by the instruction receiving unit 12 is information based on the direction in which the worker 50 faces, as shown in FIG. Converted. In the figure, as “relative direction (instruction input) with respect to the worker 50”, “(the direction away from the worker 50)”, “(to the right from the worker 50)”, “(the worker) 50 ”) and“ left direction ”(as viewed from the operator 50).

  As shown in the drawing, “the direction in which the worker 50 faces” and “the direction in which the worker 50 moves away” coincide with each other. The “right direction (as viewed from the worker 50)” is a direction rotated 90 ° clockwise from the “direction in which the worker 50 faces”. The “direction approaching (to the worker 50)” is a direction rotated 180 ° clockwise from the “direction toward the worker 50”. “Left direction (as viewed from the worker 50)” is a direction rotated 270 ° clockwise from the “direction in which the worker 50 faces”.

  Then, as shown in FIG. 9 (3), by referring to the direction in which the worker 50 faces, the instruction input received by the instruction receiving unit 12, that is, the relative direction with respect to the worker 50 and the movement A relative relationship with the direction in which the unit 20 faces is specified. As a result, the instruction input received by the instruction receiving unit 12 can be converted into a direction based on the moving unit 20. In the case of the example of FIG. 9, for example, the conversion is performed as follows.

  When the instruction input is “a direction away from the worker 50”, the instruction input is converted into a direction rotated 270 ° clockwise from the direction in which the moving unit 20 faces (eg, projection extension direction). The

  When the instruction input is “rightward (as viewed from the worker 50)”, the instruction input is converted into a direction (eg, projection extension direction) toward the moving unit 20.

  When the instruction input is “the direction in which the worker 50 is approached”, the instruction input is converted into a direction rotated 90 ° clockwise from the direction in which the moving unit 20 faces (eg, projection extension direction). The

  When the instruction input is “leftward (as viewed from the worker 50)”, the instruction input is in a direction rotated 180 ° clockwise from the direction in which the moving unit 20 faces (eg, projection extension direction). Converted.

  FIG. 10 shows another example. In the case of this example, it is converted as follows.

  When the instruction input is “a direction away from the worker 50”, the instruction input is converted into a direction rotated 315 ° clockwise from the direction in which the moving unit 20 faces (eg, projection extension direction). The

  When the instruction input is “rightward (as viewed from the worker 50)”, the instruction input is in a direction rotated 45 ° clockwise from the direction in which the moving unit 20 faces (eg, projection extension direction). Converted.

  When the instruction input is “a direction to approach (to the worker 50)”, the instruction input is converted into a direction rotated 135 ° clockwise from the direction in which the moving unit 20 faces (eg, projection extension direction). The

  When the instruction input is “leftward (as viewed from the worker 50)”, the instruction input is in a direction rotated 225 ° clockwise from the direction in which the moving unit 20 faces (eg, projection extension direction). Converted.

  Returning to FIG. 5, the control unit 14 outputs a control signal for moving the moving unit 20 in a predetermined direction based on the conversion result by the conversion unit 13. The conversion unit 13 inputs a moving direction (eg, a moving direction based on the projection extension direction) based on the moving unit 20 (the top of the boom 34) to the control unit 14. The control unit 14 outputs a control signal for moving the moving unit 20 in the input moving direction. As a result, the moving unit 20 moves in the moving direction.

  Hereinafter, although the process example of the control part 14 is demonstrated, it is not limited to this.

  For example, a sensor installed at a predetermined position of the crane 30 detects the length L of the boom 34, the undulation angle θ of the boom 34, and the turning angle φ of the boom 34. The detected value is input to the control unit 14. The control unit 14 manages the position of the top of the boom 34 in a predetermined orthogonal coordinate system using the length L of the boom 34, the undulation angle θ of the boom 34, and the turning angle φ of the boom 34.

  As shown in FIG. 11, the coordinates of the top of the boom 34 can be expressed using the length L of the boom 34, the undulation angle θ of the boom 34, and the turning angle φ of the boom 34. In the illustrated example, in the crane 30 mounted on the vehicle 40 as shown in FIG. 1, the ground directly below the turning center axis (Z axis) is the origin (0, 0, 0), and the width direction of the vehicle 40 is x The top coordinates (x, y, z) of the boom 34 are shown in an orthogonal coordinate system in which the axial direction, the length direction of the vehicle 40 is the y-axis direction, and the height direction of the vehicle 40 is the z-axis direction.

  The illustrated variable element is an element whose value is variable, and the fixed element is an element whose value is fixed. The value of the fixed element is registered in the control unit 14 in advance. Note that the method of setting the orthogonal coordinate system (the origin position, the axial direction, etc.) is a design matter, and is not limited to those exemplified here.

  The control unit 14 manages the current coordinate point (x1, y1, z1) at the top of the boom 34. By dividing the vector connecting the point (x1, y1, z1) and the point (0, 0, z1) by the distance between these points, a unit vector in the projection extension direction can be obtained.

  When the control unit 14 receives from the conversion unit 13 an input of a movement direction based on the movement unit 20 (the top of the boom 34) (eg, a movement direction based on the projection extension direction), the unit of the projection extension direction is received. A unit vector in the movement direction is calculated based on the vector. Thereafter, a vector obtained by multiplying the unit vector in the movement direction by a predetermined amount of movement is added to the current coordinate point (x1, y1, z1) to obtain the coordinate point after movement. Note that the movement amount may be given to the control unit 14 in advance.

  After calculating the coordinate point of the top of the boom 34 after the movement, the control unit 14 determines the coordinates of the top of the boom 34 shown in FIG. Based on the relational expression with the angle φ, the length L of the boom 34 for positioning the top of the boom 34 at the coordinate point after movement, the undulation angle θ of the boom 34 and the turning angle φ of the boom 34 are calculated.

  Thereafter, the control unit 14 outputs a control signal that causes the length L of the boom 34, the raising / lowering angle θ of the boom 34, and the turning angle φ of the boom 34 to be calculated. The state of the boom 34 of the crane 30 (expanded state, undulating state, turning state) is a state indicated by the control signal.

  The control device 10 of the present embodiment described above can accept an instruction input for moving the moving unit 20 in a predetermined direction based on a relative direction with respect to the worker 50 at the site. For this reason, the operator of the crane 30 can input the relative direction on the basis of the worker 50 at the site as it is to the control device 10 as the direction in which the moving unit 20 is moved. That is, the operator of the crane 30 does not need to perform the troublesome work of reinterpreting the relative direction with respect to the worker 50 at the site as, for example, the direction with reference to the moving unit 20 or itself. For this reason, the burden on the operator of the crane 30 is reduced. In addition, it is difficult for the inconvenience that the direction intended by the worker 50 is different from the direction in which the worker 50 actually moves. For this reason, work efficiency improves.

  In addition, according to the example of the control device 10 of the present embodiment, the worker 50 at the site can input an instruction to move the moving unit 20 in a predetermined direction. In such a case, the work efficiency can be improved and the number of personnel involved in the work can be reduced.

<Modification>
In the above embodiment, the top of the crane 30 is the moving unit 20. As a modification, a part of a mechanical device in which a wire rope 36 and a hook 37 are removed from the crane 30 and a predetermined device is attached to the top of the boom 34 may be used as the moving unit 20.

  FIG. 12 shows an example of such a mechanical device. Compared with the crane 30 of FIG. 4, it can be seen that the wire rope 36 and the hook 37 have been removed. A device 38 is attached to the top of the boom 34 via a posture adjustment mechanism 39. The posture adjustment mechanism 39 keeps the posture of the device 38 constant (vertically upward) regardless of the state of the boom 34 (expanded state, undulating state, turning state).

  The device 38 may be, for example, a sound hitting inspection device including a hitting unit that hits an object to be inspected and a microphone that collects sound according to the hitting. In addition, an apparatus having an arbitrary function such as marking, painting, or striking may be used.

  In the case of this example, a predetermined process is performed on an object at a high place, such as the back of a bridge, using the device 38 attached to the top of the boom 34. The worker 50 looks up at the device 38 from the ground, and inputs an instruction to move the device 38 in a predetermined direction while confirming the positional relationship between the object and the device 38.

  Also in this modification, the same effect as the above embodiment can be realized.

Hereinafter, examples of the reference form will be added.
1. A control device for controlling a moving unit movable in the horizontal direction,
An image analysis unit that analyzes an image including a worker and detects a relative relationship between a direction in which the moving unit faces and a direction in which the worker faces;
An instruction receiving unit that receives an instruction input for moving the moving unit in a predetermined direction according to a relative direction with respect to the worker;
Based on the relative relationship detected by the image analysis unit, a conversion unit that converts the direction received by the instruction receiving unit into a direction based on the moving unit;
A control unit that outputs a control signal for moving the moving unit in a predetermined direction based on a conversion result by the converting unit;
Control device.
2. In the control apparatus according to 1,
The said image analysis part is a control apparatus which analyzes the said image | photographed so that the said worker may be included from upper direction.
3. 2, the control device according to
The moving part is a predetermined part of the boom capable of extending / contracting, raising / lowering and turning.
The image analysis unit is a control device that analyzes the image taken from above the worker so that a camera attached to the boom includes the worker.
4). In the control device according to 2 or 3,
The image analysis unit is a control device that extracts a predetermined mark attached to a helmet worn by the worker from the image and identifies a direction in which the worker faces based on a direction in which the mark faces.
5. A control device according to any one of 1 to 4;
A mechanical device including a boom capable of extending, retracting and turning;
Having a mechanical system.
6). A control device that controls a moving unit that is movable in the horizontal direction,
An image analysis step of analyzing an image including a worker and detecting a relative relationship between a direction in which the moving unit faces and a direction in which the worker faces;
An instruction receiving step for receiving an instruction input for moving the moving unit in a predetermined direction according to a relative direction with respect to the worker;
Based on the relative relationship detected in the image analysis step, a conversion step for converting the direction received in the instruction reception step into a direction based on the moving unit;
A control step of outputting a control signal for moving the moving unit in a predetermined direction based on the conversion result of the conversion step;
Control method to execute.
7). A control device that controls a moving unit that can move in the horizontal direction,
Image analysis means for analyzing an image including a worker and detecting a relative relationship between a direction in which the moving unit faces and a direction in which the worker faces;
An instruction receiving means for receiving an instruction input for moving the moving unit in a predetermined direction according to a relative direction with respect to the worker;
Conversion means for converting the direction received by the instruction receiving means into a direction based on the moving unit based on the relative relationship detected by the image analysis means;
Control means for outputting a control signal for moving the moving section in a predetermined direction based on a conversion result by the conversion means;
Program to function as.

1A processor 2A memory 3A I / O I / F
4A Peripheral circuit 5A Bus 1 Mechanical system 10 Controller 11 Image analysis unit 12 Instruction receiving unit 13 Conversion unit 14 Control unit 20 Moving unit 30 Crane 31
32 column 33 hoisting cylinder 34 boom 35 telescopic cylinder 36 wire rope 37 hook 38 device 39 attitude adjustment mechanism 40 vehicle 50 worker 60 object 70 camera 71 frame

Claims (7)

A control device for controlling a moving unit movable in the horizontal direction,
An image analysis unit that analyzes an image including a worker and detects a relative relationship between a direction in which the moving unit faces and a direction in which the worker faces;
An instruction receiving unit that receives an instruction input for moving the moving unit in a predetermined direction according to a relative direction with respect to the worker;
Based on the relative relationship detected by the image analysis unit, a conversion unit that converts the direction received by the instruction receiving unit into a direction based on the moving unit;
A control unit that outputs a control signal for moving the moving unit in a predetermined direction based on a conversion result by the converting unit;
I have a,
The said moving part is a predetermined part of the boom which can perform expansion-contraction operation | movement, raising / lowering operation | movement, and turning operation | movement, and the direction which the said moving part faces is determined based on the extension direction of the said boom . The control device according to claim 1,
The said image analysis part is a control apparatus which analyzes the said image | photographed so that the said worker may be included from upper direction. The control device according to claim 2 ,
Before Symbol image analysis unit, a control device camera attached to the boom analyzing the images taken from above the operator to include the worker. The control device according to claim 2 or 3,
The image analysis unit is a control device that extracts a predetermined mark attached to a helmet worn by the worker from the image and identifies a direction in which the worker faces based on a direction in which the mark faces. A control device according to any one of claims 1 to 4,
A mechanical device including a boom capable of extending, retracting and turning;
Having a mechanical system. A control device that controls a moving unit that is movable in the horizontal direction,
An image analysis step of analyzing an image including a worker and detecting a relative relationship between a direction in which the moving unit faces and a direction in which the worker faces;
An instruction receiving step for receiving an instruction input for moving the moving unit in a predetermined direction according to a relative direction with respect to the worker;
Based on the relative relationship detected in the image analysis step, a conversion step for converting the direction received in the instruction reception step into a direction based on the moving unit;
A control step of outputting a control signal for moving the moving unit in a predetermined direction based on the conversion result of the conversion step;
The execution,
The said moving part is a predetermined part of the boom which can perform expansion-contraction operation | movement, raising / lowering operation | movement, and turning operation | movement, and the direction to which the said moving part faces is determined based on the extension direction of the said boom . A control device that controls a moving unit that can move in the horizontal direction,
Image analysis means for analyzing an image including a worker and detecting a relative relationship between a direction in which the moving unit faces and a direction in which the worker faces;
An instruction receiving means for receiving an instruction input for moving the moving unit in a predetermined direction according to a relative direction with respect to the worker;
Conversion means for converting the direction received by the instruction receiving means into a direction based on the moving unit based on the relative relationship detected by the image analysis means;
Control means for outputting a control signal for moving the moving section in a predetermined direction based on a conversion result by the conversion means;
To function as,
The moving unit is a predetermined part of a boom capable of extending / contracting, raising / lowering and turning, and a direction in which the moving unit faces is determined based on an extension direction of the boom .

Images