JP6979863B2 - Crane system and image compositing equipment - Google Patents

Description

The present invention relates to a crane system and an image compositing device.

For example, Patent Document 1 describes a jib crane including a traveling body traveling on a rail, a tower body installed on the traveling body, a swivel body installed on the tower body, and a jib attached to the swivel body. It has been disclosed. In this jib crane, a camera is provided on the traveling body, and the camera captures a blind spot from the driver's cab to improve safety during operation of the jib crane.

Japanese Unexamined Patent Publication No. 2014-198630

In jib cranes as described above, the camera is intended to capture blind spots from the driver's cab, for example pinpointing specific areas where the vehicle may interfere with obstacles. Must be placed in. By the way, in cranes such as jib cranes, it is desired to improve convenience by using the camera in more various modes.

Therefore, an object of the present invention is to provide a crane system and an image compositing device capable of effectively utilizing a camera to improve convenience.

The crane system according to the present invention includes a plurality of crane devices arranged in a yard, and a plurality of cameras provided in each of the plurality of crane devices and capable of capturing an image of the surrounding area of the crane device and acquiring an captured image. It is provided with an image compositing device that synthesizes a plurality of captured images acquired by each of a plurality of cameras and acquires a composite image when the yard is viewed from above.

According to this crane system, a plurality of captured images acquired by each of the plurality of cameras are combined, and a combined image of the yard viewed from above is acquired. Therefore, the mutual positional relationship of the regions captured in a plurality of captured images can be easily grasped by the composite image, and the current position and movement status of people, vehicles, loads, etc. on the yard can be visualized over a wide range. To. This makes it possible to easily extract, for example, improvement items for work in the yard. Therefore, this system can effectively utilize the camera and improve the convenience.

In the crane system according to the present invention, the image compositing device may acquire a superposed image in which the composite image is superposed on the map image of the yard. According to this, it becomes easy to recognize which area on the map image each area on the composite image is.

In the crane system according to the present invention, each of the plurality of crane devices can be swiveled, and the image compositing device is an image captured by a camera provided in the crane device when each of the plurality of crane devices is swiveled. In the image, the captured image may be rotated so that the angle at which the area around the crane device is displayed is constant. According to this, even when the crane device turns, the angle at which the area around the crane device is displayed does not change in the captured image, so that the visibility of the composite image is improved. Further, since the angle of the captured image is made constant by the arithmetic processing by the image synthesizer, it is not necessary to add a separate mechanical configuration, and the complexity of the structure is suppressed.

In the crane system according to the present invention, each of the plurality of crane devices can be swiveled, and each of the plurality of cameras can be swiveled with respect to the crane device provided with the camera, and each of the plurality of cameras can be swiveled. Is that when the crane device provided with the camera turns, the crane device has a direction opposite to the turning direction of the crane device so that the angle at which the area around the crane device is imaged is constant. The crane device may be turned by the same angle as the turning angle. According to this, even when the crane device turns, the camera does not turn and the angle at which the area around the crane device is displayed in the captured image does not change, so that the visibility of the composite image is improved. Further, since the angle of the captured image is fixed by the mechanical configuration, the increase in the calculation amount of the calculation process by the image synthesizer is suppressed.

In the crane system according to the present invention, when the image synthesizing device captures overlapping regions in a plurality of captured images acquired by each of the plurality of cameras, the image synthesizing device is used in other captured images excluding one captured image. The overlapping region may be excluded from the composite image. According to this, in the composite image, the regions overlapping with each other are not displayed in duplicate in the plurality of captured images acquired by each of the plurality of cameras, so that the visibility of the composite image is improved.

In the crane system according to the present invention, each of the plurality of crane devices may have a mast, and each of the plurality of cameras may be provided on the mast top of each mast of the plurality of crane devices. According to this, since the camera is provided at a particularly high position in the crane device, it is possible to take an image of a wide area around the crane device.

In the crane system according to the present invention, each of the plurality of cameras may image a region below the vertical direction of the crane device provided with the cameras. According to this, even if the crane device turns, the same area can be photographed, so that the visibility of the composite image is improved. Further, as compared with the case of photographing the area on the side of the crane device, the image pickup direction of the camera is less likely to be obstructed by the surrounding buildings and the like, so that the area around the crane device can be imaged over a wide range.

The image synthesizing device according to the present invention synthesizes a plurality of captured images acquired by imaging an area around the crane device with each of a plurality of cameras provided in each of the plurality of crane devices arranged in a yard. Then, get a composite image of the yard as seen from above.

According to this image synthesizer, a plurality of captured images acquired by each of the plurality of cameras are combined, and a combined image of the yard viewed from above is acquired. Therefore, the mutual positional relationship of the regions captured in a plurality of captured images can be easily grasped by the composite image, and the current position and movement status of people, vehicles, loads, etc. on the yard can be visualized over a wide range. To. This makes it possible to easily extract, for example, improvement items for work in the yard. Therefore, this device can effectively utilize the camera and improve the convenience.

According to the present invention, it is possible to effectively utilize the camera and improve the convenience.

FIG. 1 is a block diagram showing a crane system according to the present embodiment. FIG. 2 is a plan view schematically showing a crane system. FIG. 3 is a side view showing a crane device. FIG. 4 is a front view showing a traveling body of the crane device. FIG. 5 is a diagram showing an example of a superimposed image. FIG. 6 is a block diagram showing an example of processing by the crane system.

Hereinafter, exemplary embodiments will be described with reference to the drawings. In each figure, the same or corresponding parts are designated by the same reference numerals, and duplicate description will be omitted.

FIG. 1 is a block diagram showing a crane system 1 according to the present embodiment. FIG. 2 is a plan view schematically showing the crane system 1. FIG. 3 is a side view showing the crane device 10. FIG. 4 is a front view showing the traveling body 11 of the crane device 10. The crane system 1 shown in FIGS. 1 to 4 is a system that visualizes the inside of the factory P over a wide range by using the crane device 10 in the factory P such as a shipyard.

The crane system 1 includes a plurality of crane devices 10, a plurality of cameras 20 provided in each of the plurality of crane devices 10, a plurality of position information sensors 21 provided in each of the plurality of crane devices 10, and an image compositing device 30. Is equipped with. In this embodiment, each crane device 10 is a jib crane. The crane device 10 may be a crane taller than other buildings such as H in the factory P, and is not limited to a jib crane. The position information sensor 21 may include a plurality of sensors as long as it can detect the current position coordinates and turning angle of the crane device 10.

Each crane device 10 is a traveling crane arranged in a yard Y in the factory P to raise and lower a load. Each crane device 10 has a traveling body 11, a tower body 12, a swivel body 13, a jib 14, and a mast 15. A rail R for traveling each crane device 10 is laid in the yard Y. Here, the rails R extend linearly, and a plurality of rails R are laid parallel to each other at predetermined intervals in the yard Y.

Each crane device 10 acquires the current position coordinates by a known means. For example, each crane device 10 acquires the current position coordinates by acquiring the position on the rail R on which the crane device 10 travels by the position information sensor 21. Each crane device 10 wirelessly or wire-transmits the acquired current position coordinates to the image compositing device 30. The yard Y is preferably an outdoor yard, but may be an indoor yard. On the yard Y, there is a building H and a tracking target T such as a person, a vehicle, and a load.

Each crane device 10 is rotatable. That is, each crane device 10 can turn with respect to the yard Y. Here, "the crane device 10 can turn with respect to the yard Y" means that the crane device 10 can turn around the axis (vertical axis L1) of the crane device 10 perpendicular to the yard Y. There is. More specifically, "the crane device 10 can turn with respect to the yard Y" means that all the parts constituting the crane device 10 do not have to be able to turn with respect to the yard Y, and the load is raised and lowered. It suffices if at least a part of the parts constituting the crane device 10 can turn with respect to the rest so that the direction can be changed. In the present embodiment, of the parts constituting the crane device 10, only the swivel body 13, the jib 14, and the mast 15 can swivel with respect to the yard Y, and the traveling body 11 and the tower body 12 with respect to the yard Y. Does not turn.

Each crane device 10 acquires the current turning angle by a known means. For example, each crane device 10 acquires the current turning angle of the crane device 10 by the position information sensor 21. Each crane device 10 wirelessly or wiredly transmits the acquired current turning angle to the image compositing device 30.

The traveling body 11 includes a pair of legs 11a and 11b, and a girder portion 11c connecting the pair of legs 11a and 11b at the upper portions thereof. Wheels driven on the rail R are provided below the pair of legs 11a and 11b. The traveling body 11 travels along the rail R by driving the wheels on the rail R. As a result, the crane device 10 can travel along the rail R. The tower body 12 is a columnar structure erected on the girder portion 11c of the traveling body 11.

The swivel body 13 is provided at the upper end of the tower body 12 and can swivel around the vertical axis L1 with respect to the tower body 12. The swivel body 13 includes a driver's cab 13a above the swivel body 13. The jib 14 is provided at one end 13b of the swivel body 13. The jib 14 extends from the one end portion 13b side of the swivel body 13 as the base end portion 14a. The mast 15 is erected on the swivel body 13. The other end 13c of the swivel body 13, the mast top 15a which is the upper end of the mast 15, and the tip 14b of the jib 14 are connected to each other by a wire rope W. When the wire rope W is wound and rewound, the jib 14 performs an undulating operation with its base end portion 14a as a fulcrum.

Further, each crane device 10 has an image receiving unit 10a, a position information acquisition unit 10b, and a transmitting unit 10c. The image receiving unit 10a receives the captured image A (details will be described later) acquired by each camera 20 from the camera 20. The position information acquisition unit 10b acquires the current position coordinates and turning angle of the crane device 10 from the position information sensor 21. The transmission unit 10c transmits the captured image A received by the image reception unit 10a and the current position coordinates and turning angle of the crane device 10 acquired by the position information acquisition unit 10b to the image compositing device 30. It should be noted that each crane device 10 does not have to have the image receiving unit 10a, and in this case, the captured image A acquired by each camera 20 may be directly transmitted from the camera 20 to the image compositing device 30. good. Further, each crane device 10 does not have to have the position information acquisition unit 10b. In this case, the current position coordinates and turning angle of the crane device 10 acquired by each position information sensor 21 are the position information. It may be transmitted directly from the sensor 21 to the image synthesizer 30. If each crane device 10 does not have both the image receiving unit 10a and the position information acquisition unit 10b, it may not have the transmitting unit 10c either.

Each camera 20 is an imaging device capable of capturing an image of a region around the crane device 10 and acquiring an captured image A (see FIG. 5). Each camera 20 is provided on the mast top 15a of each crane device 10. More specifically, each camera 20 has an image pickup unit 20a for acquiring an image pickup image A and a support unit 20b for supporting the image pickup unit 20a. The support portion 20b is a transparent member extending upward from the upper end of the mast top 15a of each crane device 10 in an elongated shape. The image pickup unit 20a is provided on the upper portion of the support unit 20b. Each camera 20 captures a lower region E in the vertical axis L1 direction (vertical direction) of the crane device 10 provided with the camera 20. More specifically, each camera 20 takes an image of a region E below the crane device 10 provided with the camera 20 at a predetermined angle of view V with the lower side in the direction of the vertical axis L1 as the optical axis X. Acquire the image A. Each camera 20 acquires a captured image A of a circular region E. Since the support portion 20b, which is a transparent member, supports each camera 20 above the upper end of the mast top 15a, it is possible to avoid being obstructed by the mast 15 and the support portion 20b and causing the captured image A to be largely chipped. .. The captured image A shows the tracking target T located in the region E. Each camera 20 transmits the acquired captured image A to the crane device 10.

FIG. 5 is a diagram showing an example of the superimposed image C. As shown in FIGS. 2 and 5, the image synthesizing device 30 is a device that synthesizes a plurality of captured images A acquired by each camera 20 and acquires a composite image B when the yard Y is viewed from above. .. In the superimposed image C of FIG. 5, the composite image B is superimposed and displayed on the map image M of the yard Y, and the tracking target T is reflected in the composite image B.

The image compositing device 30 has a receiving unit 30a, an image processing unit 30b, and a display unit 30c. The receiving unit 30a receives the captured image A transmitted by the transmitting unit 10c of each crane device 10, and the current position coordinates and turning angle of the crane device 10. By executing arithmetic processing, the image processing unit 30b performs various processes described later on the captured image A received by the receiving unit 30a. The display unit 30c is, for example, a display, and displays an image processed by the image processing unit 30b in real time.

When each crane device 10 turns with respect to the yard Y (that is, in the present embodiment, when the turning body 13, the jib 14, and the mast 15 turn with respect to the yard Y), the image processing unit 30b is the crane. In the captured image A acquired by the camera 20 provided on the mast 15 of the device 10, the captured image A is rotated so that the angle at which the region E around the crane device 10 is displayed is constant. As a more specific example, for example, when the crane device 10 turns 90 degrees around the vertical axis L1 with respect to the yard Y, the captured image A acquired by the camera 20 is also displayed at an angle rotated 90 degrees. Therefore, the image processing unit 30b rotates the captured image A by −90 degrees to make the angle at which the peripheral region E of the crane device 10 is displayed constant in the captured image A.

Further, when the image processing unit 30b captures the overlapping regions Ea in the plurality of captured images A acquired by each camera 20, the region Ea is captured in the other captured images A other than one captured image A. Is excluded from the composite image B (that is, it is not used for the composite of the composite image B). For example, when the image processing unit 30b captures the overlapping regions Ea in the plurality of captured images A acquired by each camera 20, the image processing unit 30b further obtains images based on the priority set in advance for each camera 20. The region Ea is not excluded from the composite image B in one captured image A acquired by the camera 20 having a higher priority, and the region Ea is synthesized in the other captured images A acquired by the camera 20 having a lower priority. Exclude from image B.

Further, the image processing unit 30b stores the map image M of the yard Y in the factory P in advance. The image processing unit 30b acquires a superimposed image C in which the composite image B is superimposed on the map image M of the yard Y. More specifically, the image processing unit 30b has a map image of the yard Y so that the current position coordinates of the crane device 10 received from each crane device 10 and the position coordinates in the map image M of the yard Y match. The superimposed image C is acquired by superimposing (plotting) the composite image B (captured image A) on M. The image processing unit 30b displays the superimposed image C by the display unit 30c.

Subsequently, the processing by the crane system 1 will be described. FIG. 6 is a block diagram showing an example of processing by the crane system 1. Here, a case where each camera 20 acquires a captured image A of a circular region E centered on the lower side in the vertical axis L1 direction of the crane device 10 provided with the camera 20 will be described as an example.

As shown in FIG. 6, in step S10, the image synthesizer 30 of the crane system 1 acquires the captured image A acquired by each camera 20. Subsequently, in step S12, the image synthesizing device 30 acquires the current position coordinates (and turning angle) of each crane device 10 acquired by the position information acquisition unit 10b of each crane device 10. Subsequently, in step S14, the image synthesizing device 30 calculates (acquires) the distance between the crane devices 10 based on the current position coordinates of the crane devices 10.

Subsequently, in step S16, the image synthesizing device 30 determines whether or not there is a set of crane devices 10 such that the distance between the crane devices 10 is smaller than the preset superimposed distance. The "superimposed distance" is a distance at which regions Ea overlapping each other occur in the captured image A acquired by the camera 20 of each crane device 10 when the distance between the superposed crane devices 10 is smaller than the superposed distance. It is set at least based on the diameter of the captured image A. When it is determined that there is a set of crane devices 10 in which the distance between the crane devices 10 is smaller than the superposed distance (step S16: YES), the crane system 1 shifts to the process of step S18. On the other hand, when it is not determined that there is a set of crane devices 10 in which the distance between the crane devices 10 is smaller than the superposed distance (step S16: NO), the crane system 1 shifts to the process of step S22.

Subsequently, in step S18, the image synthesizing device 30 determines the position and dimension of the region Ea (that is, the superposed region) that overlaps with each other in the captured image A based on the distance between the crane devices 10 and the diameter of the captured image A. Calculate (acquire). Subsequently, in step S20, the image synthesizer 30 deletes the image in the superimposed region from the other captured images A except for one captured image A (that is, the priority image).

Subsequently, in step S22, the image compositing device 30 synthesizes a plurality of captured images A to acquire a composite image B, and superimposes the acquired composite image B on the map image M of the yard Y to superimpose the superimposed image C. To get. The image synthesizer 30 displays the acquired superimposed image C on the display unit 30c. When the superimposed image C is displayed by the display unit 30c, the crane system 1 ends the current process shown in FIG. 6 and repeats the process from step S10 again.

As described above, according to the crane system 1 according to the present embodiment, a plurality of captured images A acquired by each camera 20 are combined, and a combined image B when the yard Y is viewed from above is acquired. Therefore, the mutual positional relationship of the regions E captured by the plurality of captured images A can be easily grasped by the composite image B, and the current position of the tracking target T such as a person, a vehicle, or a load on the yard Y. And the movement situation is visualized over a wide area. This makes it possible to easily extract, for example, improvement items for work in the yard Y. Therefore, the crane system 1 can effectively utilize the camera 20 to improve convenience.

Further, in the crane system 1, the image compositing device 30 acquires a superposed image C in which the composite image B is superposed on the map image M of the yard Y. This makes it easier to recognize which region E on the composite image B is on the map image M.

Further, in the crane system 1, each crane device 10 is rotatable, and the image synthesizing device 30 is an image captured image A acquired by a camera 20 provided in the crane device 10 when each crane device 10 is swiveled. In, the captured image A is rotated so that the angle at which the area E around the crane device 10 is displayed is constant. As a result, even when the crane device 10 turns, the angle at which the region E around the crane device 10 is displayed in the captured image A does not change, so that the visibility of the composite image B is improved. Further, since the angle of the captured image is made constant by the arithmetic processing by the image synthesizing device 30, it is not necessary to add a separate mechanical configuration, and the complexity of the structure is suppressed.

Further, in the crane system 1, when the image synthesizing device 30 captures the overlapping regions Ea in the plurality of captured images A acquired by each camera 20, the other captured images A except one captured image A are captured. In, the region Ea is excluded from the composite image B. As a result, in the composite image B, the regions Ea that overlap with each other are not displayed in duplicate in the plurality of captured images A acquired by each camera 20, so that the visibility of the composite image B is improved.

Further, in the crane system 1, each crane device 10 has a mast 15, and each camera 20 is provided on the mast top 15a of the mast 15 of each crane device 10. As a result, since the camera 20 is provided at a particularly high position in the crane device 10, it becomes possible to take an image of a region E around the crane device 10 over a wide range.

Further, in the crane system 1, each camera 20 captures an image of a lower region E in the direction of the vertical axis L1 of the crane device 10 provided with the camera 20. As a result, the same region E can be photographed even if the crane device 10 turns, so that the visibility of the composite image B is improved. Further, since the image pickup direction of the camera 20 is less likely to be obstructed by the surrounding building or the like H as compared with the case of photographing the lateral area of the crane device 10, the area E around the crane device 10 should be imaged over a wide range. Will be possible.

In the crane system 1 according to the present embodiment, each crane device 10 is rotatable with respect to the yard Y, and the image synthesizing device 30 is at an angle at which the area E around the crane device 10 is displayed in the captured image A. A configuration is adopted in which the captured image A is rotated so that is constant. In this case, the action and effect exerted by each camera 20 taking an image of the lower region E in the direction of the vertical axis L1 of the crane device 10 provided with the camera 20 will be further described. That is, since each camera 20 acquires a captured image A of a circular region E centered on the lower side in the vertical axis L1 direction of the crane device 10 provided with the camera 20, each crane device 10 yard. Even when the crane is turned with respect to Y, the acquired circular image A is rotated around the center point thereof, so that the region reflected in the image A does not move. Therefore, the image compositing device 30 suppresses an increase in the amount of arithmetic processing for synthesizing the captured image A by rotating the captured image A to acquire the composite image B.

Further, according to the image compositing device 30 according to the present embodiment, a plurality of captured images A acquired by each camera 20 are combined, and a composite image B when the yard Y is viewed from above is acquired. Therefore, the mutual positional relationship of the regions E captured by the plurality of captured images A can be easily grasped by the composite image B, and the current position of the tracking target T such as a person, a vehicle, or a load on the yard Y. And the movement situation is visualized over a wide area. This makes it possible to easily extract, for example, improvement items for work in the yard Y. Therefore, the image compositing device 30 can effectively utilize the camera 20 to improve convenience.

The above-described embodiment can be implemented in various forms with various changes and improvements based on the knowledge of those skilled in the art.

For example, each crane device 10 can turn with respect to the yard Y, and each camera 20 has a reference to the crane device 10 (more specifically, the mast 15 of the crane device 10) provided with the camera 20. Each camera 20 can turn around the vertical axis L1, and when the crane device 10 provided with the camera 20 turns with respect to the yard Y, the area E around the crane device 10 is imaged. The crane device 10 may be turned in the direction opposite to the turning direction of the crane device 10 by the same angle as the turning angle of the crane device 10 so that the angle is constant. For example, each camera 20 may have a turning mechanism for turning with respect to the mast 15 of the crane device 10. Each camera 20 may acquire the turning direction and turning angle of the crane device 10 with respect to the yard Y from the turning body 13 of the crane device 10 provided with the camera 20, and the acquired turning direction and turning angle of the crane device 10 may be obtained. The turning direction and turning angle of the camera 20 with respect to the crane device 10 may be determined based on the turning angle. As a more specific example, for example, when the crane device 10 turns 90 degrees around the vertical axis L1 with respect to the yard Y, the camera 20 also turns 90 degrees around the vertical axis L1 with respect to the yard Y. Therefore, the camera 20 turns −90 degrees around the vertical axis L1 with respect to the crane device 10 so that the angle at which the region E around the crane device 10 is imaged in the captured image A is constant.

According to this, even when the crane device 10 turns with respect to the yard Y, the camera 20 does not turn with respect to the yard Y, and the angle at which the region E around the crane device 10 is displayed in the captured image A is Since it does not change, the visibility of the composite image B is improved. Further, since the angle of the captured image A is constant due to the mechanical configuration, an increase in the amount of calculation processing by the image synthesizing device 30 is suppressed.

Further, each crane device 10 does not have to turn. That is, each crane device 10 does not have to turn with respect to the yard Y. Further, each crane device 10 does not have to travel along the rail R.

Further, each crane device 10 uses a position on the yard Y such that a wider area of the yard Y is included in the composite image B as a reference position, for example, when the crane work by the crane device 10 is suspended, the reference position of the crane device 10. You may move to the position. For example, the reference position of each crane device 10 may be preset so as to form a matrix at equal intervals.

Further, the image compositing device 30 may acquire the composite image B, and may not acquire the superposed image C on which the composite image B is superimposed on the map image M of the yard Y.

Further, each crane device 10 may be a type of crane that does not have a mast 15. Each camera 20 does not necessarily have to be provided on the mast top 15a, and may be provided at a position higher than other buildings such as H in the factory P.

Further, each camera 20 may set the angle of view of the camera 20 based on the height of the position where the camera 20 is provided. For example, each camera 20 may be set so that the lower the height of the position where the camera 20 is provided, the larger the angle of view of the camera 20 (in other words, each camera 20 is the camera). The higher the height of the position where 20 is provided, the smaller the angle of view of the camera 20 may be set). In this case, the angle of view of each camera 20 is set so that the area of the region captured by the captured images A acquired by the plurality of (preferably all) cameras 20 is the same (or substantially the same). You may be. As a result, the image synthesizing device 30 can easily execute the arithmetic processing for synthesizing the plurality of captured images A and acquiring the composite image B.

Further, each camera 20 is included in a predetermined angle of view V with the lower region E in the vertical axis L1 direction of the crane device 10 provided with the camera 20 (that is, the lower side in the vertical axis L1 direction as the optical axis X). It is not necessary to image the area). That is, each camera 20 captures a lateral region of the crane device 10 provided with the camera 20 (that is, a region included in a predetermined angle of view with the direction intersecting the vertical axis L1 direction as the optical axis). You may.

Further, the camera 20 may be provided on the upper floor or the roof of H such as a tall building. Each camera 20 does not have to acquire the captured image A of the circular region E, and may acquire, for example, the captured image of the rectangular region.

Further, the image synthesizing device 30 may have a storage unit for storing the superimposed image C acquired by the image processing unit 30b in place of the display unit 30c or in addition to the display unit 30c. In this case, the superimposed image C acquired by the image processing unit 30b can be stored in the storage unit, read from the storage unit at a desired timing, and displayed on the display unit 30c or an external display device. ..

Further, when the yard Y in which each crane device 10 is arranged is an indoor yard, each crane device 10 may be an overhead crane. Further, in this case, each camera 20 is not limited to each crane device 10, and may be provided on a wall or the like of a building.

1 ... Crane system, 10 ... Crane device, 15 ... Mast, 15a ... Mast top, 20 ... Camera, 30 ... Image synthesizer, A ... Captured image, B ... Composite image, C ... Superimposed image, M ... Map image, Y … Yard.

Claims (8)

With multiple crane devices located in the yard,
A plurality of cameras provided in each of the plurality of crane devices and capable of capturing an image of the surrounding area of the crane device and acquiring an captured image.
It is provided with an image compositing device that synthesizes a plurality of the captured images acquired by each of the plurality of cameras and acquires a composite image of the yard viewed from above .
The image compositing device has a first captured image acquired by a first camera provided in the first crane device among the plurality of the crane devices, and a second crane device different from the first crane device. A crane system that synthesizes a second captured image acquired by a second camera provided in a crane device . The image compositing device stores the map image of the yard in advance, so that the current position coordinates of the crane device received from each of the crane devices and the position coordinates of the yard in the map image match. to obtain a superimposed image obtained by superimposing the composite image onto the map image of the yard crane system according to claim 1. With multiple crane devices located in the yard,
A plurality of cameras provided in each of the plurality of crane devices and capable of capturing an image of the surrounding area of the crane device and acquiring an captured image.
It is provided with an image compositing device that synthesizes a plurality of the captured images acquired by each of the plurality of cameras and acquires a composite image of the yard viewed from above.
Each of the plurality of crane devices is rotatable and can be turned.
In the image compositing device, when each of the plurality of crane devices turns, the angle at which the area around the crane device is displayed is constant in the captured image acquired by the camera provided in the crane device. as will be, rotate the captured image, crane system. Each of the plurality of crane devices is rotatable and can be turned.
Each of the plurality of cameras is rotatable with respect to the crane device in which the cameras are provided.
Each of the plurality of cameras has a turning direction of the crane device so that when the crane device provided with the camera turns, the angle at which the area around the crane device is imaged is constant. The crane system according to claim 1 or 2, wherein the crane system turns in the opposite direction with respect to the crane device by the same angle as the turning angle of the crane device. When a region overlapping with each other is captured in a plurality of captured images acquired by each of the plurality of cameras, the image synthesizer overlaps the captured images in other captured images excluding one captured image. The crane system according to any one of claims 1 to 4, wherein the area is excluded from the composite image. Each of the plurality of crane devices has a mast and
The crane system according to any one of claims 1 to 5, wherein each of the plurality of cameras is provided on the mast top of the mast of each of the plurality of crane devices. The crane system according to any one of claims 1 to 6, wherein each of the plurality of cameras images a lower region in the vertical direction of the crane device provided with the camera. The yard is viewed from above by synthesizing a plurality of captured images obtained by imaging the area around the crane device with each of a plurality of cameras provided in each of the plurality of crane devices arranged in the yard. a composite image acquired was,
The first captured image acquired by the first camera provided in the first crane device among the plurality of the crane devices and the second crane device different from the first crane device are provided. An image compositing device that synthesizes a second captured image acquired by a second camera.

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