JP7293798B2 - Lifting support system - Google Patents

Description

The present invention relates to a lifting work support system.

Patent Document 1 discloses an example of an object detection system. The object detection system comprises a crane camera, color detection means, and alarm generation means. The color detection means detects the designated color from the image captured by the crane camera. The alarm generation means generates an alarm when the color detection means detects the specified color.

JP 2018-160153 A

However, the crane camera of Patent Document 1 is arranged at the tip of the crane. While the crane is hoisting the load, the crane camera shoots the area directly below the tip of the crane above the load. Therefore, in the operation of a crane to which the object detection system of Patent Document 1 is applied, it is not possible to check whether there is an obstacle directly under the suspended load that will hinder the lifting operation.

The present invention was made to solve such problems. SUMMARY OF THE INVENTION It is an object of the present invention to provide a lifting work support system capable of confirming whether or not there is an obstruction to lifting work directly under a suspended load during operation of a lifting machine.

A hoisting work support system according to the present invention is provided on a hoisted load that is hoisted by a hoisting machine in a hoisting work, and directs a first image displayed on a display unit below the lower surface of the hoisted load to the lower side of the hoisted load. A second image of the lower surface of the suspended load is captured by a first camera photographed by a first light receiving unit arranged at the bottom of the suspended load, and a second light receiving unit provided on the suspended load together with the first camera and arranged below the lower surface of the suspended load. A second camera for capturing an image, an extraction unit for extracting the shape of the lower surface of the suspended load based on the second image, and a synthesizing unit for superimposing the shape of the lower surface of the suspended load extracted by the extraction unit on the first image. .
A hoisting work support system according to the present invention is provided on a hoisted load that is hoisted by a hoisting machine in a hoisting work, and directs a first image displayed on a display unit below the lower surface of the hoisted load to the lower side of the hoisted load. The shape of the lower surface of the suspended load based on the second image of the lower surface of the suspended load captured by the first camera photographed by the first light receiving unit arranged in the and a synthesizing unit that superimposes the shape of the lower surface of the suspended load extracted by the extracting unit on the first image.

According to the present invention, a lifting work support system includes a first camera. A first camera is provided on the suspended load. A suspended load is suspended by a lifting machine in a lifting operation. The first camera captures a first image with the first light receiving section. The first image is displayed on the display. A 1st light-receiving part is arrange|positioned toward the downward direction of a suspended load below the lower surface of a suspended load. As a result, it is possible to confirm whether or not there is an obstruction to the lifting work directly under the suspended load during the operation of the lifting machine.

1 is a configuration diagram showing a lifting work support system according to Embodiment 1; FIG. 1 is a configuration diagram showing a main part of a lifting work support system according to Embodiment 1; FIG. 1 is a block diagram showing the configuration of a lifting work support system according to Embodiment 1; FIG. FIG. 2 is a diagram showing an example of lifting work using the lifting work support system according to Embodiment 1; FIG. FIG. 9 is a diagram showing an example of a second image in the lifting work support system according to Embodiment 1; FIG. 5 is a diagram showing an example of a first image in the lifting work support system according to Embodiment 1; 4 is a flow chart showing an example of the operation of the lifting work support system according to Embodiment 1; 1 is a diagram showing a hardware configuration of main parts of a lifting work support system according to Embodiment 1; FIG. FIG. 10 is a configuration diagram showing a lifting work support system according to Embodiment 2;

A mode for carrying out the present invention will be described with reference to the accompanying drawings. In each figure, the same or corresponding parts are denoted by the same reference numerals, and overlapping descriptions are appropriately simplified or omitted.

Embodiment 1.
FIG. 1 is a configuration diagram showing a lifting work support system 1 according to Embodiment 1. As shown in FIG.

As shown in FIG. 1 , the lifting work support system is applied to support lifting work using a lifting machine 2 .

The lifting machine 2 is a device that performs lifting work such as lifting and lowering the load 3 . The lifting machine 2 is, for example, a mobile crane. The heavy lifting machine 2 is, for example, a wheel crane or a truck crane.

The hoisting machine 2 includes, for example, a hook on which a sling 4 for hoisting a load 3 is hung during hoisting work. The hanger 4 is, for example, a sling. The heavy lifting machine 2 is operated, for example, by an operator in the cab of the heavy lifting machine 2 . In the lifting operation, the load 3 is lifted upward from the ground on which the lifting machine 2 is placed, for example. In the lifting operation, the suspended load 3 is suspended, for example, from the roof of a building. Here, the roof of the building may be above the cab of the heavy lifting machine 2 . The suspended load 3 is, for example, an outdoor unit of an air conditioner for a building. During the lifting work, for example, a supervisor outside the lifting machine 2 may supervise the lifting work.

The lifting work support system 1 includes a video display device 5 and a photographing device 6 .

The video display device 5 includes a display section 7 and a video processing section 8 . The display unit 7 is a part that displays images. The video processing unit 8 is a part that performs processing such as synthesis or correction on the video displayed on the display unit 7 . The display unit 7 is arranged at a position that can be visually recognized by an operator, for example, in the cab of the heavy lifting machine 2 . The video display device 5 is, for example, a laptop PC (Personal Computer), a tablet PC, or a smart phone. The image display device 5 may include a plurality of display units 7 . Some or all of the plurality of display units 7 may be display units 7 of a portable display device, for example. At this time, one of the display devices is carried by, for example, a supervisor who supervises the lifting work.

The photographing device 6 is a device for photographing an image during the lifting work. The photographing device 6 is provided on the suspended load 3 . In this example, the image capturing device 6 captures the first image and the second image. The first image is an image displayed on the display unit 7 . In the first image, a field of view F1 below the lower surface of the suspended load 3 is shown. The second image is an image representing the field of view F2 including the lower surface of the suspended load 3 .

FIG. 2 is a configuration diagram showing a main part of the lifting work support system according to Embodiment 1. As shown in FIG.
In FIG. 2, a block diagram of the imaging device 6 is shown.

The photographing device 6 includes a support cable 9 and a camera unit 10 .

The support rope 9 is, for example, a sling. The support rope 9 has a pair of connectors 11 at both ends. A pair of couplers 11 are parts that form the support rope 9 in a ring shape, for example, by being coupled with each other.

The camera unit 10 is attached to the suspended load 3 by the support cable 9 . The camera unit 10 may be provided movably along the direction in which the support cable 9 extends, for example. The camera unit 10 has a first camera 12 and a second camera 13 . The first camera 12 is a device that captures an image using the first light receiving section 14 . The first light receiving unit 14 is, for example, the lens of the first camera 12 . The second camera 13 is a device that captures an image using the second light receiving section 15 . The second light receiving section 15 is, for example, the lens of the second camera 13 . The first light receiving section 14 and the second light receiving section 15 are directed in opposite directions, for example. The first light receiving section 14 is oriented, for example, in a direction perpendicular to the direction in which the support cable 9 extends. The second light receiving portion 15 is oriented, for example, in a direction perpendicular to the direction in which the support cable 9 extends.

Here, when the first light receiving part 14 of the first camera 12 is directed below the suspended load 3 below the lower surface of the suspended load 3, the first camera 12 captures the first image. At this time, for example, when the first light receiving section 14 and the second light receiving section 15 are oriented in opposite directions, the second light receiving section 15 of the second camera 13 is located below the lower surface of the suspended load 3 and the lower surface of the suspended load 3 . directed to. In this case, the second camera 13 shoots the second image.

FIG. 3 is a block diagram showing the configuration of the lifting work support system according to the first embodiment.

The video processing unit 8 includes a communication unit 16 , an extraction unit 17 , a detection unit 18 and a synthesis unit 19 .

The communication unit 16 is a part that performs wired or wireless communication. The communication unit 16 is connected to the camera unit 10 so as to acquire the first image and the second image taken. The communication unit 16 is connected to the display unit 7 so as to output the first image.

The extraction unit 17 is a part that extracts the shape of the lower surface of the suspended load 3 based on the second image acquired by the communication unit 16 . The extraction unit 17 may extract the shape of the lower surface of the suspended load 3 by image processing techniques such as edge detection.

The detection unit 18 is a part that detects the positional relationship between the camera unit 10 and the suspended load 3 or the ground below the suspended load 3 . Here, the ground below the suspended load 3 is, for example, the ground on which the hoisting machine 2 is placed, the ground on which the suspended load 3 is placed before being lifted, the movement path through which the suspended load 3 passes above, and a landing surface on which the suspended load 3 is suspended. The positional relationship detected by the detection unit 18 includes, for example, distance or inclination. The detector 18 includes a distance detector 20 and an inclination detector 21 .

The distance detection section 20 is a section that detects the distance from the first light receiving section 14 to the ground below the load 3 . The distance detection unit 20 may calculate the amount of movement of the first light receiving unit 14 by detecting expansion or contraction of the ground below the suspended load 3 in the first image. At this time, the distance detection unit 20 may receive an input of an initial value of the distance from the first light receiving unit 14 to the ground below the suspended load 3 from, for example, an operator. Initial measurements may be made, for example, by a lifting operator.

The tilt detector 21 is a part that detects the tilt of the suspended load 3 of the first light receiver 14 with respect to the ground. The tilt detection unit 21 may calculate the tilt of the first light receiving unit 14 by detecting deformation or movement of the ground below the suspended load 3 in the first image.

The synthesizing unit 19 is a portion that superimposes the shape of the lower surface of the suspended load 3 extracted by the extracting unit 17 on the first image. The synthesizing unit 19 combines the shape extracted by the extracting unit 17 based on the distance or inclination detected by the detecting unit 18 so that the shape of the suspended load 3 projected vertically onto the ground below is superimposed on the first image. may be corrected.

Next, functions of the lifting work support system 1 will be described with reference to FIGS. 4 to 6. FIG.

FIG. 4 is a diagram showing an example of lifting work using the lifting work support system according to the first embodiment.
In FIG. 4, the suspended load 3 is shown in a suspended state.

When the suspended load 3 is hoisted in a lifting operation, the suspended load 3 may be held slightly above the ground for checking the state of the sling 4, for example. For example, at this time, the photographing device 6 is attached to the suspended load 3 held in a state of floating above the ground.

A camera unit 10 of the photographing device 6 is supported so as to hang downward from the lower surface of the suspended load 3 by a support cable 9 wound around the suspended load 3, for example. The support rope 9 is wound around the load 3 by being formed in a ring shape, for example. In this example, the support rope 9 is formed into a loop by tying both ends. At this time, the knot N of the support rope 9 is arranged on the side surface of the suspended load 3, for example. Alternatively, the support rope 9 may be formed in a loop by being fastened with fasteners at both ends. Alternatively, the support rope 9 may be formed into a loop by connecting a pair of connectors 11 provided at both ends. When the camera unit 10 is provided movably along the direction in which the support cable 9 extends, the camera unit 10 moves below the central portion of the lower surface of the suspended load 3 by its own weight. The first light receiving section 14 of the first camera 12 faces downward from the camera unit 10 . A second light receiving portion 15 of the second camera 13 is directed upward of the camera unit 10 . The distance between the second light receiving unit 15 of the second camera 13 and the lower surface of the suspended load 3 is adjusted so that the entire lower surface of the suspended load 3 is included in the second image, for example. In this example, the position of the second light-receiving part 15 is adjusted by the position where both ends of the support cable 9 are connected.

FIG. 5 is a diagram showing an example of the second image in the lifting work support system according to the first embodiment.

The second image shows the lower surface of the suspended load 3 as seen from below. In this example, the lower surface of the suspended load 3 has a rectangular shape. The second camera 13 outputs the captured second image to the image processing unit 8 . The extraction unit 17 of the image processing unit 8 extracts the shape of the lower surface of the suspended load 3 from the second image. In FIG. 5 , the thick line represents the shape of the lower surface of the suspended load 3 extracted by the extractor 17 .

FIG. 6 is a diagram showing an example of the first image in the lifting work support system according to the first embodiment.

In the first image, the ground below the lower surface of the suspended load 3 is represented. In FIG. 6 , the thick line represents the shape of the lower surface of the suspended load 3 superimposed by the synthesizing section 19 . In this example, the synthesizing unit 19 superimposes the shape of the suspended load 3 projected vertically on the ground below on the first image based on one or both of the distance and the inclination detected by the detecting unit 18. , the shape extracted by the extraction unit 17 is corrected. That is, the shape of the lower surface of the suspended load 3 superimposed on the first image represents the range of the ground that the lower surface faces when the suspended load 3 lands on the ground. The synthesizing unit 19 outputs the first image to the display unit 7 via the communication unit 16 . The synthesizing unit 19 may directly output the first image to the display unit 7 .

The display unit 7 displays the input first image.

The operator operates the hoisting machine 2 while confirming whether there is an obstacle 22 or the like directly under the suspended load 3 that hinders the hoisting work by the first image displayed on the display unit 7 . At this time, the supervisor may supervise the lifting work using the first image displayed on the display unit 7 of the device that the supervisor possesses.

When the suspended load 3 is lowered in a lifting operation, the suspended load 3 may be held in a slightly floating state from the ground, for example, for confirmation of the installation position. For example, at this time, the photographing device 6 is removed from the suspended load 3 held floating above the ground.

The photographing device 6 is removed, for example, by removing the support cable 9 wound around the suspended load 3 . The worker removes the supporting rope 9 by untying the knot of the supporting rope 9 formed in a loop, for example. The worker may retrieve the photographing device 6 by pulling out the support cable 9 removed from the suspended load 3 from below the suspended load 3 together with the camera unit 10, for example.

Next, FIG. 7 is a flowchart showing an example of the operation of the lifting work support system 1. FIG.
FIG. 7 is a flow chart showing an example of the operation of the lifting work support system according to the first embodiment.

In step S1, the camera unit 10 shoots a second image. After that, the operation of the lifting work support system 1 proceeds to step S2.

In step S<b>2 , the extraction unit 17 extracts the shape of the lower surface of the suspended load 3 based on the second image captured by the camera unit 10 . After that, the operation of the lifting work support system 1 proceeds to step S3.

In step S3, the camera unit 10 shoots the first image. After that, the operation of the lifting work support system 1 proceeds to step S4.

In step S<b>4 , the detection unit 18 detects the positional relationship between the camera unit 10 and the suspended load 3 or the ground below the suspended load 3 . After that, the operation of the lifting work support system 1 proceeds to step S5.

In step S<b>5 , the synthesizing unit 19 superimposes the shape of the lower surface of the suspended load 3 corrected based on the detected positional relationship on the first image captured by the camera unit 10 . After that, the operation of the lifting work support system 1 proceeds to step S6.

In step S<b>6 , the synthesizing section 19 outputs to the display section 7 a first image in which the shape of the lower surface of the suspended load 3 is superimposed. After that, the operation of the lifting work support system 1 proceeds to step S1.

As described above, the lifting work support system 1 according to Embodiment 1 includes the first camera 12 . The first camera 12 is provided on the suspended load 3 . The suspended load 3 is suspended by the lifting machine 2 in the lifting operation. The first camera 12 captures the first image with the first light receiving section 14 . The first image is displayed on the display section 7 . The first light-receiving part 14 is arranged below the lower surface of the suspended load 3 toward the lower side of the suspended load 3 .

In the first image, the image directly below the suspended load 3 is not blocked from the first camera 12 by the suspended load 3 itself. The operator of the hoisting machine 2 can directly confirm whether or not there is an obstruction to the hoisting work directly under the suspended load 3 by the first image displayed on the display unit 7 . As a result, it is possible to confirm whether or not there is an obstacle directly under the suspended load 3 during the operation of the hoisting machine 2 .

Further, the first camera 12 is supported by the support cable 9 so as to hang below the lower surface of the load 3 . The support rope 9 is hung on the suspended load 3 .

As a result, the first camera 12 is attached to the suspended load 3 by the support cable 9, so that the first camera 12 can be easily recovered when it is removed. In addition, since the first camera 12 hangs by its own weight, the first light receiving section 14 tends to face downward regardless of the state of the suspended load 3 .

The lifting work support system 1 also includes a second camera 13 , an extraction unit 17 , and a synthesizing unit 19 . The second camera 13 is provided on the suspended load 3 together with the first camera 12 . The second camera 13 captures a second image using the second light receiving section 15 . The second light receiving section 15 is arranged below the lower surface of the suspended load 3 . The second image is an image of the lower surface of the suspended load 3 . The extraction unit 17 extracts the shape of the lower surface of the suspended load 3 based on the second image. The synthesizing unit 19 superimposes the shape of the lower surface of the suspended load 3 extracted by the extracting unit 17 on the first image.

The operator of the hoisting machine 2 can confirm whether or not there is an obstruction to the hoisting work directly under the hoisting load 3 by considering the shape of the lower surface of the hoisting load 3 . Also, the shape of the lower surface of the suspended load 3 is extracted from the second image. Therefore, the lifting work support system 1 does not require information on the shape of the lower surface of the suspended load 3 in advance. The lifting work support system 1 can be applied to lifting work regardless of the shape of the lower surface of the suspended load 3 .

The lifting work support system 1 also includes a distance detection unit 20 . The distance detection unit 20 detects the distance from the first light receiving unit 14 to the ground below the load 3 . The synthesis unit 19 corrects the shape of the lower surface of the suspended load 3 based on the distance detected by the distance detection unit 20 and superimposes it on the first image.
The lifting work support system 1 also includes an inclination detector 21 . The tilt detection section 21 detects the tilt of the first light receiving section 14 . The synthesizing unit 19 corrects the shape of the lower surface of the suspended load 3 based on the tilt detected by the tilt detecting unit 21 and superimposes it on the first image.

In the first image, the shape of the suspended load 3 vertically projected on the ground below is superimposed on the first image. Accordingly, the operator can easily determine whether or not the object appearing in the first image is directly below the suspended load 3 and hinders the lifting operation.

Note that the first light receiving unit 14 and the second light receiving unit 15 are portions that receive external light from optical devices such as mirrors, lenses, prisms, or optical fiber cables that guide light to the light receiving elements of the first camera 12 and the second camera 13. may be

Further, in mounting the photographing device 6 , the support cable 9 does not have to be wound around the suspended load 3 . The support cable 9 may be attached to the left and right or front and rear sides of the suspended load 3 by hooks or magnets provided at both ends, for example. At this time, the support rope 9 is an example of a support. The support is a part that supports the camera unit 10 .

In this example, the second image is continuously shot while the suspended load 3 is suspended. Thereby, the displacement of the camera unit 10 with respect to the suspended load 3 can be detected. The lifting work support system 1 may issue a warning to an operator, for example, when detecting a positional deviation of the camera unit 10 .

Also, the second image may be an image captured once when the imaging device 6 is attached. The synthesizing unit 19 stores the shape of the lower surface of the suspended load 3 extracted by the extracting unit 17 from the second image captured once, thereby continuously capturing the first image while the suspended load 3 is suspended. The shape may be superimposed on the image. As a result, the processing load of the video processing unit 8 related to the extraction of the shape of the lower surface of the suspended load 3 is reduced.

The second image may be captured by the first camera 12 by directing the first light receiving section 14 of the first camera 12 upward.

At this time, the lifting work support system 1 is configured using a camera unit 10 having a single camera. This simplifies the configuration of the lifting work support system 1 .

Further, the lifting work support system 1 may include a drive unit. The driving part is a part that directs the first light receiving part 14 of the first camera 12 upward so that the first camera 12 captures the second image with the first light receiving part 14 .

As a result, the worker does not need to move the camera unit 10 when photographing the second image when attaching the photographing device 6 to the suspended load 3 . The drive section may operate by a signal from an operation section that receives an operation in the image display device 5, for example. For example, while the suspended load 3 is suspended, the driving section may temporarily direct the first light receiving section 14 upward based on the operation from the operating section. The lifting work support system 1 uses the camera unit 10 having a single camera, and can detect the displacement of the camera unit 10 with respect to the suspended load 3 during the lifting work as necessary. The drive may be, for example, a servomotor.

Also, part or all of the video processing unit 8 may be provided in hardware different from that of the display unit 7 . Part or all of the video processing unit 8 may be provided in hardware that is physically separated from each other. A part or all of the video processing unit 8 may be provided in the imaging device 6 . A part or all of the image processing unit 8 may be provided, for example, in a server computer installed at a remote location of the site where the lifting work is performed.

Next, an example of the hardware configuration of the lifting work support system 1 will be described with reference to FIG. 8 .
FIG. 8 is a diagram showing a hardware configuration of main parts of the lifting work support system according to Embodiment 1. As shown in FIG.

Each function of the lifting work support system 1 can be realized by a processing circuit. The processing circuit comprises at least one processor 1b and at least one memory 1c. The processing circuit may comprise at least one piece of dedicated hardware 1a, together with or as an alternative to processor 1b and memory 1c.

When the processing circuit includes the processor 1b and the memory 1c, each function of the lifting work support system 1 is implemented by software, firmware, or a combination of software and firmware. At least one of software and firmware is written as a program. The program is stored in memory 1c. The processor 1b realizes each function of the lifting work support system 1 by reading and executing the programs stored in the memory 1c.

The processor 1b is also called a CPU (Central Processing Unit), processing device, arithmetic device, microprocessor, microcomputer, or DSP. The memory 1c is composed of, for example, non-volatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, EEPROM, magnetic disk, flexible disk, optical disk, compact disk, mini disk, DVD, and the like.

If the processing circuit comprises dedicated hardware 1a, the processing circuit may be implemented, for example, in a single circuit, multiple circuits, programmed processors, parallel programmed processors, ASICs, FPGAs, or combinations thereof.

Each function of the lifting work support system 1 can be implemented by a processing circuit. Alternatively, each function of the lifting work support system 1 can be collectively realized by a processing circuit. A part of each function of the lifting work support system 1 may be realized by dedicated hardware 1a, and the other part may be realized by software or firmware. Thus, the processing circuit implements each function of the lifting work support system 1 with hardware 1a, software, firmware, or a combination thereof.

Embodiment 2.
In the second embodiment, differences from the example disclosed in the first embodiment will be described in detail. Any feature of the example disclosed in the first embodiment may be employed for features not described in the second embodiment.

FIG. 9 is a configuration diagram showing a lifting work support system according to Embodiment 2. As shown in FIG.

The camera unit 10 is attached to the suspended load 3 by the support pillars 23 . The support column 23 is an example of a support. The support column 23 supports the camera unit 10 at one end. The support column 23 has a mounting portion 24 at the other end. The mounting portion 24 is, for example, a hook or a magnet. The support column 23 is provided on the side surface of the suspended load 3 by the mounting portion 24 . The support column 23 extends, for example, in the vertical direction when attached to the suspended load 3 . At this time, the camera unit 10 is arranged below the side surface of the suspended load 3 .

In this example, the first camera 12 has a mechanism for moving the field of view F1, such as lens shift or tilt. The field of view F1 is moved so that, for example, the area immediately below the suspended load 3 is included in the first image. In this example, the second camera 13 has a mechanism for moving the field of view F2, such as lens shift or tilt. The field of view F2 is moved so that, for example, the entire lower surface of the suspended load 3 is included in the second image.

The distance detection unit 20 has a distance sensor 25 . A distance sensor 25 is provided in the camera unit 10 . The distance sensor 25 is, for example, a laser rangefinder or an ultrasonic rangefinder. The distance detection unit 20 detects the distance between the first light receiving unit 14 and the ground below the suspended load 3 based on the measured value of the distance sensor 25 .

The tilt detector 21 has an acceleration sensor 26 . An acceleration sensor 26 is provided in the camera unit 10 . The acceleration sensor 26 is, for example, an accelerometer that detects gravitational acceleration. The tilt detection unit 21 detects the tilt of the first light receiving unit 14 with respect to the ground below the suspended load 3 based on the measurement value of the acceleration sensor 26 .

As described above, the first camera 12 of the lifting work support system 1 according to Embodiment 2 is supported below the lower surface of the suspended load 3 by a support. The supports are attached to the sides of the suspended load 3 .

A worker can attach and detach the photographing device 6 from the side of the suspended load 3 . This facilitates application of the lifting work support system 1 .

Also, the detection unit 18 detects the positional relationship based on the measurement results of the sensors. As a result, for example, the processing load of the video processing unit 8 related to detection of the positional relationship is reduced.

In addition, the distance detection unit 20 detects the distance between the first light receiving unit 14 and the ground below the suspended load 3 based on the amount of movement of the camera unit 10 obtained by integrating the measurement value of the acceleration sensor 26 provided in the camera unit 10. may be detected.

In addition, the camera unit 10 may be supported by a support beam extending horizontally along the lower surface of the suspended load 3, for example. Both ends of the support beam are attached to the side surfaces of the suspended load 3 . A support beam is an example of a support.

1 Lifting work support system 2 Lifting machine 3 Lifting load 4 Lifting tool 5 Image display device 6 Photographing device 7 Display unit 8 Image processing unit 9 Support rope 10 Camera unit 11 Connector 12 First camera 13 Second camera 14 First light receiving unit 15 Second light receiving unit 16 Communication unit 17 Extraction unit 18 Detection unit 19 Synthesis unit 20 Distance detection unit 21 Tilt detection unit 22 Obstacle , 23 support post, 24 mount, 25 distance sensor, 26 acceleration sensor, 1a hardware, 1b processor, 1c memory, F1, F2 field of view, N knot

Claims (7)

A first image displayed on a display unit, which is provided on a load suspended by a lifting machine in a lifting operation, is displayed by a first light receiving unit arranged below the lower surface of the load and directed downward to the load. a first camera for shooting ;
a second camera, which is provided on the load together with the first camera and captures a second image of the bottom surface of the load by a second light receiving unit disposed below the bottom surface of the load;
an extraction unit that extracts the shape of the lower surface of the suspended load based on the second image;
a synthesizing unit that superimposes the shape of the lower surface of the suspended load extracted by the extracting unit on the first image;
Lifting work support system. A first image displayed on a display unit, which is provided on a load suspended by a lifting machine in a lifting operation, is displayed by a first light receiving unit arranged below the lower surface of the load and directed downward to the load. a first camera for shooting ;
an extraction unit for extracting the shape of the lower surface of the suspended load based on a second image of the lower surface of the suspended load captured by directing the first light receiving unit of the first camera upward;
a synthesizing unit that superimposes the shape of the lower surface of the suspended load extracted by the extracting unit on the first image;
Lifting work support system. 3. The lifting work support system according to claim 2, further comprising: a driving unit that directs the first light receiving unit of the first camera upward so that the first camera captures the second image by the first light receiving unit. a distance detection unit that detects the distance from the first light receiving unit to the ground below the suspended load,
The synthesizing unit corrects the shape of the lower surface of the suspended load based on the distance detected by the distance detecting unit and superimposes it on the first image.
The lifting work support system according to any one of claims 1 to 3 . a tilt detection unit that detects the tilt of the first light receiving unit,
The synthesizing unit corrects the shape of the lower surface of the suspended load based on the tilt detected by the tilt detecting unit and superimposes it on the first image.
The lifting work support system according to any one of claims 1 to 4 . The first camera is supported so as to hang below the lower surface of the suspended load by a support rope hung on the suspended load.
The lifting work support system according to any one of claims 1 to 5 . The first camera is supported below the lower surface of the suspended load by a support attached to the side surface of the suspended load.
The lifting work support system according to any one of claims 1 to 5 .

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