JP7345335B2 - Crane operation support system and crane operation support method - Google Patents

Description

The present invention relates to a crane operation support system and a crane operation support method.

Cranes such as quayside cranes and gantry cranes that handle containers at container terminals have their operating cabs located away from the cranes in order to improve cargo handling efficiency through automation of container terminals and ensure worker safety. In some cases, the system may be remotely controlled.
In remote-controlled cranes, the operator's cab is often located in a location where the driver cannot visually see the cargo to be handled or the lifting equipment on the crane side. For this reason, with remote-controlled cranes, a camera installed on the trolley captures an image of the crane and its surroundings and displays it on a display in the driver's cab, and the driver can refer to the displayed image and use the camera installed on the trolley or other device to capture images of the crane and its surroundings. operate.
On the other hand, the signal of a video signal such as a camera video is attenuated as the distance between the display means and the crane increases. Therefore, the video signal may be converted into a signal that is more resistant to attenuation than the video signal, such as an optical signal or an Ethernet (registered trademark) signal, and then transmitted. For example, in Patent Document 1, all display and control signals including crane video signals are converted to IP data. In this case, a delay occurs in the transmission signal by the time required to convert the video signal. Therefore, there has been a problem that the timing at which the image is displayed on the display means is delayed from the timing at which the crane is actually imaged. On the other hand, control signals that transmit commands related to crane operation require less time to convert than video signals, so there is almost no delay in the transmitted signals. Therefore, the driver's operation is immediately reflected in the movement of the crane, and there is a noticeable delay in the timing at which the image is displayed on the display means with respect to the timing at which the operation is reflected in the movement of the crane.
On the other hand, Patent Document 2 describes a technique for ascertaining the delay status of video transmission and stopping the operation of the crane if the delay time exceeds a certain value. Patent Document 3 describes a technique for grasping the delay status of video transmission and making the driver aware of the delay time.

Japanese Patent Application Publication No. 2012-041132 Japanese Patent Application Publication No. 2012-142789 JP2016-072727A

However, the techniques disclosed in Patent Documents 2 and 3 can only grasp the delay situation and cannot eliminate the display delay. Therefore, this technique has a problem in that it is difficult to perform fine crane operations. In particular, when operating a crane where the lifting equipment is swinging, by operating the lifting equipment when the lifting equipment reaches a predetermined swing angle, swinging can be suppressed and the container can land at the target position. Technology to do this is required. However, if the video signal is delayed, by the time the image of the hanger at a predetermined deflection angle is displayed on the display means, the actual hanger is already at that deflection angle. Therefore, it was difficult for the driver to operate the crane based on the video when the hanging device actually reached a predetermined swing angle.
The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide a crane driving support system in which delays in images displayed on a display means are less likely to occur.

In order to solve the above-mentioned problems, the present invention provides an operation support system for supporting the operation of a crane including a support structure and a lifting device supported by the support structure and lifting a cargo handling object from a storage area. The hanging tool in a state where it is not gripping the cargo handling object, or the lifting tool in a state in which the cargo handling object is gripped and the grabbed cargo handling object are used as a hanging body, and the position and posture of the hanging body are set in a predetermined predetermined position. a position detecting means for detecting at a period of , and generating a position detecting signal indicating a detection result; The processed image, which is an image including a suspended body image, which is an image obtained by drawing suspended body model information, which is image information indicating the suspended body at a position and orientation in the area, and at a predetermined viewpoint and a predetermined visual field, is processed at the predetermined period. The hanging object image includes an image generating means that generates images at the following intervals, and a display means that is connected to the image generating means and displays the processed image , and the hanging object image is generated based on the trim, list, and skew of the hanging tool. , characterized in that the deflection angle of the hanging tool is reflected as the attitude .

Further, the present invention provides an operation support method for supporting the operation of a crane including a support structure and a lifting device supported by the support structure to lift a cargo handling object from a storage area, wherein the crane is not grasping the cargo handling object. detecting the position and posture of the hanging body at a predetermined period, using the hanging tool in a state where the lifting tool is in a state where it is in a state of grasping the cargo handling object, or the said hanging tool in a state in which it is grasping the cargo handling object and the grasped cargo handling object as a hanging object; a position detection step of generating a position detection signal indicating a detection result; and a position detection step of acquiring the position detection signal and detecting the suspended body at a position and orientation in the storage area indicated by the position detection signal, and at a predetermined viewpoint and This is an image in which hanging body model information, which is an image showing the hanging body, is drawn in a predetermined field of view, and the trim, list, and skew of the hanging fixture, and the deflection angle of the hanging fixture are reflected as the posture. The present invention is characterized by performing an image generation step of generating a processed image including an image of a hanging object at a cycle equal to or less than the predetermined cycle, and a display step of displaying the processed image on a display means.

In the present invention, the suspended object image is created by reflecting the current position information of the actual suspended object in the storage area on the model information of the suspended object based on the position detection signal input from the position detection means at a predetermined period. and is generated in the field of view and displayed on the display unit.
In this configuration, the position detection signal is a signal that mainly has position information of the suspended object and is acquired at a predetermined period, so even if the signal is converted during transmission, the time required for conversion is short, and the video signal The display delay time is shorter than when displaying an image of a suspended object based on .
Therefore, delays are unlikely to occur in the video displayed on the display means.

FIG. 1 is a side view showing a crane to which the crane driving support system according to the present embodiment is applied. FIG. 2 is a functional block diagram showing a crane driving support system. It is a figure showing an example of suspension model information. It is a figure showing an example of a suspended object image. FIG. 3 is a diagram showing an example of cargo handling target model information. (a) is a diagram showing an example of a cargo handling object image in which cargo handling object model information is drawn based on cargo handling object information of containers placed on the deck of a container ship, and (b) is a diagram showing an example of a cargo handling object image in which cargo handling object model information is drawn based on cargo handling object information of containers placed on the deck of a container ship. It is a figure which shows the example of the processed image produced|generated by superimposing an image on the suspended object image of Fig.4 (a). FIG. 2 is a diagram showing the relationship among the position of the hanging body, container, viewpoint, and viewing angle of FIG. 1; It is a figure showing an example of mobile object model information. FIG. 2 is a diagram illustrating an example in which a moving object image is drawn based on the moving object information of the container ship in FIG. 1 and is superimposed on a suspended object image and a cargo handling object image to generate a processed image. It is a figure which shows the example of an auxiliary image. FIG. 2 is a flow diagram showing a driving support method using the crane driving support system according to the present embodiment. 12 is a diagram showing an example of a processed image generated in S9 of FIG. 11. FIG.

Hereinafter, preferred embodiments of the present invention will be described in detail based on the drawings.
First, with reference to FIG. 1, a schematic configuration of a crane to which a crane driving support system according to the present embodiment is applied will be described. Here, as an example of a crane, a quayside crane is exemplified that performs container loading and unloading with a container ship berthed at a quayside. However, since this embodiment can be applied to any crane, it may be a gate type crane or a jib crane.

As shown in FIG. 1, the crane 1 includes a pair of support structures 3, a traveling device 7 that is provided at the lower end of the support structure 3 and runs in the Y direction on a pair of rails 5, and a A girder 9 is provided that extends toward the sea side in the X direction. The crane 1 also includes a trolley 11 that is supported by a girder 9 and travels in the X direction, and a spreader 13 that is a hoist that is supported by the trolley 11 with a wire 8 and moves in the Z direction to lift the container 10.
The crane 1 shown in FIG. 1 is a remote-controlled crane, and a driver's cab 15 for operating the traveling device 7, trolley 11, spreader 13, etc. is provided at a different location from the crane 1.
The above is a description of the schematic configuration of the crane 1.

Next, the configuration of the crane driving support system 27 according to this embodiment will be explained with reference to FIGS. 1 to 10. In the following description, the spreader 13 that is not gripping the container 10 to be handled, or the spreader 13 that is gripping the container 10 and the gripped container 10 will be referred to as the hanging body 12.

As shown in FIG. 2, the driving support system 27 includes a position detection means 19, a cargo handling object position acquisition means 25, a moving body position acquisition means 29, an image generation means 21, and a display means 23.
The operation support system 27 is a system that supports the operation of the crane 1, and its outline is that the position detection means 19 detects the position of the suspended body 12 at a predetermined period, and generates an image of the suspended body 12 based on the detection result. This is a system in which the means 21 draws and the display means 23 displays.

The position detecting means 19 is a means for detecting the position of the suspended body 12 at a predetermined period and generating a position detection signal indicating the detection result.
The predetermined period is a so-called sampling period when the position detecting means 19 acquires the position of the hanging body 12. This cycle can be set as appropriate within a range that reduces the time required to display an image depicting the suspended body 12 compared to the case where an image of the suspended body 12 is displayed based on a video signal, but the command to operate the crane 1 can be set as appropriate. It is preferable that the delay time is shorter than the delay time of the control signal indicating .
The control signal is a command for operating the crane 1. Specifically, it refers to a signal that is transmitted to the traveling device 7, trolley 11, spreader 13, or equipment such as a PLC that controls these when the driver operates the control console in the driver's cab 15.
Further, the delay time of a control signal means the time required from when the control signal is generated by operating the control console until the controlled object starts operating.
By making the predetermined period shorter than the delay time of the control signal, the timing at which the image of the suspended body 12 is generated is less likely to be delayed relative to the timing at which the driver's operation is reflected in the operation of the crane 1. For example, when the delay time of the control signal is about 20 ms, the sampling period of the position detecting means 19 is preferably 20 ms or less. The predetermined cycle may be a single value, or the position detection means 19 may be configured to change the value.

The position of the hanging body 12 means the position of the hanging body 12 in the storage area. The storage area means an area where the container 10 is stored. For example, in FIG. 1, an area R1 such as an exposed deck 93 or a hold (not shown) where containers 10 are stored in a container ship 48 is a storage area. In addition, when containers are stored also below the back reach, which is the extension area on the quay side of the girder 9, as in area R2 in FIG. 1, area R2 also becomes a storage area. The position of the hanging body 12 is preferably relative to a predetermined position in the storage area. This is because the position of the hanging body 12 in the storage area can be grasped. However, an absolute position such as GPS coordinates may be used.

As the position detection means 19, any known means capable of detecting the position of the suspended body 12 may be used. Examples include laser sensors, Doppler radar, and GPS receivers.
The position detection means 19 may be provided in any of the support structure 3 of the crane 1, the girder 9, the trolley 11, etc., as long as the position of the suspended body 12 can be detected. FIG. 1 shows an example in which the position sensor 19a is provided on the trolley 11.
The specific position on the suspended body 12 detected by the position detection means 19 can be set to any position as long as it can represent the position of the entire suspended body 12. Alternatively, unevenness for position detection may be provided on the surface of the spreader 13 as a detection marker, and the marker may be detected.
Further, when using a laser sensor, the position may be specified by scanning an arbitrary range of the spreader 13 and detecting the outer shape.
As a specific position, the position of the twist lock which is the tightening device of the spreader 13 is preferable. This is because by detecting the position of the spreader 13 from the position of the twist lock, a suspended object image that accurately reflects the position of the twist lock, which the driver needs to accurately grasp during cargo handling, can be obtained.

When determining the position of the twist lock, the lock portion may be directly detected by a position sensor or the like. However, the twist lock is mostly provided on the bottom surface of the spreader 13, and if it is difficult to detect it directly, the position of the twist lock may be determined by detecting the top surface of the spreader 13 above the twist lock.
The position detection means 19 may be provided in the crane 1 exclusively for the driving support system 27. An existing position sensor provided for positioning the hanging body 12 when it lands on the floor, etc. may be used.

Preferably, the position detecting means 19 also detects the attitude of the hanging body 12 at a predetermined period, and generates the detection result as a position detection signal. The posture of the suspended body 12 means the inclination of the suspended body 12 with respect to the neutral posture, and includes, for example, trim, wrist, and skew. Trim is the inclination in the YZ plane in FIG. 1, and list is the inclination in the XZ plane. Skew is the tilt in the XY plane. The attitude of the hanging body 12 also includes a deflection angle which is the deviation of the spreader 13 in the X direction with respect to the trolley 11 (the inclination angle of the wire 8 in the X direction).
With this configuration, a hanging object image that also reflects the attitude of the hanging object 12 is generated, so that the attitude of the hanging object 12 can also be reflected in the hanging object image.
When the position detecting means 19 also detects the attitude of the suspended body 12, a configuration that directly detects the attitude, such as an angular velocity sensor, can be used. The deflection angle is determined by a deflection angle sensor.

The position detection means 19 may be configured to detect the posture of the suspended body 12 from the positions detected by a plurality of position sensors 19a without directly detecting the posture of the suspended body 12.
For example, if the configuration is such that the position of a twist lock, which is a tightening device for the spreader 13, is detected, the attitude of the hanging body 12 can be detected. This is because the twist locks are arranged at the four corners of the spreader 13 so as to be equidistant from the centroid of the hanging body 12 in plan view, so trimming of the hanging body 12 can be determined from the positional relationship of the four twist locks. Furthermore, if the position of the trolley 11 is also detected, the swing angle can be determined from the positional relationship between the trolley 11 and the hanging body 12.

The cargo handling object position acquisition means 25 is a means for obtaining cargo handling object information, which is information including the position in the storage area of the container 10 that is the cargo handling object stored in the storage area, and is provided as necessary. The cargo handling object position acquisition means 25 is connected to the image generation means 21.
The cargo handling target information includes information regarding the position of the container 10 in the storage area, but may also include information that can identify the container 10 in addition to the position. Information that can identify a container 10 means information that can distinguish a certain container from other containers. For example, information that can identify a container includes information such as the attitude, type, and color of the container, the cargo loaded in the container, and the identification number written on the surface of the container.

As long as cargo handling object information can be acquired, the specific configuration of the cargo handling object position acquisition means 25 can be selected as appropriate. For example, the position of the container 10 may be acquired using a position sensor 25a provided in the crane 1 shown in FIG. In this case, the position sensor 25a becomes the cargo handling object position acquisition means 25. When the identification number of the container 10 is included in the cargo handling target image 71, the crane 1 may be provided with an image scanner or the like to read the identification number of the container 10 using OCR (optical character recognition).
Alternatively, the configuration may be such that information regarding the location, identification number, etc. of the container 10 is acquired from the TOS (Terminal Operation System) 30 of the container terminal as cargo handling target information. In this case, as shown in FIG. 2, the input/output interface 25b of the computer that acquires the cargo handling object information from the TOS 30 becomes the cargo handling object position acquisition means 25.
Since the driving support system 27 includes the cargo handling target position acquisition means 25, an image of the container 10 can also be generated from information indicating the position of the stored container 10 in the storage area.
Therefore, an image showing the positional relationship between the stored container 10 and the hanging body 12 is drawn at the timing when the positional relationship actually exists, so if the driver refers to the image, the appropriate image based on the positional relationship can be drawn. Able to carry out cargo handling operations.

It is preferable that the period at which the cargo handling object position acquisition means 25 acquires the cargo handling object information is approximately the same as the period at which the position detection means 19 detects the position of the suspended body 12. This shortens the display delay time compared to the case where the image of the container 10 is displayed based on the image signal.
Although a quay crane is illustrated as the crane 1 in FIG. 1, the crane of this embodiment may be a yard crane that handles the loading and unloading of containers 10 in a container yard instead of a quay crane. In this case, since the container 10 stored in the yard does not move unless it is lifted by the crane 1 or the like, the display delay time is not as problematic as the hanging body 12. Therefore, the period at which the cargo handling object position acquisition means 25 acquires the cargo handling object information of the container 10 stored in the yard may be longer than the period at which the position detection means 19 detects the position of the hanging body 12.

The mobile body position acquisition means 29 is a means for acquiring, as mobile body information, information including the position in the storage area of a mobile body other than the crane 1 that moves in the storage area, and is provided as necessary. The moving object position acquisition means 29 is connected to the image generation means 21 .
The moving object other than the crane 1 means an object other than the crane 1 that moves within the storage area. Examples include equipment that lifts and transports the container 10, such as cranes, reach stackers, straddle carriers, and top lifters other than those targeted for driving support, and container transport vehicles such as chassis. Although the container ship 48 is a storage area, it is also a moving body. This is because the position and attitude of the exposed deck 93, etc. in area R1, which is a storage area, changes due to changes in the center of gravity of the container ship 48 moored at the quay due to changes in waves and tides, or due to the progress of cargo handling. . Furthermore, workers who move within a container terminal can also be exemplified as moving objects.

Mobile object information is information including position information of a mobile object. Information other than position information includes the posture of the moving body, the type of the moving body, the moving speed, the moving direction, and the like. When the moving body is a container ship 48, a bridge structure is provided on the bottom surface of the exposed deck 93, which is one of the storage areas where the containers 10 are stored, or on the deck and serves as a foothold for workers when securing the containers 10. Information indicating the position and attitude of the lashing bridge 95 is included. Specifically, shaking of the exposed deck 93 and lashing bridge 95 such as surging (swaying back and forth), swaying (swaying from side to side), heaving (swaying from side to side), yawing (swinging of the bow), pitching (swaying), rolling (swaying), etc. Examples include information indicating the state such as the direction of the image. If the moving body is a chassis, information such as the type and identification number of the container 10 mounted on the chassis may also be included. In the case where the moving body is a device that lifts and transports a container 10, information such as the position of a hanging tool included in the device, the type and identification number of the lifted container 10, etc. is also included. If the moving object is a worker, information such as its position and walking direction may be included.

As long as the moving object information can be acquired, the specific configuration of the moving object position acquisition means 29 can be selected as appropriate. For example, the crane 1 itself may be provided with a position sensor 29a for detecting the position of the moving object, and the moving object position acquisition means 29 may be used. Alternatively, if the moving object itself is equipped with a device that detects the position and orientation of the moving object, such as a GPS receiver, position sensor, or angular velocity sensor, a configuration that acquires information indicating the position and orientation of the moving object detected by the device as moving object information. But that's fine.
For example, when the moving object is a container ship 48, position detection results such as a roll angle detected by an angular velocity sensor provided in the container ship 48 may be acquired as the moving object information. In this case, as shown in FIG. 2, the input/output interface 29b of the computer that obtains the position detection result from the container ship 48 becomes the mobile object position acquisition means 29.
By providing the driving support system 27 with the moving body position acquisition means 29, it is also possible to generate images including chassis, workers, and ships moving within the storage area.

The image generation means 21 is a means for generating a suspended object image, which is an image in which suspended object model information, which is image information indicating the suspended object 12, is drawn based on the position detection signal. As shown in FIG. 2, the image generating means 21 is connected to the position detecting means 19, and a position detection signal is input thereto.
The suspended body model information 41 is a model of the suspended body 12 when the image generation means 21 generates the suspended body image, and specifically is a still image showing the external shape of the suspended body 12. When the hanging body 12 includes the container 10, such as in a state where the spreader 13 grips the container 10, information on the outer shape of the container 10 is also included. Whether or not the suspended body 12 includes the container 10 may be determined from the detection result of a contact sensor for detecting one-sided suspension provided on the spreader 13. Alternatively, the determination may be made based on whether the tightening device of the spreader 13 is in a locked state.

An example of the hanging body model information 41 is shown in FIG. Hanging body model information 41 shown in FIG. 3 shows the outer shape of the spreader 13. The spreader 13 indicated by the suspended body model information 41 shown in FIG. is depicted. The fixed frame 43 is a rectangular member suspended from the trolley 11 with a wire 8 in plan view. The movable frame 45 is a pair of rectangular girders in a plan view that protrudes from both ends of the fixed frame 43 in the Y direction (horizontal direction), and a portion of the movable frame 45 is housed in the fixed frame 43 . The length of the movable frame 45 in the Y direction accommodated in the fixed frame 43 can be adjusted according to the size of the container 10. The twist lock holding parts 47 are a pair of girders that hold the twist locks 49, and connect the ends of the movable frames 45 protruding in the same direction in the Y direction in the X direction. The twist locks 49 are tightening devices for gripping the container 10, and are provided at two locations at each end of the pair of twist lock holding portions 47.

As shown in FIG. 3, the suspended body model information 41 is preferably information indicating the three-dimensional shape of the suspended body 12. This is because by using information indicating a three-dimensional shape, a hanging object image can be generated in three dimensions. Information indicating a three-dimensional shape means information including all x, y, and z coordinates in the Cartesian coordinate system. The information indicating the three-dimensional shape may be information on other coordinate systems such as polar coordinates.
When there are multiple types of hanging bodies 12, it is preferable that the hanging body model information 41 is different information for each type of hanging body 12. For example, when using spreaders 13 with different structures for each size of the container 10, suspension model information 41 corresponding to the spreaders 13 with different structures is prepared. With this configuration, even if the type of hanging body 12 changes due to replacement of the spreader 13, etc., a suspended body image showing the external shape of the spreader 13 after replacement can be generated.

If the amount of information in the image is large enough for the driver who sees the hanging object model information 41 to recognize that it is an image depicting the hanging object 12, the hanging object model information 41 is more information than the actual image of the hanging object 12. Images with a small amount may be used. Specifically, it may be an image in which the outline or part of the structure is omitted. For example, in the suspension model information 41 shown in FIG. 3, the fixed frame 43, the movable frame 45, and the twist lock holding part 47 are simplified and drawn as hexahedrons. By using an image with a smaller amount of information than the actual image of the suspended object 12 as the suspended object model information 41, the time required to generate the suspended object image can be shortened, so that the delay in generating the suspended object image can be reduced. It becomes difficult to occur.
However, the suspended body model information 41 may be an image with an amount of information that allows the outer shape of the suspended body 12 to be grasped to the same extent as a video. By using such suspended body model information 41, an amount of information comparable to that obtained from a suspended body image drawn based on a video signal can be obtained from a suspended body image.

Although the hanging body model information 41 is an opaque image in FIG. 3, it may be a transparent image such as a wire frame or a semi-transparent image. By using such an image as the hanging object model information 41, the time required to generate the hanging object image can be made shorter, so that delays in rendering are less likely to occur. Furthermore, since it is possible to display an image of the back hidden in the suspended body image when viewed from the viewpoint, the amount of information of images other than the suspended body 12 can be increased.

The image generation means 21 generates a suspended body image by drawing the suspended body model information 41 at a predetermined viewpoint and a predetermined field of view. A viewpoint means a standing point when drawing the hanging body 12. More specifically, it means the predetermined position and the direction of the line of sight from the predetermined position when the driver views the hanging body 12 with the naked eye from a predetermined position. The field of view indicates the range in which the suspended object image is drawn, and specifically means the viewing angle centered on the viewpoint.

As long as the suspended body 12 is drawn within the suspended body image, the viewpoint can be set at any position. A specific viewpoint can be exemplified as the same as the viewpoint from the operator's cab 15 of the crane 1 which is not remotely operated. Specifically, a viewpoint looking down on the hanging body 12 from a position shifted by a predetermined amount in the moving direction of the trolley 11 from directly above the hanging body 12 can be exemplified. In FIG. 1, such a viewpoint V1 is exemplified as a viewpoint A1 that looks down on the hanging body 12 from a position P1 shifted toward the land side in the X direction, which is the traveling direction of the trolley 11, from the trolley 11. The driver's cab 15 of the crane 1, which is not a normal remote control, is provided at the land side end of the trolley 11, and the driver operates the crane while looking down at the hanging body 12 from the driver's cab. Therefore, by setting the viewpoint looking down on the hanging body 12 from a position shifted by a predetermined amount in the moving direction of the trolley 11 from directly above the hanging body 12, it is possible to A body image 51 is generated.
For example, if the position of the viewpoint V1 and the hanging object 12 is in the positional relationship shown in FIG. 1, the hanging object image 51 generated based on the hanging object model information 41 shown in FIG. The resulting image is shown in FIG. 4(a).
This viewpoint V1 is advantageous in that a driver who is accustomed to operating a conventional crane 1 that is not remotely operated can perform cargo handling operations in the same way as the conventional crane 1.

On the other hand, if the container 10 hoisted by the spreader 13 is hidden by the spreader 13 and difficult to see from this viewpoint, for example, another viewpoint may be used. For example, the viewpoint may be a position where the hanging body 12 is viewed from the horizontal direction.

An example of a suspended body image 51 in which the suspended body 12 is drawn from a viewpoint close to the horizontal direction is shown in FIG. 4(b). FIG. 4B shows a hanging object image 51 in which hanging object model information 41 is drawn using the viewpoint V2 in FIG. 1 as a viewpoint. The viewpoint V2 has the same X and Y coordinates as the viewpoint V1, has a lower Z coordinate, and is a viewpoint that looks at the suspended body 12 in the direction A2 from a position P2 near the horizontal position of the suspended body 12.

Furthermore, a viewpoint looking down on the hanging body 12 from directly above the longitudinal side surface of the hanging body 12 can also be exemplified.
From this viewpoint, the positional relationship of the suspended body 12 on the XY plane in FIG. 1 is depicted as it is as a suspended body image 51. Therefore, when the container 10 gripped by the spreader 13 is placed on the stored container 10, if the positions of the sides of the container 10 gripped by the spreader 13 and the stored container 10 on the screen match, the horizontal position The matching is completed. This configuration is advantageous in that even a driver who is not accustomed to operating a conventional crane 1 that is not remotely operated can easily perform horizontal positioning when landing on the floor.

If the suspended body 12 is drawn within the suspended body image 51, the field of view can be set to any range. The specific field of view is preferably within the viewing angle of the naked eye. By setting the viewing angle to be within the viewing angle of the naked eye, the suspended object image 51 is generated with the same field of view as the driver's field of view from the operator's cab of a crane that is not remotely operated. Therefore, drivers who are accustomed to operating conventional cranes that are not remotely operated can perform cargo handling operations in the same way as with conventional cranes. More preferably, it is within the effective viewing angle of the naked eye.

Note that the suspended object image 51 is an image obtained by projecting the suspended object 12 onto a plane perpendicular to the direction in which the suspended object 12 is viewed from the viewpoint. Therefore, when generating the suspended object image 51, the image generation means 21 projects the acquired positional coordinates of the suspended object 12 onto the projection plane by coordinate transformation, and calculates pixel-converted coordinates.
Furthermore, since the human visual field is a superimposition of the visual fields of two horizontally arranged eyeballs, if we try to accurately reproduce the human visual field, the outer periphery of the suspended object image 51 on the projection plane should be aligned with the horizontal direction as the long axis direction. The shape is close to an ellipse. However, if the suspended object image 51 has a shape close to an ellipse, if a known rectangular monitor is used as the display means 23, there will be parts where the image is not displayed at the four corners. Good too.

The image generation means 21 obtains a suspended object image 51 by drawing the suspended object model information 41 at the position in the storage area of the suspended object 12 indicated by the position detection signal.
In this configuration, when the position of the suspended body 12 changes due to lifting of the container 10 or running of the trolley 11, the suspended body image 51 is drawn at the position after the change, so that the suspended body 12 can be seen with the naked eye. Similarly to the above case, the driver can grasp the change in position from the suspended object image 51.
Further, in the case of a camera image, the viewpoint of the video depends on the position of the camera, but in this embodiment, the viewpoint from which the suspended object image 51 is drawn does not depend on the installation position of the position detection means 19, which is advantageous.
The image generation means 21 generates the suspended object image 51 at a predetermined period. This cycle is preferably equal to or less than the cycle when acquiring the position detection signal. This is because the position information acquired by the position detection signal is always reflected in the suspended object image 51.

Here, the position detection signal that is transmitted is information that mainly has the position information of the suspended object 12, and is transmitted at a predetermined period, so even if the signal is converted at the time of transmission, the time required for conversion is It is short compared to the signal. Therefore, the delay time when generating the suspended object image 51 is shorter than when the video of the suspended object 12 is generated based on a video signal acquired by a camera or the like. In this embodiment, the delay time during generation means the time required from when the position detection signal is acquired until the suspended object image 51 is displayed on the display means 23. In the case of a video, the time required from when the camera captures the video of the suspended object 12 until the video is displayed on the display means 23 is the delay time. The same applies to the following explanation.

When the position detection signal also includes information including the attitude of the hanging object 12, the image generation means 21 generates the hanging object image 51 at the position and attitude of the hanging object 12 in the storage area indicated by the position detection signal.
When determining the inclination angle of the suspended body 12 with respect to the neutral posture using an angular velocity sensor, etc., depending on the posture of the suspended body 12 indicated by the position detection signal, in the case of a Cartesian coordinate system, a predetermined angle around the x, y, and z axes is determined. An image obtained by rotating the hanging body model information 41 by the amount is generated as a hanging body image 51.
On the other hand, in the case of a configuration in which the posture of the suspended body 12 is detected from the positions detected by multiple position sensors, if the suspended body model information 41 is drawn at the position coordinates after the change according to the fluctuation of the acquired position, the suspended body model information 41 can be The posture of the body 12 can be drawn.

In addition, when generating the suspended object image 51 at a predetermined period, all of the suspended object model information 41 may be redrawn. However, a configuration may also be used in which only the portion whose position or orientation has changed is redrawn. When using the suspension model information 41 shown in FIG. 3 as a model, when the movable frame 45 expands and contracts, only the expanded and contracted movable frame 45, the twist lock holding part 47 whose position changes with the movable frame 45, and the twist lock 49 are May be redrawn.

When the driving support system 27 includes the cargo handling object position acquisition means 25, the image generation means 21 generates a cargo handling object image in which cargo handling object model information is drawn based on the cargo handling object information acquired by the cargo handling object position acquisition means 25. Good too. In this case, an image in which the cargo handling object image is superimposed on the suspended object image 51 is generated as the processed image 81.
The cargo handling object model information is a model used when the image generation means 21 generates a cargo handling object image, and specifically is information indicating the external shape of the cargo handling object. When the cargo handling target is a container 10, this is a still image showing the outer shape of the container 10.

An example of the cargo handling object model information 61 is shown in FIG. The cargo handling object model information 61 shown in FIG. 5 is a model showing the external shape of a dry container, and at least the external shapes of a box body 63, a door 65, a long hole 67, and a container identification number display area 69 are depicted.
The box body 63 is an outer wall of the container 10, and here the outer shape is close to a rectangular parallelepiped. The door 65 is at least one side of the outer wall that is opened when carrying cargo into the container 10 or carrying out cargo inside the container 10, and in FIG. 5, it is provided on a side surface forming a square of a rectangular parallelepiped. The long holes 67 are holes into which the twist locks 49 are inserted when the spreader 13 lifts the container 10, and here they are provided at the four corners of the top surface of the box body 63, and the longitudinal direction is in the Y direction, which is the longitudinal direction of the container 10. Follow. The container identification number display area 69 is an area where the identification number of the container 10 is displayed.

Like the hanging body model information 41, the cargo handling object model information 61 is preferably information indicating a three-dimensional shape. When there are multiple types of cargo handling objects, such as when containers 10 of different sizes are mixed in the storage area, the image generation means 21 holds the cargo handling object model information 61 in advance for each type of cargo handling object, similar to the hanging body model information 41. Preferably, the information is

Similar to the suspended object model information 41, the cargo handling object model information 61 can be used to reduce the amount of information by omitting part of the outline if the image shows that it is a cargo handling object. It is also possible to use an image with a small number of images. For example, the container 10 generally has a corrugated shape with side walls bent into a corrugated shape to ensure strength, but the corrugated shape is omitted in the cargo handling object model information 61 shown in FIG. 5. However, similarly to the suspended object image 51, the cargo handling object model information 61 may have an amount of information that allows the user to grasp the external shape of the cargo handling object to the same extent as a video. The cargo handling object model information 61 may be a transparent or semi-transparent image like the hanging body model information 41.

The image generation means 21 generates a cargo handling object image 71 in which cargo handling object model information 61 is drawn based on the cargo handling object information acquired by the cargo handling object position acquisition means 25. It is preferable that the viewpoint and field of view when drawing the cargo handling object image 71 are the same as those of the suspended object image 51. By making the viewpoint and field of view of the hanging object image 51 and the cargo handling object image 71 the same, the hanging object image 51 and the cargo handling object image 71 can be directly overlapped without further coordinate conversion or scaling processing.
An example of a cargo handling object image 71 in which cargo handling object model information 61 is drawn at the viewpoint V1 in FIG. 1 based on the cargo handling object information of the container 10 placed on the exposed deck 93 of the container ship 48 in FIG. ). Further, FIG. 6(b) shows an example of a processed image 81 generated by overlapping the suspended object image 51 shown in FIG. 5(a) and the cargo handling target image 71 shown in FIG. 6(a).

The image generating means 21 generates the cargo handling object image 71 and superimposes it on the suspended object image 51 as the processed image 81, thereby determining the position of the stored container 10 in the storage area as shown in FIG. 6(b). A cargo handling object image 71 is drawn superimposed on the suspended object image 51 based on the information indicating. The period of generation of the cargo handling object image 71 and the processed image 81 is preferably equal to or less than the delay time of the control signal, and more preferably approximately the same as the sampling period when the position detecting means 19 acquires the position of the suspended body 12.
In this configuration, the processed image 81 showing the positional relationship between the container 10 and the hanging body 12 included in the cargo handling target image 71 shown in FIG. drawn at a certain time. Therefore, appropriate cargo handling operations can be performed based on the positional relationship between the container 10 and the hanging body 12.
For example, assume that the driver performs the task of storing the container 10 lifted by the spreader 13 on top of the container 10 on the exposed deck 93. At this time, if the hanging body 12 is swinging, the driver can operate the hanging body 12 when the hanging body 12 reaches a predetermined swing angle to suppress the swing or move the lifted container 10. It may land at the target position.
Here, when the image generation means 21 generates the cargo handling object image 71 and generates an image superimposed on the hanging body image 51 as the processed image 81, when the hanging body 12 reaches a predetermined swing angle, the swing angle A processed image 81 is generated with a position and orientation corresponding to .
Therefore, based on the processed image 81, the driver can operate the crane 1 when the hanging body 12 actually reaches a predetermined swing angle.

It is preferable that the image generation means 21 generates, as the processed image 81, an image in which the cargo handling object image 71 is superimposed on the back side of the suspended object image 51 in order of distance from a predetermined viewpoint.
For example, it is assumed that the position of the hanging body 12, the positional relationships among the containers 10a, 10b on the exposure deck 93, and the viewpoint V1, and the viewing angle α have the relationships shown in FIGS. 6(a) and 7.
In this case, when comparing the hanging body 12 and the containers 10a and 10b, as shown in FIG. 7, the hanging body 12 is the closest in distance from the viewpoint V1. Therefore, the hanging body 12 is drawn at the forefront. Furthermore, by overlapping the containers 10a and 10b on the back side of the hanging body 12, a processed image 81 shown in FIG. 6(b) is generated. Note that broken lines L1 and L2 in FIG. 7 are straight lines connecting both ends of the hanging body 12 in the Z direction when the hanging body 12 is viewed from the viewpoint V1 and position P1, which is the stance point of the viewpoint V1. The region R3 is hidden by the hanging body 12 and is not visible from the viewpoint V1. Since a portion of the container 10a is located within this region R3, only a portion of the container 10a is displayed in the processed image 81 shown in FIG. 6(b). Since the container 10b is entirely located within this region R3, the container 10b is not displayed in the processed image 81 shown in FIG. 6(b).

In this way, by overlaying the cargo handling object image 71 on the back side of the suspended object image 51 in order of distance from a predetermined viewpoint, the structure can be seen in the same positional relationship as when the spreader 13 and containers 10a, 10b are visually observed from the viewpoint V1. be drawn. Therefore, structures that block the view of other structures when viewed from the viewpoint V1 can be recognized. For example, in the processed image 81 shown in FIG. 6(b), it can be seen that a part of the container 10a is blocked by the hanging body 12 and cannot be seen.
Note that when drawing the processed image 81, the order in which the cargo handling object image 71 and the suspended object image 51 are generated can be set arbitrarily. For example, the cargo handling object image 71 and the suspended object image 51 may be generated in descending order of distance from a predetermined viewpoint, and an image overlaid on the front side may be generated as the processed image 81.

When the driving support system 27 includes the mobile body position acquisition means 29, the image generation means 21 may generate the processed image 81 based on the mobile body information acquired by the mobile body position acquisition means 29. Specifically, a moving object image in which moving object model information is drawn based on the moving object information may be generated and an image superimposed on the suspended object image 51 may be generated as the processed image 81.
The moving body model information is a model used when the image generation means 21 generates a moving body image, and specifically is information indicating the external shape of the moving body. When the moving body is a container ship 48, the moving body model information includes the position and shape of the exposed deck 93 on which the containers 10 of the container ship 48 are stored, the position and shape of the lashing bridge 95 stored on the exposed deck 93, and the like. Other examples include the position of a ship hold in which the container 10 is stored and a cell guide that is provided in the ship hold and serves as a guide when the container 10 is stored. If the moving object is a worker, this is information indicating the appearance and position of the worker. If the moving object is a chassis, a still image showing the outer shape of the chassis may be used.

FIG. 8 shows an example of mobile model information. The mobile body model information 91 in FIG. 8 shows the external shape on the deck of the container ship 48, and includes an exposed deck 93 and a lashing bridge 95. It is preferable that the moving body model information 91 is information indicating a three-dimensional shape, similar to the hanging body model information 41. When there are multiple types of moving objects, it is preferable that the moving object model information is information held in advance by the image generation means 21 for each type of moving object.
For example, in FIG. 8, information indicating the external shape of the worker is also shown as mobile body model information 91a. However, the mobile object model information 91 and the mobile object model information 91a are different model information, and are separately held by the image generation means 21.

The moving object model information 91, 91a may be an image with a smaller amount of information than the actual moving object image, similar to the suspended object image 51, as long as the amount of information is sufficient to show that the image is a moving object. The moving body model information 91, 91a may be a transparent or semi-transparent image like the hanging body model information 41.

The image generation means 21 generates a moving object image in which moving object model information 91, 91a is drawn based on the moving object information. It is preferable that the viewpoint and field of view when drawing the moving object image are the same as those of the suspended object image 51. The reason is the same as when drawing the suspended object image 51. It is also preferable that the drawing period be equal to or less than the period for generating the suspended object image 51.

FIG. 9 shows an example in which a moving object image 99 is drawn at the viewpoint V1 in FIG. 1 based on the moving object information of the container ship 48 in FIG. Shown below. The image generation means 21 generates an image in which the moving object image 99 is superimposed on the hanging object image 51 as the processed image 81, so that the moving object image 99 is superimposed on the hanging object image 51 based on the information indicating the position of the moving object in the storage area. is drawn. Therefore, an image showing the positional relationship between the movable body moving in the storage area and the hanging body 12 is drawn at a timing when the positional relationship actually exists, and an appropriate cargo handling operation can be performed based on the positional relationship. In particular, when the moving object is a container ship 48, a processed image 81 that reflects the movement of the exposed deck 93 due to surging or the like can be generated.
When the image generation means 21 generates the moving object images 99, similarly to the case where the cargo handling object image 71 is superimposed on the hanging object image 51, the moving object images 99 are placed on the back side of the hanging object image 51 in descending order of distance from a predetermined viewpoint. It is preferable to generate a superimposed image as the processed image 81.

The image generation means 21 may generate the processed image 81 by superimposing images other than these images or images containing characters on the suspended object image 51, the cargo handling object image 71, and the moving object image 99. An example of such an auxiliary image, which is an image other than the suspended object image 51, the cargo handling object image 71, and the moving object image 99, is shown in FIG. As shown in FIG. 10, the auxiliary image 101 includes a driver's cab image 103, a crane status display image 105, and a highlighted display image 107.

The operator's cabin image 103 is an image showing the interior of the operator's cabin as seen from the driver when the processed image 81 is generated from a field of view seen from the operator's cabin of a conventional crane that is not remotely operated, such as the viewpoint V1. The crane status display image 105 is a portion that displays information such as numerical values, characters, and graphics that the driver refers to when operating the crane. Specific information includes the identification number of the container 10 that is being lifted by the spreader 13 or the container 10 that is about to be lifted. Alternatively, characters and figures indicating the cargo handling operation in progress, such as the main hoisting/traversing/traveling/turning operations and speed of the crane 1, may also be used. Further, if a chassis exists under the crane 1, information on the trailer position of the chassis is included.
Furthermore, if there is a fixed installation such as a storage block for the container 10 or a driving lane for a chassis in the area R1 in FIG.

The highlighted image 107 is an image that highlights a predetermined image in the processed image 81. This image is an example of an image in which an image of a worker, which is one of the moving object images 99 in the processed image 81, is surrounded by a double circle to emphasize its position.
The image of the worker can be displayed in the processed image 81 as one of the moving object images 99. However, as shown in FIGS. 1 and 10, when the viewpoint V1 when generating the processed image 81 is at the same height as the trolley 11, the worker moving in the storage area and the viewpoint V1 are the standing points. The distance of position P1 becomes extremely long. Therefore, the display size of the worker in the processed image 81 may be too small and difficult to see. Therefore, by highlighting the area around the image of the worker using the highlighted display image 107, the position of the worker in the processed image can be easily seen.
The viewpoint when generating the auxiliary image 101 may be the same as the viewpoint when generating the suspended object image 51, or it may be displayed regardless of the viewpoint. Further, it is preferable that the timing of generating the auxiliary image 101 is the same as the timing of generating the suspended object image 51.

The image generation means 21 uses a known computer as long as it can generate the processed image 81 within a predetermined period, and stores the hanging object model information 41, cargo handling object model information 61, and moving object model information in the storage section of the computer. 91 and the auxiliary image 101 may be stored.
However, the hanging body model information 41, cargo handling object model information 61, moving body model information 91, and auxiliary image 101 may be acquired from an external storage device or a network as necessary.

The display means 23 shown in FIGS. 1 and 2 is a device that displays the processed image 81, and is connected to the image generation means 21. As long as the processed image 81 can be displayed, a known monitor or the like may be used as the display means 23 as appropriate. The display area of the processed image 81 on the display means 23 may be appropriately set within a range where the processed image 81 can be easily viewed by the driver.

Next, a driving support method using the driving support system 27 for the crane 1 according to the present embodiment will be described with reference to FIGS. 11 and 12.
First, the power of devices corresponding to each component of the driving support system 27 is turned on to start the driving support system 27 (S0 in FIG. 11).

Next, the position detecting means 19 detects the position of the suspended body 12 at a predetermined period, and generates a position detection signal indicating the detection result (S1 in FIG. 11, position detection step).
The starting time at which the position detection means 19 starts detecting the position of the suspended body 12 can be set as appropriate. For example, detection may be started when the position detection means 19 becomes operational. The image generating means 21 or the like may transmit a signal indicating an instruction to start detection to the position detecting means 19, and the detection may be started when the position detecting means 19 receives this signal. When the position detection signal is generated, the position detection means 19 transmits the position detection signal to the image generation means 21.
When the driving support system 27 includes the cargo handling object position acquisition means 25, the cargo handling object position acquisition means 25 acquires the cargo handling object information (S2 in FIG. 11). The acquired cargo handling object information is transmitted to the image generation means 21.
When the driving support system 27 includes the mobile body position acquisition means 29, the mobile body position acquisition means 29 acquires the mobile body information (S3 in FIG. 11). The acquired moving object information is transmitted to the image generation means 21.
When the driving support system 27 displays the auxiliary image 101 on the processed image 81, information necessary for displaying the auxiliary image 101 is also acquired (S4 in FIG. 11). The information necessary for displaying the auxiliary image 101 is, for example, the crane status when the auxiliary image 101 displays the crane status.
The order of S1 to S4 can be set arbitrarily. S1 to S4 may be performed in parallel.

Next, the image generation means 21 generates a suspended object image 51, which is an image in which the suspended object model information 41 is drawn at the position in the storage area of the suspended object 12 indicated by the position detection signal, and at a predetermined viewpoint and a predetermined field of view. It is generated at a predetermined cycle (S5 in FIG. 11, image generation step). When there are multiple types of spreaders 13, the image generation means 21 selects the corresponding suspended body model information 41 based on the information on the types of spreaders 13 included in the position detection signal, and generates the suspended body image 51.
When performing S2, the image generation means 21 generates a cargo handling object image 71 in which the cargo handling object model information 61 is drawn at the position indicated by the cargo handling object information and at a predetermined viewpoint and a predetermined field of view (see FIG. 11). S6). At this time, if there are multiple types of cargo handling objects, the image generation means 21 selects the corresponding cargo handling object model information 61 based on the information on the types of cargo handling objects included in the cargo handling object information, and generates the cargo handling object image 71. generate.
When performing S3, the image generation means 21 generates a moving object image 99 in which the moving object model information 91 is drawn at the position indicated by the moving object information and at a predetermined viewpoint and a predetermined field of view (see FIG. 11). S7). When a plurality of moving objects exist, the image generation means 21 selects the corresponding moving object model information 91 based on the information on the type of moving object included in the moving object information, and generates the moving object image 99.
When performing S4, the image generation means 21 generates the corresponding auxiliary image 101 based on the information for the auxiliary image (S8 in FIG. 11).
The order of S5 to S8 can be set arbitrarily. S5 to S8 may be performed in parallel.

Next, the image generation means 21 stacks the suspended object image 51, the cargo handling object image 71, the moving object image 99, and the auxiliary image 101 on the back side in order of distance from a predetermined viewpoint, and generates a processed image 81 at a predetermined cycle or less. (S9 in FIG. 11). The generated processed image 81 is transmitted to the display means 23. FIG. 12 shows an example of a processed image 81 in which the suspended object image 51, the cargo handling object image 71, the moving object image 99, and the auxiliary image 101 are generated and superimposed at the viewpoint V1 in FIG. 1.
Finally, the display means 23 that has received the processed image 81 displays the processed image 81 (S10 in FIG. 11, display step).

As described above, in this embodiment, the driving support system 27 includes the position detection means 19, the image generation means 21, and the display means 23. In this configuration, a suspended object image 51 is generated in which current position information of the suspended object 12 is reflected in the suspended object model information 41 based on a position detection signal input from the position detecting means 19 at a predetermined period.
Therefore, even if the position detection signal is converted during transmission, the time required for conversion is short, and the display delay time is short compared to the case where the image of the hanging object 12 is displayed based on a video signal.
Therefore, the image of the suspended body 12 displayed on the display means 23 is unlikely to be delayed.

1 Crane 3 Support structure 5 Rail 7 Traveling device 8 Wire 9 Girder 10, 10a, 10b Container 11 Trolley 12 Hanging body 13 Spreader 15 Cab 19 Position detection means 19a Position sensor 21 Image generation means 23 Display means 25 Obtaining cargo handling target position Means 25a Position sensor 25b Input/output interface 27 Driving support system 29 Mobile object position acquisition means 29a Position sensor 29b Input/output interface 30 TOS
41 Hanging body model information 43 Fixed frame 45 Movable frame 47 Twist lock holding part 48 Container ship 49 Twist lock 51 Hanging body image 61 Cargo handling target model information 63 Box body 65 Door 67 Long hole 69 Container identification number display area 71 Cargo handling target image 81 Processed images 91, 91a Mobile object model information 93 Exposure deck 95 Lashing bridge 99 Mobile object image 101 Auxiliary image 103 Cab image 105 Crane status display image 107 Highlighted display image

Claims (9)

An operation support system for supporting the operation of a crane comprising a support structure and a lifting device supported by the support structure to lift a cargo handling object from a storage area, the system comprising:
The lifting tool in a state in which the cargo handling object is not gripped, or the lifting tool in a state in which the cargo handling object is gripped and the grabbed cargo handling object is used as a hanging body,
a position detection means that detects the position and orientation of the hanging body at a predetermined period and generates a position detection signal indicating the detection result;
An image connected to the position detection means to which the position detection signal is input, and showing the suspended body at the position and orientation of the suspended body in the storage area indicated by the position detection signal, and at a predetermined viewpoint and a predetermined field of view. image generating means for generating a processed image, which is an image including a suspended body image, which is an image depicting suspended body model information, which is information, at a cycle equal to or less than the predetermined cycle;
a display means connected to the image generation means and displaying the processed image;
It is equipped with
The crane driving support system is characterized in that the hanging object image reflects the trim, wrist, and skew of the hanging tool, and the deflection angle of the hanging tool as the attitude. comprising a cargo handling object position acquisition means connected to the image generating means and acquiring cargo handling object information that is information including the position of the cargo handling object stored in the storage area in the storage area;
The image generation means generates a cargo handling object image in which cargo handling object model information is drawn, which is an image showing the cargo handling object at the position indicated by the cargo handling object information and at the predetermined viewpoint and predetermined visual field, and generates a cargo handling object image in which cargo handling object model information is drawn, and The crane driving support system according to claim 1, wherein an image superimposed on the image is generated as the processed image. The image generation means is configured such that, of the cargo handling object shown in the cargo handling object image and the hanging object shown in the hanging object image, an image showing an object that is close in distance from the predetermined viewpoint is on the near side and shows an object that is far away. 3. The crane driving support system according to claim 2, wherein the processed image is generated by overlapping the cargo handling object image and the suspended object image with the images facing toward the back. comprising a mobile body position acquisition means for acquiring the position of a mobile body other than the crane that moves in the storage area in the storage area as mobile body information;
The image generation means generates a moving object image in which moving object model information is drawn, which is an image showing the moving object at the position indicated by the moving object information and at the predetermined viewpoint and predetermined field of view, and The crane driving support system according to claim 1, wherein an image superimposed on the image is generated as the processed image. The image generating means is configured such that, of the moving object shown in the moving object image and the hanging object shown in the hanging object image, an image showing an object that is close in distance from the predetermined viewpoint is on the near side and an image that shows an object that is far away from the predetermined viewpoint. 5. The crane driving support system according to claim 4, wherein the moving object image and the suspended object image are superimposed on each other with the image facing toward the back to generate the processed image. An operation support system for supporting the operation of a crane comprising a support structure and a lifting device supported by the support structure to lift a cargo handling object from a storage area, the system comprising:
The lifting tool in a state in which the cargo handling object is not gripped, or the lifting tool in a state in which the cargo handling object is gripped and the grabbed cargo handling object is used as a hanging body,
a position detection means for detecting the position of the suspended body at a predetermined period and generating a position detection signal indicating the detection result;
image information that is connected to the position detection means and receives the position detection signal, and shows the hanging object at a position in the storage area of the hanging object indicated by the position detection signal and at a predetermined viewpoint and a predetermined field of view; image generating means for generating a processed image, which is an image including a suspended body image, which is an image depicting certain suspended body model information, at a cycle equal to or less than the predetermined cycle;
display means connected to the image generation means and displaying the processed image;
The hanging device includes a plurality of tightening devices for holding the cargo handling object,
The position detection means is a means for detecting the positions of the plurality of tightening devices and detecting the posture of the suspended body from the detected positions,
The image generating means is configured to generate the suspended body by drawing the suspended body model information based on the position of the tightening device in the storage area indicated by the position detection means, the calculated posture of the suspended body, and a predetermined viewpoint and a predetermined field of view. A crane driving support system characterized by generating images. 7. The crane operation support system according to claim 1 , wherein the predetermined cycle is equal to or less than a delay time of a control signal that is a signal indicating a command to operate the crane. The support structure includes a girder extending in a first direction, and a trolley that is supported by the girder and holds the hanging body and moves along the first direction,
The predetermined viewpoint is a viewpoint that is above the suspended body and looks down on the suspended body from a position shifted by a predetermined amount in the moving direction of the trolley from directly above the suspended body,
The crane driving support system according to any one of claims 1 to 7 , wherein the predetermined field of view is within a viewing angle of the naked eye. An operation support method for supporting the operation of a crane comprising a support structure and a lifting device supported by the support structure to lift a cargo handling object from a storage area, the method comprising:
The lifting tool in a state in which the cargo handling object is not gripped, or the lifting tool in a state in which the cargo handling object is gripped and the grabbed cargo handling object is used as a hanging body,
a position detection step of detecting the position and orientation of the suspended body at a predetermined period and generating a position detection signal indicating the detection result;
Acquire the position detection signal, and obtain suspended body model information that is an image showing the suspended body at the position and orientation of the suspended body in the storage area indicated by the position detection signal, and at a predetermined viewpoint and a predetermined field of view. A processed image that is a drawn image and includes a suspended body image in which the trim, wrist, and skew of the hanging device and the deflection angle of the hanging device are reflected as the posture is processed at a rate equal to or less than the predetermined period. an image generation process that generates images periodically;
a display step of displaying the processed image on a display means;
A crane operation support method characterized by carrying out the following.

Images