JPH05147882A - Crane controller - Google Patents

Abstract

PURPOSE:To enable the conveyed work itself sting down by a crane and display information serviceable to a crane operation to be easily sighted without making an operator largely shift his gaze as well as largely adjust a focal distance of his eyes, in a crane control. CONSTITUTION:In a crane control provided with a crane operating control member performing its work to a conveyed work W as eying the work W ahead, it is provided with a monitor camera E photographing a conveyed work W and the surrounding scene from a position other than that where this crane control is set up, an optical information display means D with a display surface displayed with an image taken by this monitor camera E and an optical member A projecting an information display light L projected out of the display surface in the specified direction, and this optical member A is set up so as to form a virtual image of optical information in front and in some distance of an operator P doing a crane operation.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a crane operating device for suspending and transporting goods such as luggage and materials.

[0002]

2. Description of the Related Art In a conventional crane, an operator who operates the crane operates the crane while visually confirming the goods hung on the crane. Other operators may give instructions to the operator who operates the crane. In addition, we shoot with a surveillance camera the transported goods hung by a crane,
The photographed image may be operated while being confirmed on the display device.

[0003]

In the conventional crane,
In the case of large-scale ones, the distance between the crane and the operation room became large, making visual confirmation difficult. Although the images taken by surveillance cameras have been used to operate cranes, crane operators have adopted a method that allows the operator to directly see the images displayed on the CRT display surface. It was necessary to alternately visually recognize a long-distance conveyed object and a short-distance (operation room) surveillance camera image, and each time, the user had to shake his head to adjust the focus of his eyes. If the crane is misoperated, it will lead to a serious accident, and the time lag due to the focus adjustment of the eye is serious, and the crane operator has a great mental and physical burden. Even in the case of operating while receiving an instruction from an operator who is near the conveyed object, there is a large difference in mental burden between the operator being able to easily visually check the object and the operator not being able to visually check it. In view of the above-mentioned circumstances, the present invention, in the crane operating device, displays the actual object being hung by the crane and the display information useful for operating the crane without the operator having to move his or her line of sight greatly, and An object of the present invention is to enable easy visual recognition without significantly adjusting the focal length.

[0004]

Next, the structure of the present invention devised to solve the above problems will be described. The constituent elements of the present invention correspond to those of the embodiments described later. For simplification, the reference numerals of the constituent elements of the embodiment are enclosed in parentheses. The reason why the present invention is described in association with the reference numerals of the embodiments described later is to facilitate understanding of the present invention and not to limit the scope of the present invention to the embodiments.

In order to solve the above-mentioned problems, the crane operating device of the invention of the present application is provided with an operating member for operating a crane for performing work on the conveyed article (W) while visually observing the conveyed article (W) in front. In the crane operating device
A monitor camera (E) that captures the scene of the conveyed article (W) and its surroundings from a position other than the position where the crane operation device is arranged, and a display that displays an image captured by the monitor camera (E). An optical information display means (D) having a surface and an optical member (A) for projecting information display light (L) emitted from the display surface in a predetermined direction, the optical member (A) being a crane operation. It is characterized in that it is arranged so as to form a virtual image of the optical information in front of and away from the worker (P).

[0006]

The operator (P) operating the crane operating device of the invention of the present application having the above-mentioned characteristics is the object (W) in front of the operator.
While visually observing, by the operating member of the crane operating device,
The transfer operation of the transfer object (W) is performed. At that time, the monitoring camera (E) arranged at a position other than the position where the crane operation device is arranged captures an image of the conveyed article (W) and the surrounding scene, and the surveillance camera (E) captures the image. The displayed image is displayed on the display surface of the optical information display means (D). The optical member (A) that projects the information display light (L) emitted from this display surface in a predetermined direction forms a virtual image of the optical information in front of and away from the worker (P). The worker (P) moves the conveyed object (W) to a position far away from the front thereof.
When performing a crane operation while visually recognizing the actual object, the image of the conveyed object (W) captured by the monitoring camera (E) can be confirmed by slightly deflecting the line of sight. At that time, both of the visual recognition positions of the image of the conveyed object (W) and the actual object of the conveyed object (W) can be distant positions. Therefore, since the worker (P) does not need to adjust the focus of the eyes largely, the time lag of crane operation and the fatigue of the worker (P) accompanying the focus adjustment of the eyes are reduced.

[0007]

EXAMPLES Examples of the present invention will now be described with reference to the drawings, but the present invention is not limited to the following examples.

[Embodiment 1] FIG. 1 is an overall schematic explanatory view of an embodiment of the present invention, and FIG. 2 is a detailed explanatory view of a main part of the same embodiment. FIG. 1 shows a crane for construction, in which a base of a crane operation room R and a telescopic arm device B that telescopically extends can be undulated on a rotary table T that is rotatably supported around a vertical axis. Supported by. The telescopic arm device B has an outer frame 1, a middle frame 2 and an inner frame 3, and the tilt angle of the outer frame 1 is controlled by a hoisting cylinder 4. Further, the expansion and contraction of the outer frame 1, the middle frame 2 and the inner frame 3 is configured to be performed by a known expansion / contraction drive device including a wire, a pulley, a motor and the like (not shown).

A rope 4 for hoisting is suspended from the tip of the inner frame 3, and a hook 5 is attached to the lower end of the rope 4.
Is supported. The hook 5 is for hooking the conveyed article W. At the tip of the inner frame 3, a surveillance camera E images the condition of the conveyed article W below and the floor below it. Therefore, the image picked up by the monitoring camera E shows that the article W is right above the floor.

A crane operating device is installed in the crane operating room R. The crane operating device in the crane operating room R includes a seat 6 for a worker P who operates a crane, an operating member (not shown) for operating a crane arranged in front of the seat 6, and the monitoring camera E. It is composed of a head-up display H that displays a captured image. The head-up display H has a combiner C that is arranged in front of the seat 6 in an inclined manner. The combiner C is arranged so as to incline downward as it goes forward.

An information projecting device K is arranged below the combiner C. The information projecting device K projects a CRT (Cathode Ray Tube) display D as an optical information display means and a lens system for projecting information display light L emitted from a display surface of the CRT display D to the combiner C. Equipped with A. An image taken by the surveillance camera E is displayed on the display surface of the CRT display D. The lens system A arranged so that the information display light L emitted from the CRT display D is incident on the combiner C is the CRT.
It has optical power for forming a virtual image of the image displayed on the display D at a position far away from the front of the seat 6 (for example, at a position 30 m ahead of the seat 6). The optical member including the combiner C and the lens system A is arranged so as to direct the information display light L emitted from the optical information display means D toward the worker P.

The lens system A can also be configured so that the virtual image forming position of the display image can be adjusted by a focal length adjusting mechanism. The operation of the focal length adjusting mechanism in that case can be configured to be performed manually.
It can also be configured to operate automatically. When configured to operate automatically, the distance from the seat 6 to the virtual image forming position of the display image is
It can be adjusted to be equal to the distance from the seat 6 to the article W. In that case, for example, the arm length of the crane, the arm inclination angle, and the suspension wire 4
Is provided, the distance from the crane operation room R to the conveyed object W is calculated using the detected value, and the focal length adjusting mechanism is automatically operated according to the calculated value. Can be configured to. Further, the combiner C can be composed of a half mirror, a diffraction element, or the like. Further, the position of the virtual image of the display image, that is, the visual recognition position of the image is determined by moving the combiner C up and down or tilting (that is, rotating) by an up-and-down moving device or a tilt mechanism. It is also possible to adjust it so that it will be next to. Further, the adjustment can be performed manually or automatically. When the adjustment is performed automatically, the distance from the crane operation room R to the conveyed object W is calculated, as in the case of the focal length adjustment mechanism described above, and It is possible to adjust the position of the combiner C according to the calculated value. Further, instead of the CRT display D, a liquid crystal display,
It is also possible to employ flat optical information display means such as a plasma display.

(Operation of First Embodiment) Next, the operation of the first embodiment will be described with reference to FIGS. FIG. 2 is a diagram showing an example of a scene when a worker P who operates the crane operation device is seated on the seat 6 and looks forward. Worker P
Operates the crane operation device while looking at the front transport object W through the combiner C. At that time, the surveillance camera E
The image picked up by is displayed on the display surface of the CRT display D. The displayed image enters the combiner C through the lens system A, is changed in direction by the combiner C, and goes toward the worker P. At this time, the position of the virtual image of the display image visually recognized by the operator P is about 30 m depending on the optical power of the lens system A (set optical power).
The front position.

Therefore, the operator P who operates the crane operating device can always operate the crane while looking at the image picked up by the monitoring camera E for monitoring at a position adjacent to the real object W to be conveyed. In the image captured by the monitoring camera E, the transported article W and the floor (or the ground) that is the background thereof are included.
Since the carrying object mounting surface such as is displayed, it becomes easy to move the hook 5 of the crane to an appropriate position along the carrying object mounting surface. Further, since the display position of the captured image of the monitoring camera E (the position where the virtual image of the image is formed) is set to a position about 30 m ahead, the real object of the conveyed product W and the CRT are displayed.
Even if the display image on the display D is viewed alternately, it is not necessary to greatly adjust the focal length of the eyes. Therefore, it is possible to prevent the time required for adjusting the focal length of the eyes from becoming long and causing a time lag in the crane operation.

[Modifications] The embodiments of the present invention have been described in detail above, but the present invention is not limited to the above-mentioned embodiments, and is within the scope of the gist of the present invention described in the claims. Thus, it is possible to make various small design changes.

(1) The position of the surveillance camera 1 can be arranged anywhere it seems necessary for surveillance. It can also be installed at a position away from the crane body. (2) The number of surveillance cameras E for monitoring need not be the same as the number of optical information display means (CRT displays) D. That is, it is possible to place surveillance cameras at a plurality of positions that are considered to be effective and to switch the image signals from the respective cameras automatically or manually to display them on the optical information display means D, and also to display a plurality of images at once. Is. Further, the optical information display means D can be installed not only in the crane operating device but also in a plurality of places that are considered suitable. (3) The surveillance camera can be provided with a zoom mechanism capable of arbitrarily changing the magnification, and can also have a fixed magnification. Further, this variable magnification function may be provided to the optical information display means D. In this case, the optical information display means D
Achieves a variable magnification function electrically or optically. (4) The image displayed on the optical information display means D does not need to be only the image from the surveillance camera, but may be a display showing the operating state of the crane or contact from a place other than the operation room (from an operator near the transported object. It is also possible to display other symbols as symbols. It is also possible to superimpose and display the surveillance camera image and these symbols. (5) Since the purpose of the present invention is to form the image of the surveillance camera and other displays at a distant position, the information projecting device K is not limited to that shown in FIG. 2 within that range. Furthermore, the combiner C may be a total reflection or a total diffraction, or a half reflection or a half diffraction. In the latter case, there is an advantage that the outside scene can be seen through this element. Also,
It is also possible to omit the combiner C. (6) Although the construction crane is mentioned in the embodiment,
It can also be used as a crane for other purposes.

[0017]

According to the present invention described above, in addition to visually confirming the actual object of the conveyed object, the operator who operates the crane displays the conveyed object and its background imaged by the monitoring camera installed at an appropriate position. You can see the image. Since the virtual image of the display image is formed at the front and distant position, the operator can
Even if the displayed image is viewed alternately, it is not necessary to greatly adjust the focal length of the eyes. Therefore, it is possible to prevent the time required for adjusting the focal length of the eyes from becoming long and causing a time lag in the crane operation. Therefore, the present invention can reduce the physical and mental burden on the operator and improve the safety of the crane operation work.

[Brief description of drawings]

FIG. 1 is an overall schematic explanatory view of an embodiment of the present invention.

FIG. 2 is a detailed explanatory view of a main part of the embodiment.

[Explanation of symbols]

A ... Lens system, D ... Optical information display means (CRT display), E ... Monitoring camera, L ... Information display light, P ... Worker, W ... Conveyed object,

Claims (1)

[Claims] 1. A crane operating device provided with an operating member for operating a crane for performing a work on a conveyed product while observing a conveyed product in front, wherein the conveyance is performed from a position other than a position where the crane operating device is arranged. A surveillance camera for picking up an image of an object and its surroundings, an optical information display means having a display surface for displaying an image picked up by the surveillance camera, and an information display light emitted from the display surface in a predetermined direction. An optical member that emits light, wherein the optical member is arranged so as to form a virtual image of the optical information in front of and away from an operator who operates the crane.