WO2019230395A1

WO2019230395A1 - Display system

Info

Publication number: WO2019230395A1
Application number: PCT/JP2019/019264
Authority: WO
Inventors: 薫草深; 橋本　直
Original assignee: 京セラ株式会社
Priority date: 2018-05-30
Filing date: 2019-05-15
Publication date: 2019-12-05

Abstract

This display system 10 is a display system designed for cranes. This display system 10 has a display panel 18, a wireless communication sensor 11, and a controller 16. The display panel 18 displays a display image. The wireless communication sensor 11 is attached to an attachment-receiving object 13. The attachment-receiving object 13 includes a hook 14 and/or suspended load 15 of a crane. The controller 16 changes the display image on the basis of wireless signals acquired from the wireless communication sensor 11.

Description

Display system

Cross-reference of related applications

This application claims the priority of Japanese Patent Application No. 2018-103170 filed in Japan on May 30, 2018, the entire disclosure of this earlier application is incorporated herein for reference.

The present invention relates to a display system for a crane.

Cranes are used for transporting heavy objects during cargo handling to transportation equipment and transporting materials during construction work. In a suspended load in which a heavy object is suspended by a crane, it is required to reduce the swing of the suspended load. Accordingly, various mechanisms for preventing the swinging of the suspended load have been proposed (see Patent Document 1).

Japanese Patent Laid-Open No. 11-035283

The display system according to the first aspect is:
A display system for a crane,
A display panel for displaying a display image;
A wireless communication sensor attached to an attachment including at least one of a hook and a suspended load of the crane;
A controller that changes the display image based on a wireless signal acquired from the wireless communication sensor.

It is a functional block diagram which shows schematic structure of the display system which concerns on one Embodiment. It is the figure which looked at the display panel of FIG. 1, and the 1st optical element from the optical element side. It is a figure which shows an example of the attitude | position of the attitude | position visual recognition object displayed on the display panel of FIG. It is an example of the acceleration displayed on the display panel of FIG. It is another example of the acceleration displayed on the display panel of FIG. It is an example of the locus | trajectory displayed with an acceleration on the display panel of FIG. It is a figure for demonstrating the parallax image displayed on the display panel of FIG.

Hereinafter, a plurality of embodiments of the present disclosure will be described with reference to the drawings.

As shown in FIG. 1, a display system 10 according to an embodiment of the present disclosure includes a wireless communication sensor 11 and a display device 12.

The display system 10 is a display system for a crane and may be mounted on the crane. The display system 10 may share part of the configuration with other devices and parts included in the crane.

The wireless communication sensor 11 is attached to the attachment 13. The attachment 13 includes at least one of a crane hook 14 and a suspended load 15. The wireless communication sensor 11 has a wireless communication function, and transmits a measured value measured by the wireless communication sensor 11 as a wireless signal to the controller 16 described later.

The wireless communication sensor 11 may measure a state value for calculating the motion state of the attachment 13. The state value for calculating the driving state may include at least one of acceleration, angular velocity, and geomagnetism, for example. In other words, the wireless communication sensor 11 may include at least one of an acceleration sensor, an angular velocity sensor, and a geomagnetic sensor, and may include a 6-axis sensor or a 9-axis sensor that combines a plurality of sensors.

The display device 12 includes a display unit 17 and a controller 16.

The display unit 17 has at least a display panel 18. The display unit 17 may include an irradiator 19 in a configuration in which a display panel 18 other than the self-luminous type is applied. The display unit 17 may include a first optical element 20 having a function to be described later and provide a stereoscopic view to the operator. The display unit 17 may be a head-up display (HUD) that has a second optical element 21 having a function to be described later, and allows an operator to visually recognize a virtual image.

The display panel 18 may be a display panel such as a transmissive liquid crystal display panel. The display panel 18 forms and displays a display image generated by the controller 16. As shown in FIG. 2, the display panel 18 has a plurality of partitioned areas partitioned in a horizontal direction and a vertical direction by a grid-like black matrix 22 on a plate-like surface.

The black matrix 22 has a first black line 23 extending in the vertical direction and a second black line 24 extending in the horizontal direction. In the black matrix 22, a plurality of first black lines 23 are arranged in the horizontal direction at a constant pitch, for example, and a plurality of second black lines 24 are arranged in the vertical direction at a constant pitch, for example. The plurality of first black lines 23 and the plurality of second black lines 24 define a plurality of partition regions.

Each sub-region corresponds to one subpixel. The plurality of subpixels are arranged in a matrix in the horizontal direction and the vertical direction. Each subpixel corresponds to each color of R, G, and B, and one pixel may be configured by combining the three subpixels of R, G, and B as a set. One pixel can be called one pixel.

In the present embodiment, the display panel 18 may be mounted in the crane so that, for example, the direction in which a plurality of subpixels constituting one pixel are aligned is the horizontal direction. In the present embodiment, the display panel 18 may be mounted in a crane so that the direction in which sub-pixels of the same color are arranged is the vertical direction. The display panel 18 is not limited to a transmissive liquid crystal panel, and other display panels such as an organic EL can also be used.

As shown in FIG. 1, the irradiator 19 is arranged on one surface side of the display panel 18. The irradiator 19 may include a light source, a light guide plate, a diffusion plate, a diffusion sheet, and the like. The irradiator 19 emits irradiation light from a light source, and equalizes the irradiation light in the surface direction of the display panel 18 using a light guide plate, a diffusion plate, a diffusion sheet, or the like. The irradiator 19 emits the uniformed light to the display panel 18.

1st optical element 20 prescribes | regulates the light ray direction of the image light of the display image inject | emitted from a sub pixel. The first optical element 20 may be, for example, a parallax barrier or a lenticular lens. Below, the 1st optical element 20 in the structure to which a parallax barrier is applied is demonstrated.

The first optical element 20 changes the light beam direction, which is the propagation direction of the image light emitted from the subpixel, for each of the plurality of opening regions 25 extending in a predetermined direction on the display panel 18. The visible range of the image light emitted from the subpixel is determined by the first optical element 20. The first optical element 20 is located on the opposite side of the irradiator 19 with respect to the display panel 18. The first optical element 20 can be located on the irradiator 19 side of the display panel 18.

Specifically, the first optical element 20 has a plurality of light shielding surfaces 26. The light shielding surface 26 shields image light. The plurality of light shielding surfaces 26 define an opening region 25 between the light shielding surfaces 26 adjacent to each other. The opening region 25 has a higher light transmittance than the light shielding surface 26. The light shielding surface 26 has a light transmittance lower than that of the opening region 25.

The opening region 25 is a portion that transmits light incident on the first optical element 20. The opening region 25 may transmit light with a transmittance equal to or higher than the first predetermined value. The first predetermined value may be 100%, for example, or a value close to 100%. The light blocking surface 26 is a portion that blocks and does not transmit light incident on the first optical element 20. The light shielding surface 26 blocks an image displayed on the display panel 18. The light blocking surface 26 may block light with a transmittance equal to or lower than the second predetermined value. The second predetermined value may be 0%, for example, or a value close to 0%.

The opening area 25 and the light shielding surface 26 are mounted in the crane so as to be alternately arranged in the horizontal direction and the vertical direction. The end of the opening area 25 defines the light ray direction of the image light emitted from the subpixel for each of a plurality of band-like areas extending in a predetermined direction on the surface of the display panel 18.

If the line indicating the end of the opening area 25 is along the vertical direction, moire is likely to be recognized in the display image due to an error included in the arrangement of the subpixels or the size of the opening area 25. When the line indicating the end of the opening area 25 extends in a direction having a predetermined angle with respect to the vertical direction, moire is generated in the display image regardless of the subpixel arrangement or the error included in the dimension of the opening area 25. It becomes difficult to be recognized.

The first optical element 20 may be composed of a film or a plate-like member having a transmittance less than the second predetermined value. In this configuration, the light shielding surface 26 is formed of the film or plate member. The opening area 25 is configured by an opening provided in a film or a plate-like member. A film may be comprised with resin and may be comprised with another material. The plate-like member may be made of resin or metal, or may be made of other materials. The 1st optical element 20 is not restricted to a film or a plate-shaped member, You may be comprised with another kind of member. As for the 1st optical element 20, a base material may have a light-shielding property and the additive which has a light-shielding property may be contained in a base material.

The first optical element 20 may be composed of a liquid crystal shutter. The liquid crystal shutter can control the light transmittance according to the applied voltage. The liquid crystal shutter may be composed of a plurality of pixels and may control the light transmittance in each pixel. The liquid crystal shutter may be formed in an arbitrary shape with a region having a high light transmittance or a region having a low light transmittance. When the first optical element 20 is configured by a liquid crystal shutter, the opening region 25 may be a region having a transmittance equal to or higher than a first predetermined value. When the 1st optical element 20 is comprised with a liquid-crystal shutter, the light-shielding surface 26 may be an area | region which has the transmittance | permeability below 2nd predetermined value.

The first optical element 20 propagates the image light emitted from the sub-pixels in some of the opening regions 25 to the position of the user's right eye and emits the image light emitted from the other sub-pixels in the other opening regions 25. Is propagated to the position of the user's left eye. The first optical element 20 is located a predetermined distance away from the surface of the display panel 18. The first optical element 20 includes light blocking surfaces 26 arranged in a slit shape.

When the image light transmitted through the opening area 25 of the first optical element 20 reaches the user's eyes, the left eye of the user visually recognizes the band-like visible area on the display panel 18 corresponding to the opening area 25. Yes. Since the image light is blocked by the light blocking surface 26 of the first optical element 20, the left eye of the user cannot visually recognize the invisible region on the display panel 18 corresponding to the light blocking surface 26.

The second optical element 21 reflects the image light of the display image displayed on the display panel 18. The second optical element 21 transmits light outside the crane (external light). For example, the second optical element 21 may be a windshield of a crane.

In order to reflect the image light, the second optical element 21 may be disposed on the optical path of the image light of the display panel 18. For example, the second optical element 21 may be disposed in the image light emission direction of the display panel 18. In a configuration in which a reflective element such as a mirror is disposed between the display panel 18 and the second optical element 21 in the optical path, the second optical element 21 is disposed in the reflection direction of the image light of the display panel 18 by the reflective element. May have been.

The image light reflected by the second optical element 21 reaches the left eye and right eye of the operator. Therefore, in the display device 12, the image light is advanced from the display panel 18 to the left eye and right eye of the operator along the optical path indicated by the broken line. The operator can visually recognize the image light that has reached along the optical path as a virtual image 27.

The controller 16 is configured as a processor, for example. The controller 16 may include one or more processors. The processor may include a general-purpose processor that reads a specific program and executes a specific function, and a dedicated processor specialized for a specific process. The dedicated processor may include an application specific IC (ASIC: Application Specific Circuit). The processor may include a programmable logic device (PLD: Programmable Logic Device). The PLD may include an FPGA (Field-Programmable Gate Array). The controller 16 may be one of SoC (System-on-a-Chip) and SiP (System-In-a-Package) in which one or a plurality of processors cooperate. The controller 16 includes a storage unit, and may store various information or a program for operating each component of the three-dimensional display system 1 in the storage unit. The storage unit may be configured by, for example, a semiconductor memory. The storage unit may function as a work memory for the controller 16.

The controller 16 is connected to each component of the display device 12, such as the display panel 18, and controls each component. For example, the controller 16 changes the display image based on the wireless signal acquired from the wireless communication sensor 11 and causes the display panel 18 to display the display image.

The display image to be changed based on the radio signal may include, for example, an object whose appearance varies depending on the viewing direction (hereinafter also referred to as “posture visually recognized object”) and acceleration acting on the attachment 13.

The posture visually recognizing object may be a three-dimensional object other than a sphere, for example, a plate-like material such as a flat plate. The posture visually recognizing object may be a sphere with an identifier attached to the surface. The identifier may be, for example, a spherical parallel or meridian, a color of only a part of the surface, and the like.

The controller 16 changes the posture of the posture visually recognized object displayed on the display panel 18 according to the posture of the attachment 13. The controller 16 calculates the posture of the attachment 13 in order to change the posture of the posture visually recognized object. The controller 16 may calculate the posture as an inclination with respect to the standard state of the attachment 13. The standard state of the attachment 13 is, for example, a state where the attachment 13 is lifted by a crane and is stationary.

The controller 16 may acquire information other than the radio signal from the crane and use it for calculating the posture. For example, in the configuration in which the wireless communication sensor 11 includes only an acceleration sensor, the controller 16 may acquire the payout length of the crane winch. The controller 16 may calculate the turning radius from the boom of the crane to the attachment 13 based on the feeding length and use it for calculating the posture.

The controller 16 may calculate the inclination of the attachment 13 around at least one axis. In this embodiment, the controller 16 calculates inclinations around the three axes of the pitch axis, the yaw axis, and the roll axis of the crane.

In this embodiment, the pitch axis of the crane is an axis parallel to the left-right direction of the crane. The yaw axis of the crane is an axis parallel to the vertical direction of the crane. Moreover, the roll axis | shaft of a crane is an axis | shaft parallel to the front-back direction of a crane. In the present embodiment, the left-right direction, the up-down direction, and the front-rear direction of the crane are directions with respect to the cockpit of the crane. In order to calculate the inclination around the three axes of the pitch axis, the yaw axis, and the roll axis, the wireless communication sensor 11 may be attached to the attachment 13 at a predetermined position and posture, or to the attachment 13 The actual attachment position and orientation of the wireless communication sensor 11 may be detected and used for calculation.

The controller 16 generates a display image of the posture visually recognized object having a posture corresponding to the calculated posture of the attachment 13. In the present embodiment, the posture-viewing object is a plate-like material, and in a standard state, the plate surface is perpendicular to the vertical direction of the crane and the side surface including the long side of the plate surface is perpendicular to the front-rear direction. It has been. In such a standard state, when the attachment 13 is tilted forward and to the right, the controller 16 views the posture visual recognition object obj in the standard state from above and from the right as illustrated in FIG. A display image having a different shape is generated. The controller 16 changes the posture of the posture visually recognized object obj by giving the generated display image to the display panel 18 for display.

The controller 16 may change the depth of the posture visually recognized object obj based on the wireless signal. The controller 16 calculates the inclination around the pitch axis of the attachment 13 based on the radio signal in order to change the depth of the posture visually recognized object obj. The controller 16 further obtains the payout length of the winch of the crane and calculates the turning radius from the crane boom to the attachment 13.

The controller 16 calculates the position of the attachment 13 in the longitudinal direction of the crane based on the inclination around the pitch axis of the attachment 13 and the turning radius. The controller 16 generates a display image of the posture visually recognized object obj having a size corresponding to the calculated position. The size corresponding to the position is larger as it approaches the rear direction of the crane, and is smaller as it approaches the front direction. As will be described later, the controller 16 generates a suggestion image that perceives the posture visually recognized object obj to protrude from the position where the virtual image 27 is visually recognized or away from the position in a configuration in which the display image is generated as a parallax image. Good. The controller 16 changes the depth of the posture visually recognized object obj by giving the generated display image to the display panel 18 for display.

The controller 16 may calculate the magnitude of acceleration acting on the attachment 13 along the longitudinal direction and the lateral direction of the crane. The controller 16 generates a display image that displays the magnitude of the calculated acceleration in the front-rear direction and the left-right direction. The controller 16 changes the current acceleration of the attachment 13 by giving the generated display image to the display panel 18 for display.

The controller 16 may generate a display image in which the acceleration in the front-rear direction is displayed as an arrow 29 extending in the vertical direction on the one-dimensional coordinate system 28 extending in the vertical direction as illustrated in FIG. The controller 16 may generate a display image in which the acceleration in the left-right direction is displayed as an arrow 31 extending in the left-right direction on the one-dimensional coordinate system 30 extending in the left-right direction. For example, as illustrated in FIG. 5, the controller 16 displays a display image in which accelerations in the front-rear direction and the left-right direction are displayed as arrows 33 extending in an arbitrary direction on the two-dimensional coordinate system 32 extending in the up-down direction and the left-right direction. May be generated. As shown in FIGS. 4 and 5, the controller 16 may generate a display image including the acceleration of the attachment 13 and a guide 34 for canceling the acceleration.

The controller 16 may display the acceleration acting on the attachment 13 by reversing the acting direction. For example, in an image in which the direction of acceleration is reversed, in the display images illustrated in FIGS. 4 and 5, the arrow indicating acceleration is reversed with the origin as the axis.

The controller 16 may display the locus of acceleration as a display image together with the acceleration of the attachment 13. As illustrated in FIG. 6, the controller 16 generates a display image in which the trajectories of acceleration in the front-rear direction and the left-right direction are displayed as a collection of points 35 on the two-dimensional coordinate system 32 extending in the up-down direction and the left-right direction. It's okay.

The controller 16 may generate a parallax image corresponding to the above-described display image in a configuration in which the display unit 17 includes the first optical element 20. A parallax image is an image that allows a three-dimensional image to be perceived by stereoscopic viewing.

In the parallax image, assuming that the display image is a three-dimensional object, the image of the arbitrary first point of the three-dimensional object viewed with the right eye and the image viewed with the left eye are slightly shifted in the left-right direction. Has been placed. In a parallax image, a set of images in which another second point adjacent to the first point of the three-dimensional object in the left-right direction is viewed with the right eye and an image viewed with the left eye is a set of images corresponding to the first point. It is arrange | positioned in the position shifted | deviated from the left-right direction.

As shown in FIG. 7, the controller 16 displays each right-eye image on the display panel 18 in which the right eye RE and the left eye LE of the operator at a specific position with respect to the display unit 17 can be visually recognized from the opening area 25 of the first optical element 20. In the area RA and the left eye image area LA, a parallax image is generated in which images of the respective points constituting the display image viewed from the right eye RE and the left eye LE are arranged. The specific position of the operator with respect to the display unit 17 may be determined in advance as an ideal state. The specific position of the operator with respect to the display unit 17 may be detected using a camera or the like.

The display system 10 of the present embodiment configured as described above changes the display image based on a wireless signal acquired from the wireless communication sensor 11 attached to the attachment 13. The operation of reducing the swing of the attachment 13 only by the appearance of the attachment 13 can be difficult. On the other hand, with the configuration as described above, the display system 10 provides the operator with information for reducing the swing of the suspended load 15, that is, a change in the state of the attachment 13 measured by the wireless communication sensor 11. obtain.

The display system 10 of the present embodiment further includes a first optical element 20 that defines the light beam direction of the display image and a second optical element 21 that reflects the image light from the display panel 18, and the display image has a parallax. It is an image. With such a configuration, the display system 10 can perceive the state of the attachment 13 in a three-dimensional manner. As will be described later, in the configuration in which the display image includes the posture visual recognition object obj, the display system 10 can make the posture visual recognition object obj perceived in a three-dimensional manner, thereby more clearly recognizing the state of the attachment 13. .

Further, in the display system 10 of the present embodiment, the controller 16 displays the posture visually recognized object obj having a different appearance depending on the viewing direction as a display image changed according to the posture of the attachment 13. When the shape of the suspended load 15 is poor in change in appearance depending on the viewing direction, such as a sphere, it is difficult to grasp the longitudinal swing of the crane in the front-rear direction. However, according to the above-described configuration, in the display system 10, the change in appearance with respect to pitching becomes clear by displaying the posture visually recognized object obj, so that the operator can easily grasp the pitching of the suspended load 15.

Further, in the display system 10 of the present embodiment, the controller 16 changes the depth of the posture visually recognized object obj based on the wireless signal. With such a configuration, the display system 10 can allow the operator to easily grasp the pitching of the suspended load 15 that is relatively far from the operator, which is difficult only by visual recognition.

In the display system 10 of the present embodiment, the controller 16 displays the acceleration acting on the attachment 13 as a display image. With such a configuration, the display system 10 can make the operator recognize the direction and magnitude of the force acting on the attachment 13 that is useful for the operation of suppressing the swing of the suspended load 15. .

In the display system 10 of the present embodiment, the controller 16 displays the acceleration acting on the attachment 13 with the direction of action reversed. In order to reduce the swing of the suspended load 15, it is desirable to apply a force in the direction opposite to the force acting on the suspended load 15. Therefore, in the display system 10 having the above-described configuration, the acceleration directed in the same direction as the force to be applied to the attachment 13 is displayed, so that the operator can directly recognize the direction in which the force should be applied.

In the display system 10 of the present embodiment, the controller 16 displays the acceleration locus. With such a configuration, the display system 10 can provide a trajectory of acceleration that reflects the swing reduction operation by the operator. Therefore, the display system 10 can provide information for objectively determining the degree of mastery of the operator's reduction operation.

In the display system 10 of the present embodiment, the controller 16 displays a guide 34 for canceling the acceleration of the attachment 13. With such a configuration, the display system 10 can directly recognize the direction in which a force should be applied to the operator.

Although the present invention has been described based on the drawings and examples, it should be noted that those skilled in the art can easily make various changes and modifications based on the present disclosure. Therefore, it should be noted that these variations and modifications are included in the scope of the present invention.

For example, in the present embodiment, the display unit 17 is a head-up display that allows the operator to visually recognize the virtual image 27, but may be a display that directly recognizes the display panel 18. In the present embodiment, the display unit 17 includes the first optical element 20 and can display the parallax image on the display panel 18 so that the operator can view the image stereoscopically. It's okay.

It should be noted that here, a system having various modules and / or units that perform a specific function is disclosed, and these modules and units are schematically illustrated in order to briefly explain the functionality. It should be noted that the descriptions are not necessarily indicative of specific hardware and / or software. In that sense, these modules, units, and other components may be hardware and / or software implemented to substantially perform the specific functions described herein. The various functions of the different components may be any combination or separation of hardware and / or software, each used separately or in any combination. Also, input / output or I / O devices or user interfaces, including but not limited to keyboards, displays, touch screens, pointing devices, etc., must be connected directly to the system or via an intervening I / O controller. Can do. Thus, the various aspects of the present disclosure can be implemented in many different ways, all of which are within the scope of the present disclosure.

DESCRIPTION OF SYMBOLS 10 Display system 11 Wireless communication sensor 12 Display apparatus 13 Attachment 14 Hook 15 Hanging load 16 Controller 17 Display part 18 Display panel 19 Irradiator 20 1st optical element 21 2nd optical element 22 Black matrix 23 1st black line 24 1st 2 Black line 25 Opening area 26 Light-shielding surface 27 Virtual image 28 One-dimensional coordinate system extending in the vertical direction 29 Arrow extending in the vertical direction 30 One-dimensional coordinate system extending in the horizontal direction 31 Arrow extending in the horizontal direction 32 Two extending in the vertical direction and the horizontal direction Dimensional coordinate system 33 Arrow extending in any direction 34 Guide 35 Point collection LA Left eye image area LE Left eye obj Posture visually recognized object RA Right eye image area RE Right eye

Claims

A display system for a crane,
A display panel for displaying a display image;
A wireless communication sensor attached to an attachment including at least one of a hook and a suspended load of the crane;
And a controller that changes the display image based on a wireless signal acquired from the wireless communication sensor.
The display system according to claim 1,
A first optical element that defines a light beam direction of the display image;
A second optical element that reflects image light from the display panel and transmits external light; and
The display system is a parallax image that allows a three-dimensional image to be perceived by stereoscopic viewing.
The display system according to claim 1 or 2,
The wireless communication sensor includes a sensor that measures at least one of acceleration, angular velocity, and geomagnetism.
The display system according to claim 3, wherein
The controller causes the display panel to display, as the display image, an object whose appearance varies depending on a viewing direction based on the wireless signal.
The display system according to claim 4,
The controller is configured to change a posture of the object according to a posture of the attached object.
The display system according to claim 5,
The controller changes the depth of the object based on the wireless signal.
The display system according to claim 3, wherein
The controller displays an acceleration acting on the attached object on the display panel as the display image based on the radio signal.
The display system according to claim 7,
The controller displays the acceleration acting on the attached object by inverting the acting direction.
The display system according to claim 7 or 8,
The controller displays the locus of acceleration as the display image on the display panel.
The display system according to any one of claims 7 to 9,
The controller displays a guide for canceling the acceleration of the attached object on the display panel as the display image.