Work-vehicle remote control device

Abstract

This work-vehicle remote control device, that includes an operation unit for remotely operating a work vehicle, comprises: a controller for acquiring a suspended-load image obtained by imaging a suspended load suspended by the work vehicle, and a drum image obtained by imaging a wire-rope winch drum mounted on the work vehicle; and a display for displaying images. The controller arranges the suspended load image and the drum image and displays the same on the display.

Description

WORK-VEHICLE REMOTE CONTROL DEVICE Technical Field

[0001] The present invention relates to a work-vehicle remote control device. Background Art

[0002] Conventionally, an operator remotely operates a work vehicle such as a crane from a location away from the work vehicle. For example, Patent Literature 1 discloses a configuration in which an operator remotely operates a work vehicle using a remote control terminal.

[0003] The remote control terminal is capable of communicating with the work vehicle via a communication line such as a carrier network or a satellite network, and operation information for the work vehicle input to the remote control terminal is transmitted to the work vehicle via the communication line.

[0004] The remote control terminal also includes a display capable of displaying various types of information. For example, a suspended load suspended from a boom included in the work vehicle and the like are displayed on the display. This allows the operator to operate the work vehicle while checking information such as movement of the suspended load displayed on the display.

[0005] As described above, the remote control terminal and the work vehicle transmit and receive information via the communication line. However, a communication delay may occur when the remote control terminal receives information from the work vehicle. As a result, a discrepancy may arise between the information displayed on the display and the actual movement of the work vehicle.

[0006] In this case, the operator can estimate the amount of communication delay to some extent by, for example, checking a discrepancy between the timing of operation of the remote control terminal and the movement of the suspended load or the like displayed on the display. Citation List Patent Literature

[0007] Patent Literature 1: JP 2019-156529 A Summary of the Invention Problems to be Solved by the Invention

[0008] However, when the winding-up speed or unwinding speed of the wire rope is low during operations such as lifting the suspended load off the ground or placing the suspended load, the movement of the suspended load displayed on the display cannot be sufficiently recognized. It is therefore sometimes difficult to estimate the amount of communication delay.

[0009] To clearly check the movement of the suspended load, it is conceivable to display a plurality of images including an image showing the suspended load on the display and alternately check the images. However, when the plurality of images to be checked are displayed on separate displays arranged at positions away from one another, a gaze shift distance required to check the images increases. As a result, the time during which the suspended load is out of the field of view may increase.

[0010] Accordingly, the present invention provides a workvehicle remote control device that enables easy estimation of the amount of communication delay between the remote control device for remotely operating a work vehicle and the work vehicle and a reduction in gaze shift when checking images displayed on a display. Solutions to Problems

[0011] An aspect of a work-vehicle remote control device according to the present invention is a work-vehicle remote control device equipped with an operation unit for remotely operating a work vehicle, the work-vehicle remote control device including: a controller configured to acquire a suspended-load image obtained by imaging a suspended load suspended by the work vehicle, and a drum image obtained by imaging a wire rope winch drum mounted on the work vehicle; and a display configured to display an image, in which the controller causes the display to display the suspended-load image and the drum image side by side. Effects of the Invention

[0012] According to the present invention, the amount of communication delay between the remote control device and the work vehicle can be easily estimated, and a gaze shift when checking images displayed on the display can be reduced. Brief Description of Drawings

[0013] Fig. 1 is a schematic diagram showing a crane and a remote control device. Fig. 2 is a side view showing the crane. Fig. 3 is a plan view showing the interior of a cabin of the crane. Fig. 4 is a block diagram showing a control system of the crane and the remote control device. Fig. 5 is a diagram showing a forward image. Fig. 6 is a diagram showing a suspended-load image. Fig. 7 is a diagram showing a drum image. Fig. 8 is a diagram showing a bird's-eye view image. Fig. 9 is a perspective view showing a cockpit of the remote control device. Fig. 10 is a diagram showing an attitude information image. Fig. 11 is a diagram showing a worksite image. Fig. 12 is a diagram showing a display displaying each image. Fig. 13 is a diagram showing a second embodiment of the display displaying each image. Fig. 14 is a diagram showing a third embodiment of the display displaying each image. Description of Embodiments

[0014] Next, embodiments of the present invention will be described with reference to the accompanying drawings.

[0015] [Overview of Crane and Crane Remote Control Device] A crane 1 shown in Fig. 1 is an embodiment of a crane remotely operated by a work-vehicle remote control device according to the present invention. A remote control device 8 shown in Fig. 1 is an embodiment of the work-vehicle remote control device according to the present invention.

[0016] The remote control device 8 is a device for remotely operating the crane 1 and is located at a location away from the crane 1. For example, the remote control device 8 is provided at a location far away from the crane 1 (hereinafter also referred to as a "remote location").  The crane 1 and the remote control device 8 are capable of communicating with each other via a communication line. As the communication line, a carrier network, a local 5G network, a satellite network, or the like can be used.

[0017] The remote control device 8 can remotely operate the crane 1 by transmitting operation information for the crane 1 input to the remote control device 8 to the crane 1 via the communication line. Information can also be transmitted from the crane 1 to the remote control device 8 via the communication line.

[0018] [Crane] As shown in Fig. 2, the crane 1 is deployed at a worksite S. The crane 1 includes a traveling body 2 and a slewing body 3 that constitute a traveling vehicle 10. The traveling body 2 includes front wheels 21 and rear wheels 22. The traveling body 2 also includes outriggers 23 that comes into contact with the ground to stabilize the crane 1 during an operation of transporting a load W. The traveling body 2 supports the slewing body 3 so as to allow the slewing body 3 to slew horizontally. The slewing body 3 is slewed about a slewing center X by an actuator provided in the traveling body 2.

[0019] The slewing body 3 has a boom 31. The boom 31 is supported by a rear portion of the slewing body 3. The boom 31 extends forward from the rear portion of the slewing body 3. The boom 31 is slewable together with the slewing body 3 along a slewing direction A by an actuator (see arrow A in Fig. 2). The boom 31 is configured to be extended and retracted along an extension-retraction direction B by an actuator (see arrow B in Fig. 2). The boom 31 is configured to be raised and lowered along a luffing direction C by an actuator (see arrow C in Fig. 2).

[0020] A wire rope 32 is routed over the boom 31.  The wire rope 32 hangs down from a distal end portion of the boom 31. A hook 33 is attached to a distal end portion of the wire rope 32. In the present embodiment, one wire rope 32 is reeved multiple times between the distal end portion (specifically, a sheave) of the boom 31 and the hook 33.  A suspended load W can be suspended from the hook 33. That is, the wire rope 32 can suspend the suspended load W via the hook 33.

[0021] A winch drum 34 is arranged near a proximal end portion of the boom 31 in the slewing body 3. The winch drum 34 is configured integrally with an actuator and winds up and unwinds the wire rope 32. Accordingly, the hook 33 is configured to be moved upward and downward along a lifting-lowering direction D by the actuator (see arrow D in Fig. 2).

[0022] The slewing body 3 includes a cabin 35 beside the boom 31. In the present embodiment, the boom 31 is located to the left of the cabin 35. The left-right direction is a direction orthogonal to the traveling direction of the traveling body 2 and the up-down direction. As shown in Fig. 3, operation levers such as a slewing lever 51, an extension-retraction lever 52, a luffing lever 53, and a winding lever 54, and a plurality of operation pedals 50 are provided inside the cabin 35.

[0023] The crane 1 may have a configuration in which a jib is attached to the distal end portion of the boom 31. In this case, the boom 31 is extended by the jib. The jib may be configured to be capable of being extended and retracted and to be capable of being raised and lowered.

[0024] [Crane Control System] The crane 1 includes a control system 4.

[0025] As shown in Figs. 2 to 4, the control system 4 mainly includes a control unit 40, a plurality of operation pedals 50, various operation levers 51 to 54, various cameras 55 to 59, various valves 61 to 64, a display 65, and various detection sensors 71 to 76.

[0026] The control unit 40 has an information storage unit 41. The information storage unit 41 stores various programs required to control the crane 1. The information storage unit 41 is also capable of storing various types of data.

[0027] The control unit 40 has an information processing unit 42. The information processing unit 42 converts operation amounts of the operation pedals 50 and the various operation levers 51 to 54 into electrical signals and transmits the electrical signals to the various valves 61 to 64 and the like that actuate actuators. Accordingly, the control unit 40 enables operation of the boom 31 (a slewing operation, an extension-retraction operation, and a luffing operation) and operations of winding-up and unwinding the wire rope 32. That is, the control unit 40 controls operation of the crane 1.

[0028] More specifically, the boom 31 is configured to be slewed along the slewing direction A by the actuator (see arrow A in Fig. 2). In the present embodiment, the actuator that slews the boom 31 is defined as a slewing motor 36 (see Fig. 2). The slewing motor 36 is appropriately actuated by a slewing valve 61, which is a directional control valve. The slewing valve 61 is actuated on the basis of an instruction from the control unit 40. A slewing angle of the boom 31 is detected by a slewing angle detection sensor 71.

[0029] The boom 31 is configured to be extended and retracted along the extension-retraction direction B by the actuator (see arrow B in Fig. 2). In the present embodiment, the actuator that extends and retracts the boom 31 is defined as an extension-retraction cylinder 37 (see Fig. 2). The extension-retraction cylinder 37 is appropriately actuated by an extension-retraction valve 62, which is a directional control valve. The extensionretraction valve 62 is actuated on the basis of an instruction from the control unit 40. An extensionretraction length of the boom 31 is detected by a boom length detection sensor 72.

[0030] The boom 31 is configured to be raised and lowered along the luffing direction C by the actuator (see arrow C in Fig. 2). In the present embodiment, the actuator that raises and lowers the boom 31 is defined as a luffing cylinder 38 (see Fig. 2). The luffing cylinder 38 is appropriately actuated by a luffing valve 63, which is a directional control valve. The luffing valve 63 is actuated on the basis of an instruction from the control unit 40. A luffing angle of the boom 31 is detected by a boom angle detection sensor 73.

[0031] The hook 33 is configured to be moved upward and downward along the lifting-lowering direction D by the actuator (see arrow D in Fig. 2). In the present embodiment, the actuator that moves the hook 33 upward and downward is defined as a winding motor 39 (see Fig. 2). The winding motor 39 is appropriately actuated by a winding valve 64, which is a directional control valve. When the winding motor 39 is actuated, the winch drum 34 is rotationally driven to wind up or unwind the wire rope 32. The winding valve 64 is actuated on the basis of an instruction from the control unit 40. A suspension length of the hook 33 is detected by a sensor not shown.

[0032] A luffing cylinder pressure detection sensor 74 included in the control system 4 detects pressure applied to the luffing cylinder 38, a lever operation detection sensor 75 detects operation states of the various operation levers 51 to 54, and an outrigger extension width detection sensor 76 detects extension widths of the outriggers 23.

[0033] The control system 4 includes an overload prevention device 45. The overload prevention device 45 is a safety device that suppresses an excessive working moment applied to the crane 1 and thereby prevents the crane 1 from overturning or being damaged due to an overload exceeding a rated capacity.

[0034] Various types of information are input to the overload prevention device 45, including an operating state of the crane 1 registered by the operator, as well as the slewing angle of the boom 31, the extension-retraction length of the boom 31, the luffing angle of the boom 31, the pressure applied to the luffing cylinder 38, the operation states of the various operation levers 51 to 54, and the extension widths of the outriggers 23, which are detected by the various detection sensors 71 to 76.  The various types of information input to the overload prevention device 45 can be stored in the information storage unit 41 of the control unit 40.

[0035] The overload prevention device 45 calculates a working moment and a rated moment on the basis of the input information, and obtains a load moment ratio by dividing the working moment by the rated moment. The obtained load moment ratio is input from the overload prevention device 45 to the control unit 40. The obtained load moment ratio can also be displayed on the display 65.

[0036] When the input load moment ratio becomes equal to or greater than 100%, the control unit 40 stops operation of the crane 1 toward a dangerous side and issues an alarm by displaying an error code on the display 65, sounding a buzzer, lighting an indicator lamp, or the like. When the load moment ratio becomes equal to or greater than 100%, the operation of the crane 1 toward the dangerous side is stopped, whereas operation toward a safe side is permitted.

[0037] As overload control based on the load moment ratio input from the overload prevention device 45, the control unit 40 can perform, for example, control to stop the operation of the crane 1 toward the dangerous side and issue an alarm when the load moment ratio becomes equal to or greater than 100%, issue an alarm to call attention when the load moment ratio becomes equal to or greater than 90% and less than 100%, and indicate safety when the load moment ratio becomes less than 90%.

[0038] As shown in Figs. 2 and 4, the crane 1 includes a forward-facing camera 55, a suspended-load camera 56, a drum camera 57, a first wide-angle camera 58, and a second wide-angle camera 59. The forward-facing camera 55, the suspended-load camera 56, the drum camera 57, the first wide-angle camera 58, and the second wide-angle camera 59 are connected to the control unit 40.

[0039] The forward-facing camera 55 is provided inside the cabin 35. The forward-facing camera 55 is configured to be capable of imaging an area in front of the cabin 35. In addition to the area in front of the cabin 35, the forwardfacing camera 55 is configured to be capable of imaging, over a wide range, the interior of the cabin 35 and areas above, to the left of, and to the right of the cabin 35. The forward-facing camera 55 may also be provided outside the cabin 35.

[0040] A forward image P1 shown in Fig. 5 is obtained by imaging the area in front of the cabin 35 and the like with the forward-facing camera 55. The forward image P1 captured by the forward-facing camera 55 can be stored in, for example, the information storage unit 41 of the control unit 40.

[0041] The forward image P1 shows views in front of, above, to the left of, and to the right of the cabin 35, as well as the interior of the cabin 35.  In the forward image P1 shown in Fig. 5, a load pickup location S1 for the suspended load W located in front of the cabin 35, and the suspended load W suspended from the distal end portion of the boom 31 located above the cabin 35 are shown.

[0042] The suspended-load camera 56 is attached to the distal end portion of the boom 31. The suspended-load camera 56 is configured to be capable of imaging, from above, the suspended load W suspended by the wire rope 32 hanging down from the distal end portion of the boom 31.

[0043] A suspended-load image P2 shown in Fig. 6 is obtained by imaging the suspended load W from above with the suspended-load camera 56. The suspended-load image P2 captured by the suspended-load camera 56 can be stored in, for example, the information storage unit 41 of the control unit 40.

[0044] The drum camera 57 is arranged around the winch drum 34. The drum camera 57 is configured to be capable of imaging the winch drum 34 and the wire rope 32 wound around the winch drum 34.

[0045] A drum image P3 shown in Fig. 7 is obtained by imaging the winch drum 34 and the wire rope 32 with the drum camera 57. The drum image P3 captured by the drum camera 57 can be stored in, for example, the information storage unit 41 of the control unit 40.

[0046] The first wide-angle camera 58 is attached to a lower side surface of the boom 31, and the second wide-angle camera 59 is attached to an upper side surface of the boom 31. The first wide-angle camera 58 and the second wide-angle camera 59 are arranged at a distal end portion of a base boom located closest to a proximal end side among the booms constituting the boom 31, and are located above the cabin 35 when the boom 31 is in an upright attitude (for example, the attitude shown in Fig. 2). The first wide-angle camera 58 and the second wide-angle camera 59 are also arranged so as to be at the same vertical position when the luffing angle of the boom 31 is a predetermined angle (for example, the angle shown in Fig. 2).

[0047] The first wide-angle camera 58 and the second wide-angle camera 59 are wide-angle cameras including wide-angle lenses such as fisheye lenses and are configured such that, for example, the sum of the angle of view of the first wide-angle camera 58 and the angle of view of the second wide-angle camera 59 is 360° or more. In the present embodiment, the angle of view of the first wide-angle camera 58 and the angle of view of the second wide-angle camera 59 are both 210°.

[0048] The first wide-angle camera 58 is configured to be capable of imaging at least a front portion of the crane 1 from above when the boom 31 is in the upright attitude. The second wide-angle camera 59 is configured to be capable of imaging at least a rear portion of the crane 1 from above when the boom 31 is in the upright attitude.

[0049] A crane-front-portion image is obtained by imaging the front portion of the crane 1 with the first wide-angle camera 58, and a crane-rear-portion image is obtained by imaging the rear portion of the crane 1 with the second wide-angle camera 59.

[0050] A bird's-eye view image P4 shown in Fig. 8 is generated by correcting and combining, in the information processing unit 42 of the control unit 40, the crane-front- portion image captured by the first wide-angle camera 58 and the crane-rear-portion image captured by the second wide-angle camera 59. The bird's-eye view image P4 generated on the basis of the images captured by the first wide-angle camera 58 and the second wide-angle camera 59 can be stored in, for example, the information storage unit 41 of the control unit 40.

[0051] In the bird's-eye view image P4 shown in Fig. 8, the crane 1 viewed from above and the suspended load W suspended by the wire rope 32 are shown. A first region P4a showing the front portion of the crane 1 in the bird's- eye view image P4 is a region generated on the basis of the crane-front-portion image captured by the first wide-angle camera 58, and a second region P4b showing the rear portion of the crane 1 in the bird's-eye view image P4 is a region generated on the basis of the crane-rear-portion image captured by the second wide-angle camera 59.

[0052] The display 65 displays various images.  The display 65 is attached in front of a driver's seat inside the cabin 35 so as to be visible to the operator while the operator operates the various operation levers 51 to 54 (see Fig. 3). The display 65 is connected to the control unit 40, and the control unit 40 is capable of providing information to the operator in the cabin 35 through the display 65.

[0053] The control unit 40 can cause the display 65 to display, for example, the forward image P1 captured by the forward-facing camera 55, the suspended-load image P2 captured by the suspended-load camera 56, the drum image P3 captured by the drum camera 57, and the bird's-eye view image P4 generated on the basis of the images captured by the first wide-angle camera 58 and the second wide-angle camera 59. The display 65 can be constituted by, for example, a multi function display that includes a touch panel and is capable of displaying and receiving various types of information and performing various operations.

[0054] The control system 4 includes a vehicle-side communication unit 43. The vehicle-side communication unit 43 is connected to the control unit 40 and is configured to be capable of communicating with the remote control device 8 via the communication line. Through the vehicle-side communication unit 43, the control unit 40 is capable of transmitting various types of information, such as the forward image P1, the suspended-load image P2, the drum image P3, the bird's-eye view image P4, and attitude information, which is information relating to the attitude of the crane 1, to the remote control device 8.

[0055] [Remote Control Device] The remote control device 8 is a device used by an operator located away from the crane 1 to remotely operate the crane 1. As shown in Figs. 4 and 9, the remote control device 8 includes an operation-side communication unit 81, a controller 82, a cockpit CP including an operation unit 83, a display 84, a display switching unit 85, a touch panel display 88, and the like, and a worksite camera 87.

[0056] The operation-side communication unit 81 is configured to be capable of communicating with the vehicleside communication unit 43 of the crane 1 via the communication line. The operation-side communication unit 81 is an example of a communication unit capable of communicating with the work vehicle. The operation-side communication unit 81 is connected to the controller 82.

[0057] The controller 82 is capable of transmitting operation information for the crane 1 input to the remote control device 8 to the crane 1 through the operation-side communication unit 81. The controller 82 can also receive information relating to the crane 1 through the operationside communication unit 81. The controller 82 can acquire, through the operation-side communication unit 81, for example, the forward image P1, the suspended-load image P2, the drum image P3, the bird's-eye view image P4, and the attitude information of the crane 1, which are stored in the control unit 40 of the crane 1.

[0058] The cockpit CP is configured to simulate the interior of the cabin 35 of the crane 1, and is capable of operating the crane 1 by performing operations similar to those performed inside the cabin 35.

[0059] The operation unit 83 has a plurality of operation pedals 831 and a plurality of operation levers 832. The operation pedals 831 and the operation levers 832 are provided so as to respectively correspond to the operation pedals 50 and the operation levers 51 to 54 of the crane 1.

[0060] Operation information, such as operation amounts of the operation pedals 831 and the operation levers 832, is input to the controller 82. The controller 82 transmits the input operation information to the crane 1 through the operation-side communication unit 81.

[0061] The crane 1 receives, through the vehicle-side communication unit 43, the operation information transmitted from the remote control device 8. The operation information received by the crane 1 is input to the control unit 40, and the control unit 40 controls operation of the crane 1 on the basis of the input operation information. In this manner, the operation unit 83 is configured to be capable of operating the crane 1 through the operation-side communication unit 81.

[0062] The cockpit CP includes a seat 86 on which an operator who operates the operation pedals 831 and the operation levers 832 is seated.

[0063] The display 84 can display various types of information acquired by the controller 82. The display 84 can display, for example, the forward image P1, the suspended-load image P2, the drum image P3, the bird's-eye view image P4, and the attitude information of the crane 1 acquired by the controller 82.

[0064] The attitude information of the crane 1 acquired by the controller 82 can be displayed on the display 84 as an attitude information image P5 shown in Fig. 10. In the attitude information image P5, at least one type of information among the luffing angle of the boom 31, the length of the boom 31, the slewing angle of the slewing body 3, the height to the distal end of the boom 31, the extension widths of the outriggers 23, and the like may be displayed. These various types of information displayed in the attitude information image P5 may be based on, for example, the information input to the overload prevention device 45.

[0065] As shown in Fig. 9, the display 84 includes a plurality of displays, such as a first display 841, a second display 842, and a third display 843.

[0066] The first display 841 is arranged in front of the seat 86, the second display 842 is arranged to the left of the first display 841, and the third display 843 is arranged to the right of the first display 841.

[0067] The touch panel display 88 is arranged in front of and on the left side of the seat 86, closer to the seat 86 than the second display 842. That is, the touch panel display 88 is arranged separately from the display 84.

[0068] The touch panel display 88 is a display having a touch panel that allows the operator to perform touch operations. The touch panel display 88 can be constituted by, for example, a multi function display that includes a touch panel and is capable of displaying and receiving various types of information relating to the crane 1, as with the display 65, and performing various operations.

[0069] The touch panel display 88 may display, for example, at least one type of image among the forward image P1, the suspended-load image P2, the drum image P3, the bird's-eye view image P4, and the attitude information image P5. The touch panel display 88 can be operated by the operator while displaying an image such as the attitude information image P5. As with the display 65, the touch panel display 88 allows setting operations for states of the crane 1, such as setting which of main boom work and jib work is to be performed, resetting a movement amount of the hook 33, and changing oil amounts for the operation levers.

[0070] The display switching unit 85 is arranged in front of and on the right side of the seat 86, closer to the seat 86 than the third display 843. That is, the display switching unit 85 is arranged separately from the display 84. The display switching unit 85 allows an operation for switching information to be displayed on the display 84. The display switching unit 85 may also have the same functions as hard switches provided in the cabin 35 (a rocker switch and an ON / OFF switch for a slewing brake). The left-right arrangement of the touch panel display 88 and the display switching unit 85 may be reversed. The touch panel display 88 may also have the function of the display switching unit 85.

[0071] As shown in Fig. 1, the worksite camera 87 is arranged at the worksite S where the crane 1 is deployed and is configured to be capable of imaging the overall external appearance of the crane 1, the surroundings of the crane 1 at the worksite S, and the like. A worksite image P6 shown in Fig. 11 is obtained by imaging the crane 1 and the worksite S with the worksite camera 87. The worksite image P6 can be stored in, for example, a storage unit included in the controller 82. The display 84, the touch panel display 88, and the display 65 can display the worksite image P6.

[0072] [Display of Each Image on Display] The controller 82 can cause the display 84 to display at least one type of image among the forward image P1, the suspended-load image P2, the drum image P3, the bird's-eye view image P4, the attitude information image P5, and the worksite image P6.

[0073] In this case, the controller 82 can display the images P1 to P6 side by side as shown in Fig. 12. That is, the forward image P1 can be displayed in a central portion of a display area of the display 84, the suspended-load image P2, the drum image P3, the attitude information image P5, and the worksite image P6 can be displayed to the left of the forward image P1, and the bird's-eye view image P4 can be displayed to the right of the forward image P1. The bird's-eye view image P4 is positioned adjacent to and on the right side of the forward image P1.

[0074] To the left of the forward image P1, the suspended-load image P2 is positioned on an upper side, the worksite image P6 is positioned on a lower side, and the drum image P3 and the attitude information image P5 are positioned between the suspended-load image P2 and the worksite image P6. The drum image P3 is positioned to the right of the attitude information image P5.

[0075] Accordingly, the suspended-load image P2, the drum image P3, and the worksite image P6 are positioned adjacent to and on the left side of the forward image P1. The attitude information image P5 is also positioned adjacent to and on the left side of the drum image P3. The attitude information image P5 and the drum image P3 are also positioned adjacent to and on the lower side of the suspended-load image P2. The worksite image P6 is also positioned adjacent to and on the lower side of the attitude information image P5 and the drum image P3.

[0076] That is, on the display 84, the suspended-load image P2 and the drum image P3 are arranged and displayed in the up-down direction.

[0077] The forward image P1 and the suspended-load image P2 are also arranged and displayed in the left-right direction. The forward image P1 and the drum image P3 are also arranged and displayed in the left-right direction. The forward image P1, the suspended-load image P2, and the drum image P3 are also displayed side by side with one another.

[0078] Furthermore, the attitude information image P5 and the suspended-load image P2 are arranged and displayed in the up-down direction. The attitude information image P5 and the drum image P3 are also arranged and displayed in the left-right direction. The attitude information image P5, the suspended-load image P2, and the drum image P3 are also displayed side by side with one another.

[0079] When the images P1 to P6 are displayed side by side on the display 84 as shown in Fig. 12, for example, the forward image P1 can be displayed on the first display 841, the suspended-load image P2, the drum image P3, the attitude information image P5, and the worksite image P6 can be displayed on the second display 842, and the bird's- eye view image P4 can be displayed on the third display 843. In this manner, the images P1 to P6 can be separately displayed on a plurality of displays. The images P1 to P6 can also be collectively displayed on one display.

[0080] Designation and switching of display, such as which image among the images P1 to P6 is to be displayed on the display 84, at which position on the display 84 each of the images P1 to P6 is to be displayed, and on which display among the first display 841, the second display 842, and the third display 843 each of the images P1 to P6 is to be displayed, can be performed by operating the display switching unit 85.

[0081] [Operation of Crane by Remote Control Device] In the remote control device 8, the operator can operate the crane 1 by operating the operation unit 83 while checking each of the images P1 to P6 displayed on the display 84 as described above.

[0082] For example, an operation, performed by the operator, for transporting a suspended load from the load pickup location S1 to an unloading location S2 shown in Fig. 11 will be described. In Fig. 11, the unloading location S2 is set in front of the crane 1 at the worksite S, and the unloading location S2 is set on the rooftop of a building B at the worksite S.

[0083] First, the operator checks, using the forward image P1, the state of the load pickup location S1 on which the suspended load W is placed, the position of a worker who rigs the suspended load W to the hook 33 of the crane 1, and the like.

[0084] When the worker starts rigging work of rigging the suspended load W to the hook 33 at the load pickup location S1, the operator checks the rigged state of the suspended load W using the suspended-load image P2. In this case, the rigged state can be clearly checked by adjusting an imaging magnification of the suspended-load camera 56 using the operation unit 83 and zooming in on a rigged portion displayed in the suspended-load image P2.

[0085] Upon confirming, using the forward image P1, that the worker has completed the rigging work and issued an instruction to lift the suspended load W off the ground, the operator operates the operation unit 83 while checking the suspended-load image P2 and the drum image P3 to perform an operation of winding up the wire rope 32. When the operation of winding up the wire rope 32 is performed using the operation unit 83, the wire rope 32 is wound up by the winch drum 34, and the suspended load W is lifted.

[0086] In this case, the lifting state of the suspended load W can be checked by checking the suspended-load image P2. When the winding-up speed of the wire rope 32 is low and the suspended load W moves slowly, checking the lifting state of the suspended load W using the suspended-load image P2 may be difficult; however, the lifting state of the suspended load W can be easily inferred by checking, using the drum image P3, the state in which the wire rope 32 is wound up by the winch drum 34.

[0087] When the lifting state of the suspended load W is checked using the suspended-load image P2 and the drum image P3, the suspended-load image P2 and the drum image P3 are displayed side by side in the up-down direction, so that a gaze shift can be reduced even when the suspended- load image P2 and the drum image P3 are checked alternately. Accordingly, the lifting state of the suspended load W can be easily checked, and fatigue of the operator can be reduced.

[0088] Furthermore, when the operator remotely operates the crane 1 using the remote control device 8, checking a plurality of images allows various types of information, such as the state of the suspended load W and the attitude of the boom 31, to be obtained. In this case, to improve the safety of operation of the crane 1, for example, the suspended-load image P2 is preferably kept within the field of view at all times, or the time during which the operator takes their eyes off the suspended-load image P2 is preferably minimized.

[0089] However, for example, when the suspended-load image P2 is displayed on the display 84 and the drum image P3 is arranged at a distant position within the display 84, which displays various images such as the images P1 to P6, or when the drum image P3 is displayed on the touch panel display 88 located away from the display 84, time required for a gaze shift between the suspended-load image P2 and the drum image P3 increases, thereby increasing the time during which the operator takes their eyes off the suspended-load image P2.

[0090] Accordingly, displaying the suspended-load image P2 and the drum image P3 side by side on the display 84 reduces a gaze shift, such as the gaze shift distance and the time required for the gaze shift, and shortens the time during which the suspended-load image P2 is out of the field of view, thereby making it possible to improve the safety of operation of the crane 1.

[0091] Furthermore, the lifting state of the suspended load W can be checked using the forward image P1 in addition to the suspended-load image P2 and the drum image P3. In this case, the forward image P1 and the drum image P3 are displayed side by side in the left-right direction, so that a gaze shift can be reduced even when the forward image P1 and the drum image P3 are checked alternately. Accordingly, the lifting state of the suspended load W can be easily checked, and fatigue of the operator can be reduced. Furthermore, a gaze shift between the forward image P1 and the drum image P3 is reduced compared with a case where, for example, the suspended-load image P2 is displayed on the display 84 and the drum image P3 is displayed on the touch panel display 88, and a case where the suspended-load image P2 and the drum image P3 are arranged apart from each other, rather than side by side, within the display 84. That is, the time during which the suspended-load image P2 is out of the operator's field of view is shortened. As a result, the safety of operation of the crane 1 can be improved.

[0092] Upon completion of lifting the suspended load W using the winch drum 34, the operator operates the operation unit 83 to adjust the luffing angle, the slewing angle, the length, and the like of the boom 31 and move the suspended load W toward the unloading location S2. In this case, the operator can perform an operation of moving the suspended load W while checking the position of the suspended load W using the forward image P1 and the suspended-load image P2.

[0093] When the position of the suspended load W is checked using the forward image P1 and the suspended-load image P2, the forward image P1 and the suspended-load image P2 are displayed side by side in the left-right direction, so that a gaze shift can be reduced even when the forward image P1 and the suspended-load image P2 are checked alternately. Accordingly, the position of the suspended load W can be easily checked, and fatigue of the operator can be reduced. Furthermore, a gaze shift between the forward image P1 and the suspended-load image P2 is reduced compared with a case where, for example, the suspended-load image P2 is displayed on the display 84 and the forward image P1 is displayed on the touch panel display 88, and a case where the suspended-load image P2 and the forward image P1 are arranged apart from each other, rather than side by side, within the display 84. That is, the time during which the suspended-load image P2 is out of the operator's field of view is shortened. As a result, the safety of operation of the crane 1 can be improved.

[0094] When the moving suspended load W approaches the unloading location S2, the operator adjusts the position of the suspended load W while checking the suspended-load image P2 so that the suspended load W is positioned above the unloading location S2.

[0095] When the unloading location S2 is set on the rooftop of the building B or in a similar location, checking the suspended load W using the forward image P1 may become difficult as the suspended load W approaches the unloading location S2. Accordingly, checking the suspended load W approaching the unloading location S2 using the suspended-load image P2 makes it possible to easily move the suspended load W to a position above the unloading location S2.

[0096] When the suspended load W reaches a position above the unloading location S2, the operator performs an operation of unwinding the wire rope 32 using the operation unit 83 on the basis of an instruction from a worker waiting at the unloading location S2 to bring the suspended load W into contact with the unloading location S2.

[0097] When performing the operation of unwinding the wire rope 32, the operator operates the operation unit 83 while checking the suspended-load image P2 and the drum image P3. When the operation of unwinding the wire rope 32 is performed using the operation unit 83, the wire rope 32 is unwound by the winch drum 34, and the suspended load W descends and comes into contact with the unloading location S2.

[0098] In this case, the descending state of the suspended load W can be checked by checking the suspended-load image P2. Furthermore, when the unwinding speed of the wire rope 32 is low and the suspended load W moves slowly, checking the descending state of the suspended load W using the suspended-load image P2 may be difficult. However, even in this case, the operator can easily infer the descending state of the suspended load W by checking, using the drum image P3, the state in which the wire rope 32 is unwound by the winch drum 34.

[0099] When the descending state of the suspended load W is checked using the suspended-load image P2 and the drum image P3, the suspended-load image P2 and the drum image P3 are displayed side by side in the up-down direction, so that a gaze shift can be reduced even when the suspended- load image P2 and the drum image P3 are checked alternately. Accordingly, the descending state of the suspended load W can be easily checked, and fatigue of the operator can be reduced. Furthermore, a gaze shift between the suspended-load image P2 and the drum image P3 is reduced compared with a case where, for example, the suspended-load image P2 is displayed on the display 84 and the drum image P3 is displayed on the touch panel display 88, and a case where the suspended-load image P2 and the drum image P3 are arranged apart from each other, rather than side by side, within the display 84. That is, the time during which the suspended-load image P2 is out of the field of view is shortened. As a result, the safety of operation of the crane 1 can be improved.

[0100] Furthermore, since the attitude information image P5 is displayed on the display 84, the operator can perform the operations of winding up and unwinding the wire rope 32 while checking the attitude information image P5 in addition to the suspended-load image P2 and the drum image P3.

[0101] In this case, the operator remembers the attitude of the boom 31, the vertical position of the suspended load W, and the like when lifting of the suspended load W is completed and when the suspended load W comes into contact with the unloading location S2.  Then, when performing the operations of winding up and unwinding the wire rope 32, the operator checks the attitude of the boom 31, the vertical position of the suspended load W, and the like using the attitude information image P5, and operates the operation unit 83 so that the attitude and position displayed in the attitude information image P5 approach the remembered attitude and position.

[0102] In this manner, by checking the attitude information image P5 in addition to the suspended-load image P2 and the drum image P3, the operator can move the suspended load W more quickly than when checking only the suspended-load image P2 and the drum image P3, thereby making it possible to reduce fatigue of the operator.

[0103] Furthermore, when the attitude information image P5 is checked, the suspended-load image P2, the drum image P3, and the attitude information image P5 are displayed side by side with one another, so that a gaze shift can be reduced when, for example, the suspended-load image P2 and the attitude information image P5 are checked alternately or the drum image P3 and the attitude information image P5 are checked alternately. Accordingly, the lifting state and the descending state of the suspended load W can be easily checked, and fatigue of the operator can be reduced. Furthermore, gaze shifts between the suspended-load image P2 and the attitude information image P5 and between the drum image P3 and the attitude information image P5 are reduced compared with a case where, for example, the suspended-load image P2 and the drum image P3 are displayed on the display 84 and the attitude information image P5 is displayed on the touch panel display 88, and a case where the attitude information image P5 is arranged apart from, rather than side by side with, each of the suspended-load image P2 and the drum image P3 within the display 84. That is, the time during which the suspended-load image P2 and the drum image P3 are out of the field of view is shortened. As a result, the safety of operation of the crane 1 can be improved.

[0104] Furthermore, when the suspended load W is moved from a lifting completion position toward the unloading location S2, the attitude information image P5 can be checked in addition to the forward image P1 and the suspended-load image P2. For example, when moving the suspended load W from the lifting completion position toward the unloading location S2, the operator can move the suspended load W quickly by remembering the attitude of the crane 1 when the suspended load W reaches the unloading location S2 and performing an operation of moving the crane 1 while checking the attitude information image P5, thereby making it possible to reduce fatigue of the operator.

[0105] When the operator operates the crane 1 by operating the operation unit 83 while checking the images P1 to P6 displayed on the display 84, a communication delay may occur when the remote control device 8 receives information from the crane 1 via the communication line. When such a communication delay occurs, a discrepancy may arise between movement of the crane 1 displayed in the images P1 to P6 and actual movement of the crane 1.

[0106] In this case, the operator can estimate the amount of communication delay by, for example, checking a discrepancy between the timing of operation of the operation unit 83 and the movement of the suspended load W or the like displayed on the display 84.

[0107] On the other hand, for example, when lifting the suspended load W off the ground from the load pickup location S1 or placing the suspended load W at the unloading location S2, the winding-up speed or unwinding speed of the wire rope 32 may be so low that the movement of the suspended load W or the like displayed on the display 84 cannot be sufficiently recognized, thereby making it difficult to estimate the amount of communication delay.

[0108] However, since the remote control device 8 is configured to display the drum image P3 on the display 84 in addition to the forward image P1 and the suspended-load image P2, operation of the winch drum 34 can be easily checked using the drum image P3 even when the movement of the suspended load W is so small that it is difficult to check the movement. Accordingly, the amount of communication delay between the remote control device 8 and the crane 1 can be easily estimated by checking a discrepancy between the timing of operation of the operation unit 83 and operation of the winch drum 34 in the drum image P3.

[0109] [Relationship Between Arrangement Position of Boom Relative to Cabin and Display Position of Each Image] In the crane 1, the boom 31 is positioned on the left side of the cabin 35, and the forward image P1 shows the boom 31 extending from the left side of the image toward a central portion in the left-right direction. On the other hand, on the display 84, the suspended-load image P2 and the drum image P3 are displayed to the left of the forward image P1 by the controller 82.

[0110] The suspended load W displayed in the suspended-load image P2 is suspended by the wire rope 32 hanging down from the distal end of the boom 31, and the winch drum 34 displayed in the drum image P3 winds up and unwinds the wire rope 32 routed over the boom 31; thus, the suspended-load image P2 and the drum image P3 display information relating to the boom 31.

[0111] Accordingly, corresponding to the boom 31 arranged on the left side of the cabin 35, the suspended-load image P2 and the drum image P3, which display information relating to the boom 31, are arranged to the left of the forward image P1, which displays information relating to the cabin 35. That is, the suspended-load image P2 and the drum image P3 are arranged such that the arrangement position, in the left-right direction, of the boom 31 relative to the cabin 35 in the crane 1 corresponds to the display positions, in the left-right direction, of the suspended-load image P2 and the drum image P3 relative to the forward image P1 on the display 84.

[0112] Such an arrangement makes it possible to match the positional relationships between the forward image P1 and the suspended-load image P2 and between the forward image P1 and the drum image P3 with the positional relationship between the cabin 35 and the boom 31 when the crane 1 is actually viewed from the rear, thereby preventing the operator from experiencing a sense of incongruity when shifting their gaze between the forward image P1 and the suspended-load image P2 and between the forward image P1 and the drum image P3.

[0113] When the crane 1 has a specification in which the boom 31 is arranged on the right side of the cabin 35, the controller 82 can cause the display 84 to display the suspended-load image P2 and the drum image P3 to the right of the forward image P1.

[0114] By arranging the suspended-load image P2 and the drum image P3 to the right of the forward image P1, even when the boom 31 is positioned on the right side of the cabin 35, the operator is similarly prevented from experiencing a sense of incongruity when shifting their gaze between the forward image P1 and the suspended-load image P2 and between the forward image P1 and the drum image P3.

[0115] In this manner, the controller 82 can change the display positions of the suspended-load image P2 and the drum image P3 relative to the forward image P1 on the display 84 according to the arrangement positions of the boom 31 and the cabin 35 in the crane 1. Accordingly, the operator does not experience a sense of incongruity when shifting their gaze between the forward image P1 and the suspended-load image P2 and between the forward image P1 and the drum image P3, thereby making it possible to reduce fatigue of the operator.

[0116] [Second Embodiment of Display of Each Image on Display] On the display 84, the images P1 to P3 and P5 can be displayed as shown in Fig. 13. On the display 84 shown in Fig. 13, the suspended-load image P2, the drum image P3, and the attitude information image P5 are displayed above the forward image P1. The suspended-load image P2, the drum image P3, and the attitude information image P5 are positioned adjacent to and above the forward image P1.

[0117] Above the forward image P1, the suspended-load image P2 is positioned in a central portion in the left-right direction, the drum image P3 is positioned adjacent to and to the left of the suspended-load image P2, and the attitude information image P5 is positioned adjacent to and to the right of the suspended-load image P2.

[0118] That is, on the display 84 shown in Fig. 13, the suspended-load image P2 and the drum image P3 are arranged and displayed in the left-right direction.

[0119] The forward image P1 and the suspended-load image P2 are also arranged and displayed in the up-down direction, the forward image P1 and the drum image P3 are arranged and displayed in the up-down direction, and the forward image P1, the suspended-load image P2, and the drum image P3 are displayed side by side with one another.

[0120] In this manner, since the suspended-load image P2 and the drum image P3 are displayed side by side in the left-right direction, a gaze shift can be reduced even when the suspended-load image P2 and the drum image P3 are checked alternately. Furthermore, since the forward image P1 and the drum image P3 are displayed side by side in the up-down direction, a gaze shift can be reduced even when the forward image P1 and the drum image P3 are checked alternately. Furthermore, since the forward image P1 and the suspended-load image P2 are displayed side by side in the up-down direction, a gaze shift can be reduced even when the forward image P1 and the suspended-load image P2 are checked alternately.  Accordingly, fatigue of the operator can be reduced.  Furthermore, compared with a case where, for example, some of the forward image P1, the suspended-load image P2, and the drum image P3 are displayed on the display 84 and the others are displayed on the touch panel display 88, and a case where the forward image P1, the suspended-load image P2, and the drum image P3 are arranged apart from one another within the display 84, a gaze shift between the image displayed on the display 84 and the image displayed on the touch panel display 88 and a gaze shift within the display 84 are reduced, and the time during which the suspended-load image P2 is out of the field of view is shortened, thereby making it possible to improve the safety of operation of the crane 1.

[0121] The attitude information image P5 and the suspended-load image P2 are also arranged and displayed in the leftright direction, and the attitude information image P5 and the forward image P1 are arranged and displayed in the up- down direction. Accordingly, a gaze shift can be reduced when the attitude information image P5 and the suspended- load image P2 are checked alternately and when the attitude information image P5 and the forward image P1 are checked alternately. Accordingly, fatigue of the operator can be reduced. Furthermore, compared with a case where, for example, the forward image P1 and the suspended-load image P2 are displayed on the display 84 and the attitude information image P5 is displayed on the touch panel display 88, and a case where the attitude information image P5 is arranged apart from, rather than side by side with, each of the forward image P1 and the suspended-load image P2 within the display 84, gaze shifts between the forward image P1 and the attitude information image P5 and between the suspended-load image P2 and the attitude information image P5 are reduced, and the time during which the suspended-load image P2 is out of the field of view is shortened, thereby making it possible to improve the safety of operation of the crane 1.

[0122] [Third Embodiment of Display of Each Image on Display] On the display 84, the various images P1 to P3 and P5 can be displayed as shown in Fig. 14. On the display 84 shown in Fig. 14, the suspended-load image P2, the drum image P3, and the attitude information image P5 are displayed above the forward image P1. The suspended-load image P2 and the drum image P3 are positioned adjacent to and above the forward image P1.

[0123] Above the forward image P1, the suspended-load image P2 is positioned on the left side, and the drum image P3 and the attitude information image P5 are positioned on the right side of the suspended-load image P2. The drum image P3 is positioned adjacent to and below the attitude information image P5.

[0124] That is, on the display 84 shown in Fig. 14, the suspended-load image P2 and the drum image P3 are arranged and displayed in the left-right direction. In this manner, since the suspended-load image P2 and the drum image P3 are displayed side by side in the left-right direction, a gaze shift can be reduced even when the suspended-load image P2 and the drum image P3 are checked alternately. Accordingly, fatigue of the operator can be reduced. Furthermore, compared with a case where, for example, the suspended-load image P2 is displayed on the display 84 and the drum image P3 is displayed on the touch panel display 88, and a case where the suspended-load image P2 and the drum image P3 are arranged apart from each other, rather than side by side, within the display 84, a gaze shift between the suspended-load image P2 and the drum image P3 is reduced, and the time during which the suspended-load image P2 is out of the field of view is shortened, thereby making it possible to improve the safety of operation of the crane 1.

[0125] The suspended-load image P2 and the drum image P3 are also arranged and displayed in the left-right direction, the suspended-load image P2 and the attitude information image P5 are arranged and displayed in the left-right direction, the drum image P3 and the attitude information image P5 are arranged and displayed in the up- down direction, and the attitude information image P5, the suspended-load image P2, and the drum image P3 are displayed side by side with one another.

[0126] Accordingly, a gaze shift can be reduced when, for example, the suspended-load image P2 and the attitude information image P5 are checked alternately or the drum image P3 and the attitude information image P5 are checked alternately. Accordingly, fatigue of the operator can be reduced. Furthermore, compared with a case where, for example, the suspended-load image P2 and the drum image P3 are displayed on the display 84 and the attitude information image P5 is displayed on the touch panel display 88, and a case where the attitude information image P5 is arranged apart from, rather than side by side with, each of the suspended-load image P2 and the drum image P3 within the display 84, gaze shifts between the suspended- load image P2 and the attitude information image P5 and between the drum image P3 and the attitude information image P5 are reduced, the time during which the suspended-load image P2 and the drum image P3 are out of the field of view is shortened, thereby making it possible to improve the safety of operation of the crane 1.

[0127] The images P1 to P6 and the like can be displayed on the display 84 not only in the arrangements shown in Figs. 12 to 14 but also at appropriate positions on the display 84.

[0128] (Supplementary Note) In the above-described embodiments, the controller 82 of the remote control device 8 acquires various images (the forward image P1, the suspended-load image P2, the drum image P3, and the bird's-eye view image P4) from the crane 1.

[0129] However, the controller 82 may acquire images from a device other than the crane 1. The controller 82 may acquire various images from a plurality of devices (hereinafter referred to as "external devices").

[0130] Here, the "external device" may be a device installed at a location other than the crane 1 and configured to image a predetermined area at the worksite. Specific examples of the external device include a fixed camera installed at the worksite, a camera mounted on a drone capable of flying over the worksite, and a camera carried by a worker at the worksite.

[0131] For example, the controller 82 may acquire the suspended-load image P2 from the external device. In this case, the suspended-load image P2 is desirably an image obtained by imaging the suspended load W from an angle at which movement of the suspended load W along the lifting lowering direction D is easy to recognize.

[0132] The entire disclosure of the description, drawings, and abstract included in Japanese Patent Application No. 2024-118934, filed on July 24, 2024, is incorporated herein by reference. Reference Signs List

[0133] 1      Crane 2      Traveling body 3      Slewing body 8      Remote control device 10     Traveling vehicle 31     Boom 32     Wire rope 34     Winch drum 35     Cabin 40     Control unit Forward-facing camera Suspended-load camera Drum camera Operation-side communication unit Controller Operation unit Display Forward image Suspended-load image Drum image Attitude information image Suspended load

Claims

1. A work-vehicle remote control device equipped withan operation unit for remotely operating a work vehicle, the work-vehicle remote control device comprising:a controller configured to acquire a suspended-load image obtained by imaging a suspended load suspended by thework vehicle, and a drum image obtained by imaging a wirerope winch drum mounted on the work vehicle; anda display configured to display an image, whereinthe controller causes the display to display the suspended-load image and the drum image side by side.

2. The work-vehicle remote control device according toclaim 1, whereinthe controller acquires the suspended-load image and the drum image from the work vehicle.

3. The work-vehicle remote control device according toclaim 1, wherein the controller:acquires, from the work vehicle, a forward imagethat is an image obtained by imaging an area forward from a cabin of the work vehicle; andcauses the display to display the forward image, the suspended-load image, and the drum image side by side with one another.

4. The work-vehicle remote control device according toclaim 3, whereinthe controller changes display positions of the suspended-load image and the drum image relative to theforward image on the display according to arrangement positions of a boom and the cabin in the work vehicle.

5. The work-vehicle remote control device according toclaim 3, whereinthe controller causes the display to display the forward image, the suspended-load image, and the drum imagesuch that an arrangement position, in a left-right direction, of a boom relative to the cabin in the workvehicle corresponds to display positions, in the left-rightdirection, of the suspended-load image and the drum imagerelative to the forward image on the display.

6. The work-vehicle remote control device according toclaim 3, whereinthe controller causes the display to display the forward image, the suspended-load image, and the drum image such that the suspended-load image and the drum image are arranged above the forward image.

7. The work-vehicle remote control device according toclaim 1, wherein the work vehicle includes a control unit configured to control operation of the work vehicle; and the controller:acquires attitude information of the work vehicle from the work vehicle; andcauses the display to display the attitudeinformation of the work vehicle, the suspended-load image,and the drum image side by side with one another.

Images