Sling work simulation system and sling work simulation method

Abstract

To provide a sling work simulation system that enables an experiencing person who wears an HMD to have simulated experience in sling work realistically without requiring precedent implementation of master work by a skilled worker.SOLUTION: A camera 30 of a sling work simulation system 50 photographs an image of a real hanging load 20. A virtual hanging load data generation part 42 generates data on a virtual hanging load including information on the weight and the center of gravity based upon image data on the real hanging load 20 that the camera 30 photographs. An image display part 48 displays an image of a composite space through an HMD 40 by projecting a virtual wire rope having its upper end hooked to a hook part of a virtual crane and the virtual hanging load to which the lower end of the virtual wire rope is hooked on the image of the real space. An image display part 48 can display from a hanging preparatory state in which the virtual rope is hooked to the virtual hanging load placed on the ground surface to a hoisting state in which the virtual hanging load is hoisted up from the ground surface.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a slinging operation simulation system and a slinging operation simulation method. [Background technology]

[0002] Conventionally, there are known techniques for supporting slinging operations. For example, a slinging support device disclosed in Patent Document 1 includes a plurality of weight detection units, a calculation means, an input means, and a display means. The plurality of weight detection units are distributed on a base so as to support a heavy load. The calculation means is configured to (a) calculate the center of gravity position from a weighted average based on the coordinate positions of the weight detection units, (b) calculate the length of the hoisting tools and each hoisting angle between the hoisting tools from the center of gravity position, etc., and (c) further calculate the tension applied to each hoisting tool and output the calculated values.

[0003] Recently, a technology has been known in which various operational instructions are given to a virtual experiencer wearing an HMD (head mounted display) in a virtual space. For example, in the work training support system disclosed in Patent Document 2, an unskilled worker wears an HMD and experiences work by imitating the eye movements of an experienced worker. As an example of work, "eye movements during slinging work" is shown. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 10-120360 [Patent Document 2] JP 2023-50798 A Summary of the Invention [Problem to be solved by the invention]

[0005] In slinging work involving the handling of heavy loads, it is important to select an appropriate hoisting position and wire rope based on the weight and center of gravity of the load in order to prevent accidents such as the load dropping or contact with the worker. For workers with little work experience, it is effective to not only train in real space, but also to efficiently simulate various types of hoisting work using virtual space or complex space in order to acquire the correct sense for working safely.

[0006] The conventional technology of Patent Document 1 uses hardware called a weight detection unit in real space to accurately calculate the center of gravity position of a heavy object with a complex shape and internal structure. This conventional technology requires a dedicated weight detection unit, and skilled techniques are required to correctly install the weight detection unit relative to the heavy object.

[0007] When the technology of Patent Document 1 is applied to the work training support system of Patent Document 2, the virtual worker merely experiences the eye movements of a skilled worker who places a weight detection unit on a heavy object and inputs parameters into an input means. In other words, the conventional technology of Patent Document 2 is premised on the premise that a master operation is performed in advance by a skilled worker. Therefore, an unskilled worker cannot realistically experience slinging work for a suspended load placed in real space without a master operation being performed in advance by a skilled worker.

[0008] The present invention has been created in consideration of the above points, and its purpose is to provide a rigging operation simulation system and a rigging operation simulation method that enable an operator wearing an HMD to realistically experience rigging operation without the need for a master operation to be performed in advance by an experienced operator. [Means for solving the problem]

[0009] One aspect of the present invention is a simulation system that performs a simulation of a slinging operation of tying a wire rope to a load by displaying an image of a complex space to an experiencer wearing a head-mounted display 40. The system includes a camera 30, a virtual load data creation unit 42, and an image display unit 48.

[0010] The camera captures an image of the actual load 20. The virtual load data creation unit creates data of the virtual load 20V, including information on the weight and center of gravity, based on the image data of the actual load captured by the camera.

[0011] The image display unit displays an image of the composite space on the head-mounted display by projecting onto an image of real space a virtual wire rope (15V) whose upper end is hung on the hook portion of the virtual crane, and a virtual load whose lower end is hung on the virtual wire rope.

[0012] The image display unit can display, in the complex space, a state in which a virtual load placed on the ground is hung from a virtual wire rope in preparation for lifting, to a state in which the virtual load is lifted and lifted away from the ground.

[0013] In the present invention, a person wearing an HMD can realistically simulate a slinging operation by viewing a simulation image of a virtual load moving from a hoisting preparation state to a ground-cutting state. If the virtual load does not swing or tilt in the ground-cutting state and is stably lifted while maintaining a horizontal posture, it is determined that the selection of the hoisting position and the number, diameter, and length of the virtual wire ropes were appropriate. This is particularly useful for workers with little work experience to acquire the correct feel for performing the work safely.

[0014] Another aspect of the present invention is a simulation method for simulating a slinging operation of tying a wire rope to a load by displaying an image of a complex space to an experiencer wearing a head-mounted display 40. This method includes a photographing step (S1), a virtual load data creation step (S4), and an image display step (S8).

[0015] In the photographing step, the camera (30) photographs an image of the real load (20). In the virtual load data creation step, a virtual load data creation unit (42) creates data of a virtual load (20V) including information on the weight and center of gravity, based on the image data of the real load photographed by the camera.

[0016] In the image display step, the image display unit (48) of the head-mounted display projects a virtual wire rope (15V) whose upper end is hung on the hook portion of the virtual crane, and a virtual load whose lower end is hung on the virtual wire rope, onto an image of real space to display an image of the composite space.

[0017] In the image display step, the image display unit can display a state in which a virtual wire rope is hung from a virtual load placed on the ground and is ready to be hoisted, to a state in which the virtual load is hoisted up and lifted off the ground. With this slinging operation simulation method, the same effects as those of the above-mentioned slinging operation simulation system can be obtained. [Brief description of the drawings]

[0018] [Figure 1] FIG. 1 is a block diagram of a rigging operation simulation system according to an embodiment. [Diagram 2] A diagram showing the movements of a participant wearing an HMD. [Diagram 3] FIG. 11 is a diagram showing (a) a suspended load in real space and (b) a suspension preparation state displayed in a composite space in Example A. [Figure 4] FIG. 13 is a diagram showing (a) a suspended load in real space and (b) a suspension preparation state displayed in a composite space in embodiment B. [Diagram 5]3 is a main flowchart of a slinging operation simulation method. [Figure 6] 13 is a sub-flowchart of S7A corresponding to the embodiment A. [Figure 7] 13 is a sub-flowchart of S7B corresponding to the embodiment B. [Figure 8] FIG. 2 is a diagram showing the shape, size and center of gravity of the load of Example A. [Figure 9] FIG. 13 is a diagram showing the relationship between the length of the wire rope used in Example A and the hanging angle. [Figure 10] Wire rope safe load table (excerpt). [Figure 11] FIG. 13 is a diagram showing a ground-cutting state displayed in a composite space when appropriate virtual slinging is performed in embodiment A. [Figure 12] FIG. 13 is a diagram showing a ground cutting state displayed in a composite space when an inappropriate virtual slinging is performed in embodiment B. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0019] An embodiment of a slinging operation simulation system and a slinging operation simulation method according to the present invention will be described with reference to the drawings. This system and method are capable of simulating a slinging operation of slinging a wire rope to a load by displaying an image of a complex space to an experiencer wearing a head mounted display (hereinafter referred to as "HMD").

[0020] (One embodiment) A specific configuration of a slinging operation simulation system according to one embodiment will be described with reference to Figures 1 to 4. As shown in Figure 1, a slinging operation simulation system 50 includes a camera 30, a weight and center of gravity axis calculation unit 41, a virtual load data creation unit 42, a sling position calculation unit 44, a virtual wire rope selection unit 46, an image display unit 48, and the like.

[0021] Of these elements, at least the image display unit 48 is provided in the HMD 40, but the arrangement of the other elements is not limited. In this embodiment, an all-in-one configuration is assumed in which the camera 30 is mounted on the HMD 40, and each of the processing units 41, 42, 44, and 46, which include a calculation function and a storage function, is installed in the HMD 40 as software. Note that a system configuration in which some of the elements are arranged separately will be described in the "Other embodiments" section.

[0022] As shown in Figure 2, participants can experience a slinging operation simulation simply by wearing the dedicated HMD40, without connecting to any other devices. A composite space in which a virtual space is superimposed on the real space in front of them is projected in the participant's field of vision. The participant can enter numbers using the numeric keypad displayed in the virtual space, and can operate switches to start the simulation operation.

[0023] The camera 30 captures an image of the actual load 20. Hereinafter, the reference number for the actual load will be "20" for all loads. As examples of two representative types of loads, the load in Example A will be referenced "21" and the load in Example B will be referenced "26". [Example A] A load 21 having a hanging hardware such as an eye bolt and a predetermined hanging position. [Example B] A suspended load 26 that does not have a suspension bracket and whose suspension position is uncertain.

[0024] Based on the actual load 20, three-dimensional data of the virtual load in the virtual space is created. The elements of the virtual space are marked with a "V" at the end of their symbols. Corresponding to the symbols of the actual loads, the virtual loads in general are marked with a "20V" symbol, the virtual load of Example A is marked with a "21V" symbol, and the virtual load of Example B is marked with a "26V" symbol. Note that the virtual wire ropes share the symbol "15V" regardless of the number or shape.

[0025] For the embodiment A, FIG. 3(a) shows a real load 21 existing in the real space. The rectangular load 21 placed on the ground via a timber 24 has hanging hardware (e.g., eye bolts) 22 at the four corners of the top surface. FIG. 3(b) shows a "hoisting preparation state" displayed in the composite space. In the hoisting preparation state, a virtual wire rope 15V is hung on a virtual load 21V placed on the ground. In the hoisting preparation state in the composite space, the real load 21 and the virtual load 21V are displayed overlapping each other in the hoisting preparation state. A mark of the center of gravity G is displayed on the virtual load 21V. In addition, for example, a virtual wire rope 15V with four hooks that does not exist in the real space is displayed. The virtual wire rope 15V is hung on a virtual hanging hardware 22V at a hanging angle θ. Note that the hook portion 13V of the virtual crane does not necessarily need to be displayed.

[0026] Regarding the embodiment B, FIG. 4(a) shows a real load 26 existing in the real space. A long cylindrical load 26 without a hoisting hardware is placed on the ground via a timber 24. FIG. 4(b) shows a "hoisting preparation state" displayed in the composite space. In the hoisting preparation state in the composite space, the real load 26 and a virtual load 26V are displayed overlapping each other. The center of gravity G and a mark of the hoisting position are displayed on the virtual load 26V. In addition, for example, two half-hanging virtual wire ropes 15V that do not exist in the real space are displayed. As with the embodiment A, the hook portion 13V of the virtual crane does not necessarily have to be displayed.

[0027] 1, the functions of the processing units 41, 42, 44, 46 and the image display unit 48 will be described in order. When the weight and center of gravity of the load 20 are unknown, the weight and center of gravity calculation unit 41 calculates the weight of the virtual load 20V based on the volume and material estimated from the image data of the actual load 20 captured by the camera 30, and further calculates the center of gravity of the virtual load 20V from the shape of the actual load 20.

[0028] The virtual load data creation unit 42 creates data of the virtual load 20V including information on the weight and center of gravity based on image data of the actual load 20 captured by the camera 30. When the weight and center of gravity of the load 20 are unknown, the weight and center of gravity information calculated by the weight and center of gravity axis calculation unit 41 is input. When the weight and center of gravity of the load 20 are known, the known information is input.

[0029] In embodiment B, the suspension position calculation unit 44 calculates the suspension position for hanging the virtual wire rope 15V based on the shape and center of gravity position of the virtual load 26V acquired from the virtual load data creation unit 42. The suspension position calculated by the suspension position calculation unit 44 is notified to the virtual load data creation unit 42, the virtual wire rope selection unit 46, and the image display unit 48.

[0030] In both embodiments A and B, the virtual wire rope selection unit 46 stores data on a plurality of virtual wire ropes 15V with different diameters and lengths, and data on a safe load table that specifies the safe load that can be used for each virtual wire rope 15V according to the suspension angle. A specific example of the safe load table will be described later with reference to Fig. 10. The virtual wire rope selection unit 46 selects virtual wire ropes 15V with a number, diameter, and length that conform to the safe load table, based on the weight, center of gravity, and suspension position of the virtual load acquired from the virtual load data creation unit 42 and the suspension position calculation unit 44.

[0031] The image display unit 48 displays an image of the composite space by projecting the virtual wire rope 15V and the virtual load 20V onto the image of the real space in the HMD 40. As shown in Fig. 3(b) and Fig. 4(b), the upper end of the virtual wire rope 15V is hung on the hook portion 13V of the virtual crane, and the lower end of the virtual wire rope 15V is hung on the virtual load 20V.

[0032] The image display unit 48 can display, in the complex space, a "preparation for lifting" state in which a virtual wire rope 15V is hung from a virtual load 20V placed on the ground, to a "ground-cutting state" in which the virtual load 20V is lifted and removed from the ground. The preparation for lifting state is shown in Fig. 3(b) and Fig. 4(b). The ground-cutting state will be described later with reference to Figs. 11 and 12.

[0033] In this embodiment, the person wearing the HMD 40 can thus realistically experience a slinging operation by viewing a simulation image in which the virtual load 20V transitions from a hoisting preparation state to a ground-cut state. The circumstances under which the displayed simulation image is judged to be safe will be described later in the explanation of the simulation method.

[0034] Next, the steps of the slinging operation simulation method according to this embodiment will be described in order with reference to the flowcharts of Figures 5 to 7 and Figures 8 to 12. Figure 5 is a main flowchart showing the entire process. Figures 6 and 7 are sub-flowcharts showing the details of S7A and S7B corresponding to Examples A and B, respectively. S7A and S7B differ from each other in the initial steps S71A and S71B, but the subsequent steps S72 to S78 are common.

[0035] In the photographing step S1, the camera 30 photographs an image of the actual suspended load 20. If the size, shape, and material of the actual suspended load 20 are unknown, the necessary information on the size, shape, and material is calculated and estimated by 3D scanning and image analysis based on the image data photographed by the camera 30. In order to accurately grasp the size, shape, etc. of the suspended load 20, multiple images are photographed by changing the position and direction as necessary. The material of the suspended load 20 is one of the materials in a registered material database, and unknown materials are not used. The material database contains images of materials such as wood, paper, soil, cloth, stone, metal (iron and several other types), oil, water, etc.

[0036] In step S2, the user selects and inputs a choice to determine whether or not the weight and center of gravity of the load 20 are known. If the weight and center of gravity are known (S2: YES), S3 is skipped. For example, if the load 20 is a known specific object, attributes such as the weight and center of gravity may be read from a database, or the user may directly input the data. If the weight or center of gravity of the load 20 is unknown (S2: NO), in S3 the weight and center of gravity calculation unit 41 calculates the weight and center of gravity of the load 20 based on the image data. Loads with hollow shapes or non-uniform materials are excluded from application.

[0037] Figure 8 shows an example of the size of a rectangular parallelepiped suspended load 21 corresponding to Example A. Note that the illustration of the suspension fittings 22 provided at the four corners of the top surface is omitted. The external dimensions of width W, length L, and height H, and the distances Wb and Lb between the suspension positions in the width and length directions are as follows. This size information is carried over to Figure 9. External dimensions: W=1.0m, L=1.3m, H=0.44m Distance between hanging positions: Wb=0.9m, Lb=1.2m

[0038] From this, the volume of the suspended load 21 is calculated to be 0.572 m3. The material of the suspended load 21 is uniformly iron. If the specific gravity is 7.85, the weight of the suspended load 21 is calculated to be 4.5 t, and it is estimated that the center of the rectangular parallelepiped is located at the position of the center of gravity G. In addition to the size and shape data of the suspended load 20 photographed by the camera 30, the weight and center of gravity information calculated by the weight and center of gravity calculation unit 41 or known weight and center of gravity information are acquired by the virtual load data creation unit 42.

[0039] In the virtual load data creation step S4, the virtual load data creation unit 42 creates data of the virtual load 20V including information on the weight and center of gravity based on image data of the actual load 20 captured by the camera 30.

[0040] In step S5, it is determined whether or not the load 20 has a sling such as an eyebolt, by image recognition or selection input by the participant. If a sling is present as in Example A (S5: YES), in S6A, the task of attaching the hook of a hooked wire rope to the sling 22 of the load 21, or the task of using a shackle to hook the wire rope around a shackle attached to the sling 22, is assumed. The process of S7A following S6A is applied to "the slinging task of the load 21 having the sling 22 and a preset slinging position."

[0041] Here, this simulation system can be switched between an automatic mode in which the system derives an optimal solution based on a judgment algorithm and learning results, and a training mode in which the participant inputs numerical values ​​at their own discretion for the purpose of training the participant. In the automatic mode in S7A, the virtual wire rope selection unit 46 selects the virtual wire rope 15V from start to finish based on the judgment algorithm and learning results. In the training mode, the virtual wire rope selection unit 46 judges whether the numerical values ​​input by the participant are appropriate. Both modes are expressed in S7A as "the virtual wire rope selection unit 46 selects the virtual wire rope 15V."

[0042] A detailed flow of S7A will be described with reference to Fig. 6. In S71A, the virtual wire rope selection unit 46 acquires the position of the sling 22, i.e., the "default sling position", based on image data or known data of the actual sling 21.

[0043] In S72, the virtual wire rope selection unit 46 or the person trying the exercise provisionally selects the number, wire diameter, and length of the virtual wire ropes 15V. Since multiple virtual wire ropes 15V of different lengths may be used depending on the position of the center of gravity, the wire lengths can be selected individually. Since the load 21 in Example A has four hoisting fixtures 22, four-wire suspension is selected. In the automatic mode, the virtual wire rope selection unit 46 provisionally selects a virtual wire rope 15V with a wire diameter of 12 mm and a length of 2 m, for example, based on past learning results. In the training mode, the person trying the exercise provisionally selects a virtual wire rope 15V with a wire diameter of 12 mm and a length of 2 m, for example, based on manual calculations or intuition.

[0044] In S73, the virtual wire rope selection unit 46 calculates the hanging angle θ from the hanging position and wire length. For simplicity, FIG. 9 illustrates a two-dimensional projection view from the front, ignoring the hanging angle in the depth direction. When the distance Lb between the hanging positions is 1.2 m, as shown by the thick solid line, if the provisionally selected virtual wire rope 15V with a wire diameter of 12 mm and a length of 2 m is used, the hanging angle θ becomes approximately 35°, exceeding 30°. Conversely, to make the hanging angle θ 30° or less (15° or less on one side) as shown by the two-dot chain line, the wire length needs to be 2.3 m or more according to the following formula. Wire length ≧ 0.6 / sin15° = 0.6 / 0.26 ≒ 2.3

[0045] In S74, the virtual wire rope selection unit 46 refers to the safe load table for the suspended load and the suspension angle θ. An excerpt from the wire rope safe load table (6×24%, using JIS G3525 standard products) is shown in Figure 10. The safe load is the breaking load multiplied by the safety factor. In addition, individual safe loads are applied depending on the way the virtual wire rope 15V is hung (eye hanging, half hanging, back wrapping, through-the-eye hanging, etc.).

[0046] In S75, it is determined whether the number, diameter, and length of the provisionally selected virtual wire rope 15V conform to the safe load table. If the answer is YES in S75, the routine ends. In this example, the provisionally selected virtual wire rope 15V has a suspension angle θ of approximately 35°, which exceeds 30°, and therefore, referring to the column for wire diameter 12 mm and suspension angle 60°, the safe load is 4.14t. Therefore, it is determined that the virtual load 21V weighing 4.5t does not conform to the safe load table (S75:NO). In this case, in the training mode, an alert or the like is issued to warn the user. For example, if the weight of the virtual load 20V exceeds the breaking load, the virtual wire rope 15V may be changed in shape to break and displayed on the screen.

[0047] If the answer is NO in S75, the virtual wire rope 15V is reselected in S76 to S78. In S76, it is determined whether the wire diameter can be increased. If the answer is YES in S76, the virtual wire rope selection unit 46 or the experiencer reselects the wire diameter, for example, by increasing it from 12 mm to 14 mm in S77, and the process returns to S74. As a result, the safe load increases from 4.14 t to 5.64 t, making it usable for the virtual suspended load 21V weighing 4.5 t, and the answer is determined to be YES in S75.

[0048] If for some reason the wire diameter cannot be increased (S76: NO), in S78 the virtual wire rope selection unit 46 or the user changes the wire length, for example from 2m to 2.5m, and reselects, then the process returns to S73. As shown in Fig. 9, when the wire length is 2.5m, the suspension angle θ is approximately 28°, so the standard for a suspension angle of 30° is applied. This increases the safe load from 4.14t to 4.62t, making it usable for the virtual suspended load 21V weighing 4.5t, so YES is determined in S75.

[0049] On the other hand, in S5, if there is no hoisting hardware as in Example B (S5: NO), then in S6B, it is assumed that the wire rope will be passed under the load 26 and half-hung. The process of S7B following S6B is applied to "the slinging work of the load 26 with no hoisting hardware and an uncertain hoisting position."

[0050] In S7B, the hanging position calculation unit 44 calculates the hanging position, and the virtual wire rope selection unit 46 selects the number, diameter, and length of the virtual wire ropes 15V to be hung at the hanging position. The interpretation of "the hanging position calculation unit 44 calculates" and "the virtual wire rope selection unit 46 selects" in the training mode is as per S7A.

[0051] A detailed flow of S7B will be described with reference to FIG. 7. In S71B, the suspension position calculation unit 44 calculates the suspension position for hanging the virtual wire rope 15V based on the shape and center of gravity position of the virtual load 26V, and notifies the virtual wire rope selection unit 46. That is, the virtual wire rope selection unit 46 acquires the position of the actual suspension fitting 22 in S71A, whereas in S71B, it acquires the suspension position calculated by the suspension position calculation unit 44. For the virtual load 26V of the long object of embodiment B shown in FIG. 4, two suspension positions are calculated at positions symmetrical and at a uniform distance from the center of gravity. S72 to S78 of S7B are basically the same as S7A.

[0052] In this way, in S7A, the number, wire diameter, and length of the imaginary wire ropes 15V are selected for the imaginary load 21V whose suspension position is fixed. Also, in S7B, the number, wire diameter, and length of the imaginary wire ropes 15V are selected for the imaginary load 26V whose suspension position is indefinite.

[0053] In S7A, the selection of an appropriate virtual wire rope 15V for the virtual load 21V, and in S7B, the calculation of an appropriate hanging position for the virtual load 26V and the selection of an appropriate virtual wire rope 15V are represented as "appropriate virtual slinging is performed." After S7A or S7B, the process proceeds to image display step S8 in FIG. 5.

[0054] In the image display step S8, the image display unit 48 projects the virtual wire rope 15V and the virtual load 20V in the composite space onto the image in the real space and displays the image. The data of the virtual wire rope 15V is created assuming that the upper end is connected to the hook portion 13V of the virtual crane. However, the hook portion 13V of the virtual crane does not necessarily have to be displayed in the image. The lower end of the virtual wire rope 15V is hung on the virtual load 20V.

[0055] In the image display step S8, the image display unit 48 can display from the lifting preparation state to the ground-cutting state. The person wearing the HMD 40 can realistically experience the slinging work by viewing a simulation image in which the virtual load 20V transitions from the lifting preparation state to the ground-cutting state.

[0056] In safety evaluation step S9, it is evaluated whether the virtual slinging has been performed safely and appropriately based on the image in image display step S8. The judgment in S9 may be performed by image analysis within the system, or in a training mode, the person experiencing the slinging may make the judgment and input the result.

[0057] Specifically, if the virtual load 20V does not swing or tilt in the ground-cut state and is stably lifted while maintaining a horizontal posture, it is determined that the virtual slinging has been performed appropriately. In other words, it is determined that the selection of the lifting position and the number, diameter, and length of the virtual wire ropes 15V are appropriate, and YES is determined in S9, and the slinging work simulation method ends. In the training mode, it is deemed that the virtual load 20V has been safely lifted.

[0058] On the other hand, if the virtual load 20V sways or tilts, it is determined that the virtual slinging was inappropriate, and S9 will be judged as NO. In training mode, an alert or other warning may be issued to the person trying to operate the device. In that case, the person returns to S7A or S7B and recalculates the hoisting position and reselects the virtual wire rope 15V.

[0059] As described above, in the lifting preparation state of Example A shown in FIG. 3(b), the virtual load 21V is displayed overlapping with the real load 21. In the composite space, when the virtual wire rope 15V is moved upward together with the hook portion 13V of the virtual crane, an image of the ground-cutting state shown in FIG. 11 is displayed. The real load 21 remains on the ground, and the virtual load 21V rises away from the real load 21. For convenience, the real load 21 is shown with a solid line and the virtual load 21V with a dashed line, but this does not mean that there is any difference in the image display. The person experiencing the simulation can see such a simulation image.

[0060] If appropriate virtual slinging is performed in Example A, the virtual load 21V is stably lifted while maintaining a horizontal position without swinging or tilting, as shown in Fig. 11. By viewing this simulation image, the person experiencing the experience can realistically experience that appropriate virtual slinging has been performed.

[0061] FIG. 12 shows an image of the ground-cut state displayed when an inappropriate slinging is performed in embodiment B. Although it is unlikely that an image like that in FIG. 12 will be displayed in automatic mode, the image is exaggerated to account for the possibility of misjudgment in training mode or numerical input errors. If the hoisting position is set at a position offset from the center of gravity of the virtual load 26V of a long object, the virtual load 26V will swing or tilt as shown in the upper and middle figures. If the real load 26 tilts at a certain angle or more, there is a risk of it slipping off the wire rope and falling. Therefore, in S9, NO may be determined when the swing amount or tilt angle of the virtual load 26V exceeds an allowable threshold value.

[0062] In addition, the following cases are considered as factors that may cause the actual suspended load 26 to lose balance. -The distance from the center of gravity for each hanging position is different - The center of gravity is not at the center of the suspended load 26 (it is not a suspending position that allows balance) The wire rope lengths on the left and right are different. - The ground was suddenly cut off · Weather conditions (rain, strong winds, etc.)

[0063] As shown in the lower diagram, if a thin wire rope 15Vx that does not reach the safe load is used for the hanging position on one side (the right side of the diagram), the thin wire rope 15Vx may break and the virtual hanging load 26V may fall. Therefore, in S9, the result may be NO even if the diameters of the left and right wire ropes are different.

[0064] By viewing a simulation image such as that shown in Fig. 12, the participant can realistically experience what it would be like if an inappropriate virtual slinging had been performed. In addition, in that case, the participant can try to see how the slinging conditions should be changed so that the safety evaluation step S9 will return a YES result. This is particularly useful for operators with little work experience to learn the correct feel for performing work safely.

[0065] <Other Examples> 1, in another system configuration, a processing device having some or all of the weight and center of gravity calculation unit 41, virtual load data creation unit 42, hanging position calculation unit 44, and virtual wire rope selection unit 46 may be provided outside the HMD 40. In that case, the calculation results of the processing device are communicated to the HMD 40 and an image is displayed on the image display unit 48.

[0066] Furthermore, data on a plurality of virtual wire ropes 15V may be stored in an external storage such as the cloud instead of being stored inside the virtual wire rope selection unit 46, and the virtual wire rope selection unit 46 may read out the data each time. Regarding the virtual load 20V created by the virtual load data creation unit 42, the created data may also be stored in an external storage such as the cloud, and when a slinging operation simulation is performed on the same load 20 as before, the virtual load data creation unit 42 may read out the previous data.

[0067] Also, an independent camera 30 may be provided separately from the HMD 40. In other words, the rigging operation simulation system 50 does not need to be configured as a physically integrated system, and may be configured such that a plurality of spatially separated devices cooperate to realize a function.

[0068] If the weights and centers of gravity of all the loads 20 to which the system is applied are known, the weight and center of gravity axis calculation unit 41 may be omitted in the system diagram of Fig. 1, and S2 and S3 may be omitted in the flowchart of Fig. 5. Also, if all the loads 20 to which the system is applied have the slings 22 and the sling positions are predetermined, the sling position calculation unit 44 may be omitted, and further, if there is only one type of selectable virtual wire rope 15V, the virtual wire rope selection unit 46 may be omitted. In the flowchart, S5, S6A / B, and S7A / B may be omitted. If there is only one type of virtual wire rope 15V, and it does not conform to the safe load table, no reselection is performed, and a judgment result of "slinging work impossible" is output.

[0069] As described above, the present invention is not limited to the above-described embodiment, and can be embodied in various forms without departing from the spirit of the present invention. [Explanation of symbols]

[0070] 15V...Virtual wire rope, 20(21,26)···(actual) suspended load, 20V (21V, 26V)... Virtual hanging load, 30. Camera, 40. HMD (head mounted display), 41...Weight center of gravity calculation section, 42: Virtual load data creation section, 44... Hanging position calculation section, 46...Virtual wire rope selection section. 48 Image display unit, 50··· Rigging operation simulation system.

Claims

1. A simulation system for simulating a slinging operation of slinging a wire rope to a suspended load by displaying an image of a complex space to an experiencer wearing a head-mounted display (40), A camera (30) for capturing an image of an actual suspended load (20); A virtual load data creation unit (42) that creates data of a virtual load (20V) including information on weight and center of gravity based on image data of the actual load captured by the camera; an image display unit (48) for displaying an image of a composite space by projecting, in the head mounted display, a virtual wire rope (15V) having an upper end hung on a hook portion of a virtual crane and the virtual load having a lower end hung on the virtual wire rope, onto an image of a real space; Equipped with The image display unit is a rigging operation simulation system capable of displaying, in a complex space, a state in which the virtual wire rope is slung around the virtual load placed on the ground, to a state in which the virtual load is lifted and lifted away from the ground.

2. This is applied to a slinging operation of a load (21) having a sling (22) and a fixed sling position, or a load (26) having no sling and a variable sling position, The rigging operation simulation system of claim 1, further comprising a virtual wire rope selection unit (46) that stores data on a plurality of virtual wire ropes having different diameters and lengths, and data on a safe load table that specifies the safe load that can be used for each virtual wire rope according to the suspension angle, and selects the virtual wire ropes of a number, diameter and length that conform to the safe load table based on the weight, center of gravity and suspension position of the virtual load.

3. This is applied to slinging work of a load (26) that does not have a sling and whose sling position is uncertain, 3. The rigging operation simulation system according to claim 2, further comprising a suspension position calculation unit (44) that calculates a suspension position for hanging the virtual wire rope based on the shape and center of gravity position of the virtual load (26V).

4. 4. The rigging operation simulation system according to claim 2 or 3, further comprising a weight and center of gravity calculation unit (41) that calculates a weight of the virtual load based on a volume and material estimated from image data of the actual load captured by the camera, and further calculates a center of gravity of the virtual load from the shape of the actual load.

5. A simulation method for simulating a slinging operation of tying a wire rope to a suspended load by displaying an image of a complex space to an experiencer wearing a head-mounted display (40), comprising: A photographing step (S1) in which a camera (30) photographs an image of an actual suspended load (20); A virtual load data creation step (S4) in which a virtual load data creation unit (42) creates data of a virtual load (20V) including information on weight and center of gravity based on image data of the actual load captured by the camera; an image display step (S8) of projecting a virtual wire rope (15V) having an upper end hung on a hook portion of a virtual crane and the virtual load having a lower end hung on the virtual wire rope onto an image of real space by an image display unit (48) of the head mounted display to display an image of a composite space; Including, A rigging operation simulation method in which, in the image display step, the image display unit is capable of displaying a state from a lifting preparation state in which the virtual wire rope is hung from the virtual load placed on the ground to a ground-cut state in which the virtual load is lifted and lifted away from the ground.

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