Work vehicle arrangement assistance system

Abstract

To provide a work vehicle arrangement assistance system capable of easily grasping the advisability of disposing a work vehicle at a work site and the advisability of an operation performed by the work vehicle.SOLUTION: A work vehicle arrangement assistance system 7 comprises: a camera 72 that can photograph a work site S where a crane 1 is disposed; a portable terminal 71 provided with a display 73 that can display a captured image P; and a control unit 77 that displays a virtual crane CL on the captured image P in a superposed manner. The control unit 77 is provided with a three-dimensional information acquisition unit 770 that acquires three-dimensional information about the work site S, a model selection unit 771 that can select a model of the crane 1, an arrangement position confirmation adjustment unit 772 that instructs the arrangement position of the virtual crane CL on the captured image P, displays the virtual crane CL in a superposed manner at the instructed arrangement position, and adjusts the arrangement position of the virtual crane CL, a traveling track confirmation and adjustment unit 773 that displays a travel track RT of the virtual crane CL in a superposed manner and adjusts the track, and a work posture confirmation adjustment unit 774 that adjusts the work posture of the virtual crane CL.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to a work vehicle placement support system.

Background Art

[0002] Conventionally, at a work site where a work vehicle such as a crane is used, it is important to place a work vehicle having the functions necessary for the work and to determine whether the intended work can be performed.

[0003] Patent Document 1 describes that based on information obtained from BIM (Building Information Modeling), the placement position, movement trajectory, and posture of the work machine of the work vehicle are confirmed.

[0004] However, at an actual work site, since there are unintended obstacles and the situation changes every day, it is difficult to determine whether a work vehicle can be placed or whether there are interfering objects with the work vehicle only based on the information obtained from BIM, and it is necessary to conduct a site survey to visit the work site in advance and check the work site.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] In the above-mentioned site survey, it is confirmed whether there is a placement space for the work vehicle at the work site, the width of the road, and whether there are building walls, power transmission lines, etc. that interfere with the work vehicle during work. The confirmation work in such a site survey may rely on the experience and intuition of the worker in addition to major measurements at the work site, and thus may be difficult work for a worker with little experience.

[0007] Therefore, in the present invention, there is provided a work vehicle placement support system capable of easily grasping whether a work vehicle can be placed at a work site and whether work can be performed by the work vehicle at the work site.

Means for Solving the Problem

[0008] The work vehicle placement support system for solving the above problems has the following features.

[0009] That is, the work vehicle placement support system includes a mobile terminal having a camera capable of photographing a work site where a work vehicle is to be placed, a display capable of displaying a photographed image taken by the camera, and a control unit for superimposing and displaying a virtual work vehicle on the photographed image. The control unit includes a three-dimensional information acquisition unit for acquiring three-dimensional information of the work site where the work vehicle is to be placed, a model selection unit capable of selecting a model of the work vehicle to be placed at the work site, an arrangement position confirmation adjustment unit for designating an arrangement position of the virtual work vehicle in the photographed image, superimposing and displaying the virtual work vehicle at the designated arrangement position in the photographed image, and adjusting the arrangement position of the virtual work vehicle superimposed and displayed in the photographed image, a travel track confirmation adjustment unit for superimposing and displaying a travel track of the virtual work vehicle displayed in the photographed image on the photographed image and adjusting the displayed travel track, and a work posture confirmation adjustment unit for adjusting a work posture of the virtual work vehicle displayed in the photographed image.

[0010] Thereby, it is possible to easily confirm whether it is possible to carry in and install a work vehicle at a work site, whether work can be performed by the work vehicle at the work site, and the model of the work vehicle that can perform work at the work site.

[0011] Further, the control unit uses the arrangement position confirmation adjustment unit to specify the arrangement position of the work vehicle, superimpose and display it on the captured image of the virtual work vehicle, and provide an arrangement position confirmation adjustment screen for adjusting the position of the virtual work vehicle superimposed on the captured image; uses the travel track confirmation adjustment unit to superimpose the travel track of the virtual work vehicle on the captured image and provide a travel track confirmation adjustment screen for adjusting the travel track; and uses the work posture confirmation adjustment unit to provide a work posture confirmation adjustment screen for adjusting the work posture of the virtual work vehicle. These can be displayed on the display. On the arrangement position confirmation adjustment screen, a first movement operation unit for moving from the arrangement position confirmation adjustment screen to the travel track confirmation adjustment screen and a second movement operation unit for moving from the arrangement position confirmation adjustment screen to the work posture confirmation adjustment screen are displayed. On the travel track confirmation adjustment screen, a third movement operation unit for moving from the travel track confirmation adjustment screen to the arrangement position confirmation adjustment screen is displayed. On the work posture confirmation adjustment screen, a fourth movement operation unit for moving from the work posture confirmation adjustment screen to the arrangement position confirmation adjustment screen is displayed.

[0012] Thereby, smooth movement can be achieved between the arrangement position confirmation adjustment screen, the travel track confirmation adjustment screen, and the work posture confirmation adjustment screen, enabling the on-site investigation at the work site to proceed rapidly.

[0013] In addition, the arrangement position confirmation adjustment unit can display, on the display, an arrangement position confirmation adjustment screen for designating the arrangement position of the work vehicle, superimposing and displaying the virtual work vehicle on the captured image, and adjusting the position of the virtual work vehicle superimposed on the captured image. The arrangement position confirmation adjustment screen includes an arrangement position confirmation screen on which the captured image, a region where three-dimensional information of the work site in the captured image is acquired, a mark indicating a position where the virtual work vehicle is to be arranged in the captured image, and an arrangement operation unit for superimposing and displaying the virtual work vehicle at the display position of the mark in the captured image are displayed, and an arrangement position adjustment screen on which the captured image, a region where three-dimensional information of the work site in the captured image is acquired, the virtual work vehicle, and a first position adjustment operation unit for adjusting the position of the virtual work vehicle superimposed on the captured image are displayed.

[0014] As a result, the virtual work vehicle can be easily superimposed and displayed at a desired position in the captured image, the position of the virtual work vehicle superimposed on the captured image can be easily adjusted, and it is possible to confirm whether the work vehicle can be installed at the work site.

[0015] In addition, the travel track confirmation adjustment unit can display, on the display, the travel track of the virtual work vehicle superimposed on the captured image and a travel track confirmation adjustment screen for adjusting the travel track. The travel track confirmation adjustment screen displays the captured image, a region where three-dimensional information of the work site in the captured image is acquired, the virtual work vehicle superimposed on the captured image, the travel track of the virtual work vehicle, and a second position adjustment operation unit for adjusting the travel track.

[0016] As a result, the display and adjustment of the travel track of the virtual work vehicle on the captured image can be easily performed, and it is possible to confirm whether the work vehicle can be carried into the work site.

[0017] In addition, the working posture confirmation adjustment unit can display, on the display, a working posture confirmation adjustment screen for adjusting the working posture of the virtual working vehicle. The working posture confirmation adjustment screen displays the captured image, the area where the three-dimensional information of the working site in the captured image is acquired, the virtual working vehicle superimposed on the captured image, and a posture adjustment operation unit for adjusting the working posture of the virtual working vehicle.

[0018] Thereby, the working posture of the virtual working vehicle can be easily adjusted, and it is possible to confirm whether the work at the working site of the working vehicle can be carried out.

[0019] Further, the control unit further includes a model change unit for changing the model of the virtual working vehicle to be superimposed on the captured image. The model change unit can display, on the display, a model change screen for changing the model of the virtual working vehicle to be displayed in the captured image. The model change screen displays a model selection operation unit for selecting a desired model from among a plurality of models of the working vehicle.

[0020] Thereby, the model of the virtual working vehicle to be superimposed on the captured image can be easily changed.

[0021] Further, the control unit further includes an obstacle placement unit for superimposing an obstacle on the captured image. The obstacle placement unit can display, on the display, an obstacle placement screen for superimposing an obstacle on the captured image. The obstacle placement screen displays the captured image, the area where the three-dimensional information of the working site in the captured image is acquired, the virtual working vehicle superimposed on the captured image, the obstacle superimposed on the captured image, and an obstacle selection operation unit for selecting the type and number of obstacles to be superimposed on the captured image.

[0022] Thereby, an obstacle can be easily displayed on the captured image, and it is possible to confirm the presence or absence of interference between the virtual working vehicle and the obstacle during work.

[0023] Further, the control unit further includes an outrigger extension confirmation adjustment unit that superimposes the outriggers of the virtual work vehicle on the captured image and adjusts the extension amount of the displayed outriggers. The outrigger extension confirmation adjustment unit can display, on the display, an outrigger extension confirmation adjustment screen for superimposing the outriggers of the virtual work vehicle on the captured image and adjusting the extension amount of the displayed outriggers. The outrigger extension confirmation adjustment screen displays the captured image, the area where the three-dimensional information of the work site in the captured image is acquired, the virtual work vehicle superimposed on the captured image, the outriggers extending from the virtual work vehicle, and an extension amount adjustment operation unit for adjusting the extension amount of the outriggers.

[0024] Thereby, the display of the outriggers on the captured image and the adjustment of the outrigger extension can be easily performed, and the extension amount of the outriggers that can be extended at the work site can be confirmed.

[0025] Further, the control unit further includes a distance measurement unit that measures the distance between any two points in the captured image. The distance measurement unit can display, on the display, a distance measurement screen for measuring the distance between any two points in the captured image. The distance measurement screen displays the captured image, the area where the three-dimensional information of the work site in the captured image is acquired, the virtual work vehicle superimposed on the captured image, markers indicating any two points in the captured image, and a third position adjustment operation unit for adjusting the positions of the markers.

[0026] Thereby, the distance between desired two points in the captured image can be easily confirmed.

[0027] The control unit further includes a three-dimensional display unit that three-dimensionally displays the captured image and the display object superimposed on the captured image from an overhead perspective. The three-dimensional display unit can display, on the display, a three-dimensional display screen for three-dimensionally displaying the captured image and the display object superimposed on the captured image from an overhead perspective. On the three-dimensional display screen, the three-dimensionally displayed captured image and the display object superimposed on the captured image, as well as a viewpoint adjustment operation unit for adjusting the viewpoint of the three-dimensional display, are displayed.

[0028] Thereby, the display object superimposed on the captured image can be visually recognized three-dimensionally from an overhead perspective, the presence or absence of interference between the virtual work vehicle and the obstacle can be easily grasped, and it is possible to confirm whether the work by the work vehicle at the work site is feasible.

[0029] In addition, the arrangement position confirmation adjustment unit displays, on the arrangement position confirmation adjustment screen, the inclination amount of the work site in the captured image and the required number of floor plates to be laid between the outriggers of the virtual work vehicle and the work site.

[0030] Thereby, the required number of floor plates can be grasped in advance, and it becomes easy to appropriately arrange the work vehicle at the work site.

[0031] In addition, the arrangement position confirmation adjustment unit can recognize the wall existing at the work site based on the three-dimensional information of the work site acquired by the three-dimensional information acquisition unit, and can display the distance from the wall to the mark on at least one of the arrangement position confirmation screen and the arrangement position adjustment screen.

[0032] Thereby, when the virtual work vehicle is superimposed on the captured image, it becomes easy to determine whether the virtual work vehicle interferes with the wall.

[0033] Further, the control unit further includes a vehicle information storage unit that stores information regarding the work vehicles of multiple models, and based on the three-dimensional information of the work site acquired by the three-dimensional information acquisition unit and the information regarding the work vehicles stored in the vehicle information storage unit, the model selection unit can extract the work vehicles that can be arranged at the work site from the work vehicles of multiple models.

[0034] Thereby, it is possible to easily grasp whether it is possible to arrange the work vehicle at the work site and whether it is possible to perform work with the work vehicle at the work site.

Effect of the Invention

[0035] According to the present invention, it is possible to easily confirm whether it is possible to carry and install the work vehicle at the work site, whether it is possible to perform work with the work vehicle at the work site, and the model of the work vehicle that can perform work at the work site.

Brief Description of the Drawings

[0036]

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Mode for Carrying Out the Invention

[0037] Next, embodiments for carrying out the present invention will be described with reference to the accompanying drawings.

[0038] [Crane] First, a crane 1 which is an example of a work vehicle disposed at a work site S will be described. The work site S where the crane 1 is disposed is a work site where a site survey is carried out using the work vehicle arrangement support system according to the present invention.

[0039] The crane 1 shown in FIG. 1 includes a traveling body 2 and a slewing body 3. The traveling body 2 includes front wheels 21 and rear wheels 22. Further, the traveling body 2 includes outriggers 23 which are grounded to achieve stability when carrying out the transportation work of the load W. The traveling body 2 supports the slewing body 3 so as to be slewingable in the horizontal direction. The slewing body 3 is slewed about a slewing center X by an actuator provided in the traveling body 2.

[0040] The slewing body 3 has a boom 31. The boom 31 is supported at the rear part of the slewing body 3. The boom 31 supported by the slewing body 3 extends so as to protrude forward from the rear part of the slewing body 3. The boom 31 is slewingable along a slewing direction A together with the slewing body 3 by an actuator (see arrow A in FIG. 1). The boom 31 is extendable and retractable along an extension and retraction direction B by an actuator (see arrow B in FIG. 1). The boom 31 is raisable and lowerable along a raising and lowering direction C by an actuator (see arrow C in FIG. 1).

[0041] A wire rope 32 is spanned over the boom 31. A hook 33 is attached to the wire rope 32 hanging down from the tip portion of the boom 31. A winch 34 is disposed near the base end side of the boom 31. The winch 34 is integrally configured with an actuator and enables the wire rope 32 to be wound in and out. Thereby, the hook 33 is vertically movable along a vertical direction D by an actuator (see arrow D in FIG. 1).

[0042] The slewing body 3 is provided with a cabin 35 on the side of the boom 31. Inside the cabin 35, a slewing lever 51, a telescopic lever 52, a luffing lever 53, a winding lever 54, etc. are provided.

[0043] The crane 1 may be configured such that a jib is attached to the tip of the boom 31 and the boom 31 is extended by the jib. In this case, the jib can be configured to be telescopic and luffable.

[0044] [Control System] The crane 1 is provided with a control system 4.

[0045] As shown in FIGS. 1 to 3, the control system 4 mainly includes a controller 40, various levers 51 to 54, a camera 55, various valves 61 to 64, a display 65, and various detection sensors 91 to 96.

[0046] The controller 40 has an information storage unit 41. The information storage unit 41 stores various programs required for controlling the crane 1. Also, the information storage unit 41 can store various data.

[0047] The controller 40 has an information processing unit 42. The information processing unit 42 converts the operation amounts of the various levers 51 to 54 into electrical signals and transmits them to the various valves 61 to 64 that operate the actuators. Thereby, the controller 40 realizes the operation of the boom 31 (slewing operation, telescopic operation, luffing operation), as well as the winding-in operation and winding-out operation of the wire rope 32.

[0048] Specifically, the boom 31 is rotatable along the turning direction A by an actuator (see arrow A in FIG. 1). In the present embodiment, the actuator for turning the boom 31 is defined as a turning motor 36 (see FIG. 1). The turning motor 36 is appropriately operated by a turning valve 61 which is a direction control valve. Note that the turning valve 61 is operated based on an instruction from the controller 40. The turning angle of the boom 31 is detected by a turning angle detection sensor 91.

[0049] The boom 31 is extendable and retractable along the telescopic direction B by an actuator (see arrow B in FIG. 1). In the present embodiment, the actuator for extending and retracting the boom 31 is defined as a telescopic cylinder 37 (see FIG. 1). The telescopic cylinder 37 is appropriately operated by a telescopic valve 62 which is a direction control valve. Note that the telescopic valve 62 is operated based on an instruction from the controller 40. The telescopic length of the boom 31 is detected by a boom length detection sensor 92.

[0050] The boom 31 is tiltable along the tilting direction C by an actuator (see arrow C in FIG. 1). In the present embodiment, the actuator for tilting the boom 31 is defined as a tilting cylinder 38 (see FIG. 1). The tilting cylinder 38 is appropriately operated by a tilting valve 63 which is a direction control valve. Note that the tilting valve 63 is operated based on an instruction from the controller 40. The tilting angle of the boom 31 is detected by a boom angle detection sensor 93.

[0051] The hook 33 is vertically movable along the lifting direction D by an actuator (see arrow D in FIG. 1). In the present embodiment, the actuator for lifting and lowering the hook 33 is defined as a winding motor 39 (see FIG. 1). The winding motor 39 is appropriately operated by a winding valve 64 which is a direction control valve. Note that the winding valve 64 is operated based on an instruction from the controller 40. The hanging length of the hook 33 is detected by a sensor (not shown).

[0052] The boom cylinder pressure detection sensor 94 provided in the control system 4 detects the pressure applied to the boom cylinder 38. The lever operation detection sensor 95 detects the operation states of the various levers 51 to 54. The outrigger extension width detection sensor 96 detects the extension width of the outrigger 23.

[0053] The control system 4 is provided with an overload prevention device 45. The overload prevention device 45 is a safety device that suppresses the working moment applied to the crane 1 from becoming excessive and prevents the crane 1 from tipping over or being damaged due to an overload exceeding the rated load.

[0054] The overload prevention device 45 receives the working state of the crane 1 registered by the operator, as well as the slewing angle of the boom 31, the telescopic length of the boom 31, the hoisting angle of the boom 31, the pressure applied to the boom cylinder 38, the operation states of the various levers 51 to 54, and the extension width of the outrigger 23 detected by the various detection sensors 91 to 96. Based on the input items, the overload prevention device 45 calculates the working moment and the rated moment, and obtains the moment load ratio by dividing the working moment by the rated moment. The obtained moment load ratio is input from the overload prevention device 45 to the controller 40. Also, the obtained moment load ratio can be displayed on the display 65.

[0055] When the input moment load ratio becomes 100% or more, the controller 40 stops the operation of the crane 1 towards the dangerous side and issues an alarm by displaying an error code on the display 65, sounding a buzzer, and lighting a display lamp. When the moment load ratio becomes 100% or more, the operation of the crane 1 towards the dangerous side is stopped, but the operation towards the safe side is allowed.

[0056] Based on the moment load rate input from the overload prevention device 45, as overload control, for example, when the moment load rate becomes 100% or more, the controller 40 stops the operation of the crane 1 towards the dangerous side and issues an alarm. When the moment load rate is 90% or more and less than 100%, it issues an alarm to prompt attention. When the moment load rate is less than 90%, it can perform control indicating that it is safe.

[0057] As shown in FIG. 1, the camera 55 is attached to, for example, the tip portion of the boom 31. The camera 55 can photograph the construction site from above and can photograph the hook 33 hanging down from the tip of the boom 31 and the load W suspended from the hook 33.

[0058] The camera 55 is connected to the controller 40. The controller 40 can acquire a photographed image including the hook 33 and the load W suspended from the hook 33 photographed by the camera 55.

[0059] The display 65 projects various images. The display 65 is attached to the front side of the driver's seat inside the cabin 35 so that the operator can visually recognize it while operating the various levers 51 to 54 (see FIG. 2). The display 65 is connected to the controller 40, and the controller 40 can provide information to the operator through the display 65. Specifically, the controller 40 can display the captured image including the hook 33 and the load W suspended from the hook 33 photographed by the camera 55 on the display 65.

[0060] In the crane 1, when the controller 40 displays the photographed image photographed by the camera 55 on the display 65, it can draw a danger area circle and a performance line superimposed on the captured image.

[0061] The danger area circle is a drawing showing a circular area centered on the contact point of the hook 33 attached to the wire rope 32 hanging from the boom 31 or the load W suspended from the hook 33 with respect to the work site S, and indicates the area where the load W suspended from the hook 33 may fall. Therefore, by drawing the danger area circle in the captured image, it is possible to give a warning to prohibit people from entering the danger area circle.

[0062] The performance line is a circle centered on the turning center X and indicates the moment load rate calculated by the overload prevention device 45. For example, the boundary at which the moment load rate of the crane 1 becomes 90% can be indicated by the performance line. In this case, it is shown that the inner area surrounded by the performance line is the area where the moment load rate is 90% or less.

[0063] [Work vehicle placement support system] Next, a work vehicle placement support system used when conducting a site survey at the work site S will be described.

[0064] The work vehicle placement support system 7 shown in FIG. 4 includes a portable terminal 71, a camera 72, a display 73, a laser sensor 74, an acceleration sensor 75, a gyro sensor 76, and a control unit 77.

[0065] The portable terminal 71 is a terminal that can be carried by a worker conducting a site survey at the work site S. As the portable terminal 71, for example, a smartphone, a tablet, a notebook computer, and a dedicated terminal device can be applied. The camera 72 is provided on the portable terminal 71 and can capture the work site S where the crane 1, which is a work vehicle, is arranged. The display 73 is provided on the portable terminal 71 and can display the captured image P captured by the camera 72.

[0066] The laser sensor 74 is a distance sensor that can detect three-dimensional information of the work site S by Lidar (Light Detection Ranging). The output value from the laser sensor 74 generally becomes three-dimensional point cloud data. The laser sensor 74 is provided in the mobile terminal 71.

[0067] The acceleration sensor 75 is provided in the mobile terminal 71, and is a sensor that detects the inertial force generated when the moving speed of the mobile terminal 71 changes and outputs it as acceleration. The gyro sensor 76 is provided in the mobile terminal 71, and is a sensor that detects the rotation and change of direction of the mobile terminal 71 as an angular velocity and outputs it. In the mobile terminal 71, an inertial measurement unit (IMU: Inertial Measurement Unit) that detects three-dimensional inertial motion is configured by the acceleration sensor 75 and the gyro sensor 76.

[0068] The control unit 77 is provided in the mobile terminal 71, and a work vehicle placement application 77A is installed in the control unit 77. The work vehicle placement application 77A uses augmented reality technology (AR) to place a virtual crane of actual size in the real world, thereby checking whether there is interference between the crane 1 and surrounding obstacles at the work site S, and determining whether the work can be performed by the crane 1 at the work site S. It is an application for this purpose.

[0069] The work vehicle placement application 77A has various functions for checking whether a work vehicle such as the crane 1 can be placed at the work site S, and whether the work vehicle such as the crane 1 can perform the intended work.

[0070] The control unit 77 can superimpose and display the virtual crane CL on the captured image P displayed on the display 73 by the work vehicle placement application 77A. The virtual crane CL is an example of a virtual work vehicle. The virtual crane CL is virtual digital information having three-dimensional information of the same shape and size as the crane 1.

[0071] The work vehicle placement application 77A installed in the control unit 77 includes a three-dimensional information acquisition unit 770, a model selection unit 771, a placement position confirmation adjustment unit 772, a travel path confirmation adjustment unit 773, a working posture confirmation adjustment unit 774, a model change unit 775, an obstacle placement unit 776, an outrigger extension confirmation adjustment unit 777, a distance measurement unit 778, and a three-dimensional display unit 779.

[0072] That is, the control unit 77 includes a three-dimensional information acquisition unit 770, a model selection unit 771, a placement position confirmation adjustment unit 772, a travel path confirmation adjustment unit 773, a working posture confirmation adjustment unit 774, a model change unit 775, an obstacle placement unit 776, an outrigger extension confirmation adjustment unit 777, a distance measurement unit 778, and a three-dimensional display unit 779.

[0073] Based on the detection result of the laser sensor 74, the three-dimensional information acquisition unit 770 acquires the three-dimensional information of the work site S where the crane 1, which is the work vehicle, is placed. However, the means for acquiring the three-dimensional information is not limited to the laser sensor 74, and it may be a combination of the camera 72 and the IMU. The model selection unit 771 can select the model of the crane 1 to be placed at the work site S. However, the model selection unit 771 can also be configured to select the size of the crane 1, the lifting performance such as the lifting load, the working radius, and the working lift height, etc. alone or in combination.

[0074] The placement position confirmation adjustment unit 772 designates the placement position of the crane 1 in the captured image P of the camera 72, superimposes the virtual crane CL on the designated placement position in the captured image P, and adjusts the placement position of the virtual crane CL superimposed on the captured image P.

[0075] The travel path confirmation adjustment unit 773 superimposes the travel path RT of the virtual crane CL displayed in the captured image P of the camera 72 on the captured image P and adjusts the displayed travel path RT. The working posture confirmation adjustment unit 774 adjusts the working posture of the virtual crane CL displayed in the captured image P of the camera 72.

[0076] The model change unit 775 can change the model of the virtual crane CL that is superimposed and displayed on the captured image P of the camera 72. The obstacle placement unit 776 superimposes and displays obstacles on the captured image P of the camera 72. The outrigger extension confirmation adjustment unit 777 superimposes the outrigger 23C of the virtual crane CL on the captured image P of the camera 72 and adjusts the extension amount of the displayed outrigger 23C.

[0077] The distance measurement unit 778 measures the distance between any two points in the captured image P of the camera 72. The three-dimensional display unit 779 three-dimensionally displays the captured image P of the camera 72 and the display objects superimposed on the captured image P from an aerial perspective.

[0078] The control unit 77 includes a vehicle information storage unit 77B that stores information about multiple models of the crane 1. The information about the crane 1 stored in the vehicle information storage unit 77B is information including various specifications such as the three-dimensional shape and specifications of the crane 1.

[0079] [Execution of the work vehicle placement application] Next, the operation flow of the work vehicle placement application 77A when the work vehicle placement application 77A is executed on the mobile terminal 71 will be described.

[0080] (Top screen G01) As shown in FIGS. 5 and 6, when the work vehicle placement application 77A is launched, the top screen G01 is displayed on the display 73 of the mobile terminal 71. On the top screen G01, a procedure display D01 for displaying the operation procedure of the work vehicle placement application 77A is displayed. Specifically, on the procedure display D01, it is displayed that the work is to be carried out in the order of "preparatory work", "site investigation work", and "confirmation work". The procedure display D01 is displayed in the central part of the display 73. Also, on the background of the procedure display D01 on the display 73, the captured image P taken by the camera 72 is displayed.

[0081] The "preparation work" includes the operations of "3D information acquisition", "model selection", and "crane placement", and each operation is executed in the order of "3D information acquisition" → "model selection" → "crane placement". The "site survey work" includes the operations of "travel path confirmation", "working posture adjustment", "obstacle placement", and "outrigger extension". The "confirmation work" includes the operations of "3D display" and "distance measurement".

[0082] A start button FB01 is displayed at the lower part of the top screen G01. By touching and operating the start button FB01, the display on the display 73 transitions from the top screen G01 to the scan screen G02.

[0083] After confirming the procedure display D01 on the top screen G01, the worker who conducts the site survey at the work site S can touch and operate the start button FB01 to transition the screen displayed on the display 73 to the scan screen G02.

[0084] (Scan screen G02) As shown in FIG. 7, after the operator M transitions the display screen of the display 73 to the scan screen G02, by moving within the work site S while holding the mobile terminal 71, the 3D information of the work site S can be acquired by the mobile terminal 71.

[0085] As the mobile terminal 71 moves within the work site S, the laser sensor 74 scans the work site S three-dimensionally to detect the 3D information of the work site S. The 3D information acquisition unit 770 of the work vehicle placement application 77A acquires the 3D information of the work site S detected by the laser sensor 74.

[0086] The 3D information of the work site S includes the shape and inclination of the ground Sg at the work site S, the position and shape of the wall surface WL of the building BU existing at the work site S, and the position and shape of other obstacles existing at the work site S, etc.

[0087] Since the range in which the laser sensor 74 scans the work site S is limited, it is preferable for the operator M to move the mobile terminal 71 so that the scanning range of the laser sensor 74 is continuous and the entire range for which three-dimensional information is to be acquired is scanned by the laser sensor 74. Note that the three-dimensional information of the work site S can also be acquired using the camera 72 and the IMU composed of the acceleration sensor 75 and the gyro sensor 76.

[0088] As shown in FIG. 8, when the start button FB01 on the top screen G01 is touched, the three-dimensional information acquisition unit 770 displays a scan screen G02 on the display 73. On the scan screen G02, a captured image P of the work site S by the camera 72 and a scanned area SC, which is an area of the work site S where three-dimensional information has been acquired by the three-dimensional information acquisition unit 770, are displayed.

[0089] In the captured image P, the ground Sg of the work site S and a building BU etc. existing in the work site S are displayed. The building BU has a wall surface WL. The scanned area SC is an area in the work site S where the three-dimensional information acquisition unit 770 has acquired three-dimensional information. On the scan screen G02, the scanned area SC is superimposed and displayed on the captured image P.

[0090] On the scan screen G02, a message for assisting the operation of the operator M when the scan screen G02 is displayed on the display 73 can be displayed. For example, messages such as "Please scan the mobile terminal around while moving the work site", "The scanned area will be displayed on the scan screen", and "The scanable distance is within ○m from the mobile terminal" can be displayed.

[0091] At the bottom of the scan screen G02, a scan completion button FB02 is displayed. By touching the scan completion button FB02, the display on the display 73 transitions from the scan screen G02 to the model selection screen G03.

[0092] The worker M who conducts the on-site investigation of the work site S moves within the work site S to acquire the three-dimensional information of the work site S on the mobile terminal 71. After checking the scanned area SC on the scan screen G02, the worker M can touch the scan completion button FB02 to transition the screen displayed on the display 73 to the model selection screen G03.

[0093] At the upper left of the scan screen G02, a return button BB01 is displayed. By touching the return button BB01, the display on the display 73 transitions from the scan screen G02 to the top screen G01. When rechecking the operation procedure, etc., the worker M can touch the return button BB01 to return the display on the display 73 to the top screen G01.

[0094] (Model selection screen G03) As shown in FIG. 9, when the model selection unit 771 of the work vehicle arrangement application 77A detects that the scan completion button FB02 on the scan screen G02 is touched, the model selection screen G03 is displayed on the display 73. The model selection screen G03 displays a photographed image P of the work site S by the camera 72, a scanned area SC which is the area of the work site S where three-dimensional information has been acquired by the three-dimensional information acquisition unit 770, and a model list table D02 listing a list of selectable models of the crane 1. The photographed image P is displayed as the background of the model list table D02.

[0095] The model list table D02 displays selection buttons for models 01 to 07 that can be selected by the worker M. The worker M can select a model by touching the desired selection button. On the model selection screen G03, the state where the selection button for model 02 is touched is displayed. The touched selection button for model 02 is shaded, and its display is different from the other non-shaded selection buttons.

[0096] On the model selection screen G03, a message can be displayed to assist the operator M when the model selection screen G03 is shown on the display 73. For example, a message such as "Please select the model you want to place from the model list" can be displayed.

[0097] At the bottom of the model selection screen G03, a selection completion button FB03 is displayed. By performing a touch operation on the selection completion button FB03, the display on the display 73 transitions from the model selection screen G03 to the placement position confirmation screen G04.

[0098] The operator M who conducts the on-site investigation of the work site S can, after performing a touch operation on the selection button in the model list D02 of the model selection screen G03, perform a touch operation on the selection completion button FB03 to transition the screen displayed on the display 73 to the placement position confirmation screen G04.

[0099] At the upper left of the model selection screen G03, a back button BB02 is displayed. By performing a touch operation on the back button BB02, the display on the display 73 transitions from the model selection screen G03 to the scan screen G02. When reconfiguring the setting of the scanned area SC, etc., the back button BB02 can be touched to return the display on the display 73 to the scan screen G02.

[0100] The model selection unit 771 can also be configured to extract the crane 1 that can be placed at the work site S from multiple models of cranes 1 based on the three-dimensional information of the work site S acquired by the three-dimensional information acquisition unit 770 and the information regarding multiple models of cranes 1 stored in the vehicle information storage unit 77B, and present it on the model selection screen G03.

[0101] In this case, based on the three-dimensional information of the work site S, the model selection unit 771 roughly sets the location where the crane 1 is to be placed at the work site S, and for each crane 1 stored in the vehicle information storage unit 77B, sets a rectangular parallelepiped region surrounding the crane 1. Further, the model selection unit 771 determines whether the region surrounding the crane 1 interferes with the obstacles included in the three-dimensional information of the work site S, and searches for the arrangement positions and postures where the region surrounding the crane 1 does not interfere with the obstacles, and extracts the models of the crane 1 having the arrangement positions and postures that do not interfere with the obstacles. Furthermore, the model selection unit 771 can present the model of the crane 1 extracted, as well as the arrangement position and posture of the crane at the work site S, on the model selection screen G03.

[0102] The operator M can select a crane of a desired model from among the cranes 1 presented on the model selection screen G03. Thereby, the operator M can easily grasp whether it is possible to place the crane 1 at the work site S and whether it is possible to perform work with the crane 1 at the work site S.

[0103] Also, the model selection unit 771 presents a plurality of models of the crane 1 stored in the vehicle information storage unit 77B on the model selection screen G03. When the operator M designates the model of the crane 1 that the operator M wants to place at the work site S and the area of the work site S where the crane 1 is to be placed, the model selection unit 771 is configured to search for and present the positions and postures where the crane 1 of the designated model does not interfere with the obstacles in the designated area.

[0104] (Arrangement position confirmation screen G04) As shown in FIG. 10, when the selection completion button FB03 on the model selection screen G03 is touched, the arrangement position confirmation adjustment unit 772 of the work vehicle arrangement application 77A displays the arrangement position confirmation screen G04 on the display 73. The arrangement position confirmation screen G04 displays the captured image P of the work site S by the camera 72, the scanned area SC which is the area of the work site S where the three-dimensional information has been acquired by the three-dimensional information acquisition unit 770, and the mark MK indicating the position where the virtual crane CL is to be placed in the captured image P.

[0105] As shown in FIG. 11, a laser beam LZ is irradiated from a laser sensor 74 provided in the mobile terminal 71 in a direction orthogonal to the display 73. When the mobile terminal 71 is held in a posture in which the laser beam LZ is irradiated toward the ground Sg of the work site S, the mark MK is displayed at the point where the laser beam LZ contacts the ground Sg of the work site S in the captured image P. In this case, for example, the mark MK is located at the center of the display 73, and the captured image P is displayed such that the point where the laser beam LZ of the ground Sg contacts is located at the center of the display 73. Note that the laser beam LZ irradiated from the laser sensor 74 does not necessarily need to be irradiated in a direction orthogonal to the display 73, and it is also possible to irradiate in a direction not orthogonal to the display 73.

[0106] A crane arrangement button FB04 is displayed at the lower part of the arrangement position confirmation screen G04. By performing a touch operation on the crane arrangement button FB04, the virtual crane CL can be superimposed and displayed on the captured image P. In this case, the virtual crane CL is arranged such that, for example, the mark MK displayed in the captured image P serves as the turning center. The crane arrangement button FB04 is an example of an arrangement operation unit for superimposing and displaying a virtual work vehicle at the display position of the mark.

[0107] Note that when the virtual crane CL is superimposed and displayed on the captured image P, it is also possible to configure such that the outrigger 23C included in the virtual crane CL is arranged at the display position of the mark MK. In this case, it can be configured such that it is possible to specify the outrigger 23C arranged at the display position of the mark MK among the plurality of outriggers 23C included in the virtual crane CL.

[0108] Also, in the present embodiment, the mark MK to be displayed in the captured image P is formed in a pyramid shape, but it is also possible to use, as the mark MK, the projection of the shadow of the crane 1 on the captured image P. In this way, by projecting the shadow of the crane 1 on the captured image P, it becomes easier to grasp the installation position of the virtual crane CL.

[0109] By displaying the placement position confirmation screen G04 on the display 73, the virtual crane CL can be easily superimposed and displayed at a desired position on the captured image P, and it is possible to confirm whether the crane 1 can be installed at the work site S.

[0110] On the placement position confirmation screen G04, messages for assisting the operation of the operator M when the placement position confirmation screen G04 is displayed on the display 73 can be displayed. For example, messages such as "Press the crane placement button to place the virtual crane at an appropriate position" and "The mark in the center of the screen is the rotation center of the virtual crane" can be displayed. When the crane placement button FB04 is touched, the display on the display 73 transitions from the placement position confirmation screen G04 to the placement position adjustment screen G05 where the virtual crane CL is superimposed and displayed.

[0111] The operator M who conducts the on-site survey of the work site S can touch the crane placement button FB04 after moving the mobile terminal 71 so that the mark MK is placed at a desired position in the captured image P, and transition the screen displayed on the display 73 to the placement position adjustment screen G05.

[0112] A back button BB03 is displayed in the upper left corner of the placement position confirmation screen G04. By touching the back button BB03, the display on the display 73 transitions from the placement position confirmation screen G04 to the model selection screen G03. When it is desired to reselect the model of the crane 1, etc., the back button BB03 can be touched to return the display on the display 73 to the model selection screen G03.

[0113] (Distance display from the wall surface to the mark) As shown in FIG. 12, when the mark MK is superimposed on the captured image P on the placement position confirmation screen G04, the distance L1 from the wall surface WL of the building BU to the mark MK can also be displayed. The wall surface WL is an example of a wall existing at the work site. The placement position confirmation adjustment unit 772 can recognize the wall surface WL of the building BU existing at the work site S based on the three-dimensional information of the work site S acquired by the three-dimensional information acquisition unit 770, and can display the distance L1 from the recognized wall surface WL to the mark MK on the placement position confirmation screen G04. The distance L1 can be directly displayed on the captured image P. Further, a display panel DP can be displayed on the placement position confirmation screen G04 separately from the captured image P, and the distance L1 can be displayed on the display panel DP.

[0114] By displaying the distance L1 from the wall surface WL to the mark MK on the placement position confirmation screen G04, it becomes easy to determine whether the virtual crane CL interferes with the wall surface WL when the virtual crane CL is superimposed on the captured image P. For example, when the virtual crane CL is superimposed on the captured image P such that the turning center of the virtual crane CL coincides with the mark MK, by comparing the distance from the turning center of the virtual crane CL to the outrigger 23C of the virtual crane CL with the distance L1 from the wall surface WL to the mark MK, it becomes possible to easily determine whether the outrigger 23C of the virtual crane CL interferes with the wall surface WL.

[0115] (Placement position adjustment screen G05) As shown in FIG. 13, when the crane placement button FB04 on the placement position confirmation screen G04 is touch-operated, the placement position adjustment screen G05 is displayed on the display 73 by the placement position confirmation adjustment unit 772.

[0116] On the arrangement position adjustment screen G05, there are displayed a captured image P of the work site S by the camera 72, a scanned area SC which is the area of the work site S where three-dimensional information has been acquired by the three-dimensional information acquisition unit 770, a virtual crane CL, and a crane position operation panel CP1 for adjusting the position of the virtual crane CL in the captured image P. The crane position operation panel CP1 is an example of a first position adjustment operation unit for adjusting the position of a virtual work vehicle superimposed on the captured image.

[0117] The arrangement position adjustment screen G05 displayed on the display 73 is an augmented reality (AR) screen in which a scanned area SC and a virtual crane CL, etc., which are virtual digital information, are superimposed on a captured image P which is spatial information of the real world captured by the camera 72. The same applies to other screens displayed on the display 73 where virtual digital information such as the scanned area SC, a marker MK, and the virtual crane CL, etc., are superimposed on the captured image P.

[0118] On the crane position operation panel CP1, there are displayed a schematic diagram of the virtual crane CL as seen from above, a front-back slider SL1-1, a left-right slider SL1-2, and a rotation slider SL1-3.

[0119] By the operator M sliding the front-back slider SL1-1, it is possible to move the virtual crane CL superimposed on the captured image P in the front-back direction. By sliding the left-right slider SL1-2, it is possible to move the virtual crane CL superimposed on the captured image P in the left-right direction. By sliding the rotation slider SL1-3, it is possible to move the virtual crane CL superimposed on the captured image P in the rotational direction.

[0120] By displaying the arrangement position adjustment screen G05 on the display 73, it is possible to easily adjust the position of the virtual crane CL superimposed on the captured image P and to confirm whether the crane 1 can be installed at the work site S.

[0121] At the lower part of the arrangement position adjustment screen G05, a completion button FB05 is displayed. By touching the completion button FB05, the display on the display 73 transitions from the arrangement position adjustment screen G05 to the function selection screen G06.

[0122] The worker M who conducts the on-site investigation of the work site S operates the front-back slider SL1-1, left-right slider SL1-2, and rotation slider SL1-3 of the crane position operation panel CP1 on the arrangement position adjustment screen G05 to adjust the position of the virtual crane CL in the captured image P, and then touches the completion button FB05 to transition the screen displayed on the display 73 from the arrangement position adjustment screen G05 to the function selection screen G06.

[0123] On the arrangement position adjustment screen G05, messages can be displayed to assist the operation of the worker M when the arrangement position adjustment screen G05 is displayed on the display 73. For example, messages such as "Move the crane to an appropriate position with the crane position operation panel and press the completion button to proceed" and "Since the overall image of the crane cannot be seen when the arrangement position is close, please move away a little" can be displayed.

[0124] At the upper left part of the arrangement position adjustment screen G05, a back button BB04 is displayed. By touching the back button BB04, the display on the display 73 transitions from the arrangement position adjustment screen G05 to the arrangement position confirmation screen G04. When re-doing the arrangement of the virtual crane CL, etc., the back button BB04 can be touched to return the display on the display 73 to the arrangement position confirmation screen G04.

[0125] The arrangement position confirmation adjustment unit 772 can also display the distance L1 from the wall surface WL of the building BU to the mark MK, which can be displayed on the arrangement position confirmation screen G04, on the arrangement position adjustment screen G05. Also, the arrangement position confirmation adjustment unit 772 can be configured to be able to display the distance L1 from the wall surface WL of the building BU to the mark MK on at least one of the arrangement position confirmation screen G04 and the arrangement position adjustment screen G05.

[0126] Based on the three-dimensional information of the work site S acquired by the three-dimensional information acquisition unit 770, the arrangement position confirmation adjustment unit 772 can grasp the inclination amount of the ground Sg at the work site S and display the grasped inclination amount of the ground Sg on the arrangement position adjustment screen G05. Further, the arrangement position confirmation adjustment unit 772 can also obtain the inclination amount of the ground Sg by using the detection results of the acceleration sensor 75 and the gyro sensor 76.

[0127] In this case, as shown in FIG. 14, the inclination amount of the ground Sg can be displayed using, for example, an inclination line Sp which is a line descending from the ground Sg at a higher position to the ground Sg at a lower position. Also, the inclination amount of the ground Sg can be represented by a gradation Gd in which the color or brightness of the screen changes according to the height of the ground Sg. The inclination line Sp and the gradation Gd can be displayed simultaneously.

[0128] When the ground Sg on which the virtual crane CL is arranged is inclined, a gap may occur between the outrigger 23C of the virtual crane CL located on the ground Sg at the lower position and the ground Sg, and it may be necessary to lay a floor board between the outrigger 23C and the ground Sg. In such a case, the work posture confirmation adjustment unit 774 can display the thickness and number of floor boards that need to be laid between the outrigger 23C and the ground Sg. For example, as shown in FIG. 14, it can be displayed that "○ floor boards with a thickness of ○○ mm are required".

[0129] As shown in FIG. 15, when displaying the inclination amount of the ground Sg, the ground Sg and the virtual crane CL viewed from above are displayed on the display 73, and it is also possible to superimpose a gradation Gd in which the color or brightness of the screen changes according to the height of the ground Sg on the screen on which the ground Sg is displayed. Also in this case, the thickness and number of floor boards that need to be laid between each outrigger 23C of the virtual crane CL and the ground Sg can be displayed.

[0130] The arrangement position confirmation adjustment unit 772 can grasp in advance the number of floor plates required when placing the crane 1 at the work site S by displaying the inclination amount of the work site S and the required number of floor plates to be laid between the outrigger 23C and the work site S on the arrangement position adjustment screen G05, making it easy to appropriately place the crane 1 at the work site S while considering the inclination amount of the ground Sg and the required number of floor plates.

[0131] (Function selection screen G06) As shown in FIG. 16, when the arrangement completion button FB05 on the arrangement position adjustment screen G05 is touched, the arrangement position confirmation adjustment unit 772 displays the function selection screen G06 on the display 73.

[0132] The arrangement position confirmation screen G04, the arrangement position adjustment screen G05, and the function selection screen G06 constitute an arrangement position confirmation adjustment screen for designating the arrangement position of the crane 1 in the captured image P, superimposing and displaying the virtual crane CL on the captured image P, and adjusting the position of the virtual crane CL superimposed on the captured image P by the arrangement position confirmation adjustment unit 772.

[0133] On the function selection screen G06, the captured image P of the work site S by the camera 72, the scanned area SC which is the area of the work site S where three-dimensional information has been acquired by the three-dimensional information acquisition unit 770, and the virtual crane CL are displayed.

[0134] Also, on the function selection screen G06, a travel path confirmation button FB06, a working posture adjustment button FB07, a model change button FB08, an obstacle placement button FB09, an outrigger extension button FB10, a distance measurement button FB11, a three-dimensional display button FB12, and a work end button FB13 are displayed.

[0135] The various buttons FB06 to FB13 on the function selection screen G06 are buttons for selecting the next operation after completing the position adjustment of the virtual crane CL arranged on the captured image P on the arrangement position adjustment screen G05.

[0136] After the operator M who conducts the on-site investigation of the work site S completes the position adjustment of the virtual crane CL arranged in the captured image P on the arrangement position adjustment screen G05, the function selection screen G06 is displayed on the display 73, and by touching the various buttons FB06 to FB13 displayed on the function selection screen G06, the screen displayed on the display 73 can be transitioned from the function selection screen G06 to the screen corresponding to the touched buttons FB06 to FB13.

[0137] On the function selection screen G06, a message for assisting the operation of the operator M when the function selection screen G06 is displayed on the display 73 can be displayed. For example, a message such as "The crane has been arranged. Please select the operation you want to perform next" can be displayed.

[0138] By touching the traveling track confirmation button FB06, the display on the display 73 transitions from the function selection screen G06 to the traveling track confirmation adjustment screen G07. The traveling track confirmation adjustment screen G07 is a screen for superimposing the traveling track RT of the virtual crane CL on the captured image P by the traveling track confirmation adjustment unit 773 and for adjusting the traveling track RT of the crane 1.

[0139] By touching the working posture adjustment button FB07, the display on the display 73 transitions from the function selection screen G06 to the working posture confirmation adjustment screen G08. The working posture confirmation adjustment screen G08 is a screen for adjusting the working posture of the virtual crane CL by the working posture confirmation adjustment unit 774.

[0140] By touching the model change button FB08, the display on the display 73 transitions from the function selection screen G06 to the model change screen G09. The model change screen G09 is a screen for changing the model of the virtual crane CL displayed in the captured image P.

[0141] By touching the obstacle placement button FB09, the display on the display 73 transitions from the function selection screen G06 to the obstacle placement screen G10. The obstacle placement screen G10 is a screen for superimposing obstacles on the captured image P.

[0142] By touching the outrigger extension button FB10, the display on the display 73 transitions from the function selection screen G06 to the outrigger extension confirmation and adjustment screen G11. The outrigger extension confirmation and adjustment screen G11 is a screen for superimposing the outriggers 23C of the virtual crane CL on the captured image P and for adjusting the extension amount of the displayed outriggers 23C.

[0143] By touching the distance measurement button FB11, the display on the display 73 transitions from the function selection screen G06 to the distance measurement screen G12. The distance measurement screen G12 is a screen for measuring the distance between any two points in the captured image P.

[0144] By touching the 3D display button FB12, the display on the display 73 transitions from the function selection screen G06 to the 3D display screen G13. The 3D display screen G13 is a screen for 3D displaying the captured image P and the display objects superimposed on the captured image P from an aerial viewpoint.

[0145] By touching the work end button FB13, the display on the display 73 transitions from the function selection screen G06 to the work end screen G14. The work end screen G14 is a screen where the end or continuation of the execution of the work vehicle placement application 77A can be selected.

[0146] At the upper left of the function selection screen G06, a back button BB05 is displayed. By touching the back button BB05, the display on the display 73 transitions from the function selection screen G06 to the placement position adjustment screen G05. When re-adjusting the placement position of the virtual crane CL, etc., the back button BB05 can be touched to return the display on the display 73 to the placement position adjustment screen G05.

[0147] (Travel Track Confirmation and Adjustment Screen G07) As shown in FIG. 17, when the travel track confirmation button FB06 on the function selection screen G06 is touch-operated, the travel track confirmation and adjustment screen G07 is displayed on the display 73 by the travel track confirmation adjustment unit 773.

[0148] On the travel track confirmation and adjustment screen G07, a captured image P of the work site S by the camera 72, a scanned area SC which is the area of the work site S where three-dimensional information has been acquired by the three-dimensional information acquisition unit 770, a virtual crane CL, a travel track RT of the virtual crane CL superimposed on the captured image P, and a travel track position operation panel CP2 for adjusting the position of the travel track RT in the captured image P are displayed. The travel track position operation panel CP2 is an example of a second position adjustment operation unit for adjusting the travel track.

[0149] The travel track RT has a vehicle body track RT1 indicating the travel track of the vehicle body 2 and a boom track RT2 indicating the travel track of the tip of the boom 31.

[0150] On the travel track position operation panel CP2, a schematic diagram of the virtual crane CL as viewed from above, the travel track RT corresponding to the schematic diagram of the virtual crane CL, a steering slider SL2-1, and a travel slider SL2-2 are displayed.

[0151] By the operator M sliding the steering slider SL2-1, it is possible to adjust the steering amount of the virtual crane CL superimposed on the captured image P, and by sliding the travel slider SL2-2, it is possible to move the virtual crane CL along the travel track RT corresponding to the steering amount.

[0152] The travel trajectory RT (travel body trajectory RT1 and boom trajectory RT2) superimposed on the captured image P is a trajectory corresponding to the steering amount adjusted by the steering slider SL2-1 and the position of the virtual crane CL adjusted by the travel slider SL2-2. That is, by operating the steering slider SL2-1 and the travel slider SL2-2, the travel trajectory of the virtual crane CL can be changed.

[0153] By operating the steering slider SL2-1 and the travel slider SL2-2 to change the travel trajectory of the virtual crane CL, it is possible to check whether the travel trajectory interferes with obstacles such as the building BU, or to adjust the travel trajectory to a trajectory that does not interfere with obstacles such as the building BU.

[0154] By displaying the travel trajectory confirmation and adjustment screen G07 on the display 73, the display and adjustment of the travel trajectory RT of the virtual crane CL on the captured image P can be easily performed, and it is possible to confirm whether the crane 1 can be carried into the work site S.

[0155] Above the travel trajectory position operation panel CP2, an adjustment function selection section SC2-1, a trajectory display selection section SC2-2, and a steering mode selection section SC2-3 are displayed.

[0156] In the adjustment function selection section SC2-1, the adjustment function to be performed on the travel trajectory confirmation and adjustment screen G07 can be selected as a "steering adjustment function" for adjusting the steering amount of the virtual crane CL and a "crane position adjustment function" for adjusting the arrangement position of the virtual crane CL.

[0157] When "Steering Adjustment Function" is selected, a schematic diagram of the virtual crane CL, the travel track RT, the steering slider SL2-1, and the travel slider SL2-2 are displayed on the travel track position operation panel CP2. When "Crane Position Adjustment Function" is selected, a schematic diagram of the virtual crane CL, the front-back slider SL1-1, the left-right slider SL1-2, and the rotation slider SL1-3 are displayed in the same way as the crane position operation panel CP1 on the placement position adjustment screen G05.

[0158] In the track display selection section SC2-2, it is possible to select "With Track" which displays the travel track on the travel track confirmation adjustment screen G07, and "Without Track" which does not display the travel track on the travel track confirmation adjustment screen G07. When "With Track" is selected, the travel track RT is displayed on the captured image P and the travel track position operation panel CP2. When "Without Track" is selected, the travel track RT is not displayed on the captured image P and the travel track position operation panel CP2.

[0159] In the steering mode selection section SC2-3, the steering mode of the virtual crane CL can be selected from "Front-wheel Steering" where only the front wheels are steered, "All-wheel Steering" where both the front and rear wheels are steered, and "Rear-wheel Steering" where only the rear wheels are steered. However, in the steering mode selection section SC2-3, not only "Front-wheel Steering", "All-wheel Steering", and "Rear-wheel Steering" are available, but other steering modes can also be configured to be selectable.

[0160] The travel track confirmation adjustment unit 773 changes the travel track RT displayed on the captured image P and the travel track position operation panel CP2 according to the selected status of the steering mode in the steering mode selection section SC2-3.

[0161] At the bottom of the travel track confirmation adjustment screen G07, a setting completion button FB14 is displayed. By touching the setting completion button FB14, the display on the display 73 transitions from the travel track confirmation adjustment screen G07 to the function selection screen G06.

[0162] Operator M, who conducts on-site investigations at the work site S, performs selections at each selection unit SC2-1, SC2-2, SC2-3 and operations on each slider SL2-1, SL2-2 on the travel path confirmation and adjustment screen G07 to set and confirm the travel path RT. After that, by touching the setting completion button FB14, the screen displayed on the display 73 can be transitioned from the travel path confirmation and adjustment screen G07 to the function selection screen G06.

[0163] On the travel path confirmation and adjustment screen G07, messages can be displayed to assist the operation of operator M when the travel path confirmation and adjustment screen G07 is displayed on the display 73. For example, messages such as "Adjust the steering amount of the virtual crane by operating the steering slider", "The virtual crane moves on the travel path by operating the travel slider", and "The travel body path indicates the passing area of the travel body of the virtual crane, and the boom path indicates the passing area of the boom of the virtual crane." can be displayed.

[0164] At the upper left of the travel path confirmation and adjustment screen G07, a return button BB06 is displayed. By touching the return button BB06, the display on the display 73 transitions from the travel path confirmation and adjustment screen G07 to the function selection screen G06. When reselecting the next task to be performed, etc., the return button BB06 can be touched to return the display on the display 73 to the function selection screen G06.

[0165] Also, when it is necessary to move from the position where the crane 1 is placed to the position where the work is to be carried out, etc., operator M designates the placement position and the work position on the travel path confirmation and adjustment screen G07, and the travel path confirmation and adjustment unit 773 determines whether crane 1 can travel from the placement position to the work position based on the three-dimensional information of the work site S and the information regarding crane 1 stored in the vehicle information storage unit 77B. If it is determined that it is possible to travel, the entry route from the placement position to the work position can also be presented on the travel path confirmation and adjustment screen G07.

[0166] When there are multiple entry routes, the operator M can be configured to select a desired entry route. In this case, it can also be configured such that the operator M sets priority items such as whether to change the posture of the crane 1, the moving time of the crane 1, and the moving distance of the crane 1 when selecting an entry route.

[0167] (Work Posture Confirmation and Adjustment Screen G08) As shown in FIG. 18, when the work posture adjustment button FB07 on the function selection screen G06 is touched, the work posture confirmation and adjustment screen G08 is displayed on the display 73 by the work posture confirmation and adjustment unit 774.

[0168] On the work posture confirmation and adjustment screen G08, a captured image P of the work site S by the camera 72, a scanned area SC which is an area of the work site S where three-dimensional information has been acquired by the three-dimensional information acquisition unit 770, a virtual crane CL, and a posture adjustment operation panel CP3 for adjusting the work posture of the virtual crane CL in the captured image P are displayed. The posture adjustment operation panel CP3 is an example of a posture adjustment operation unit for adjusting the work posture of the virtual work vehicle.

[0169] On the posture adjustment operation panel CP3, a schematic diagram of the virtual crane CL seen from the side, a boom-up / down slider SL3-1, a telescopic slider SL3-2, and a slewing slider SL3-3 are displayed.

[0170] By the operator M sliding the boom-up / down slider SL3-1, it is possible to adjust the boom-up / down angle of the boom 31C in the virtual crane CL superimposed on the captured image P. By sliding the telescopic slider SL3-2, it is possible to adjust the length of the boom 31C. By sliding the slewing slider SL3-3, it is possible to adjust the slewing angle of the slewing body 3C in the virtual crane CL.

[0171] In this way, by operating the heave slider SL3-1, the telescopic slider SL3-2, and the slewing slider SL3-3, the working posture of the virtual crane CL superimposed on the captured image P can be changed. In the posture adjustment operation panel CP3, each slider SL3-1, SL3-2, SL3-3 can also be configured with a drum roll button (Picker View) instead of the slider.

[0172] By operating the heave slider SL3-1, the telescopic slider SL3-2, and the slewing slider SL3-3 to change the working posture of the virtual crane CL, it is possible to check whether the virtual crane CL during operation interferes with obstacles such as the building BU, or to adjust the working posture of the virtual crane CL to a posture that does not interfere with obstacles such as the building BU.

[0173] By displaying the working posture confirmation and adjustment screen G08 on the display 73, the working posture of the virtual crane CL can be easily adjusted, and it is possible to confirm whether the work at the work site S of the crane 1 is feasible.

[0174] At the upper part of the posture adjustment operation panel CP3, a performance line display selection part SC3-1 and a jib display selection part SC3-2 are displayed. In the performance line display selection part SC3-1, it is possible to select "no performance line" where the performance line of the virtual crane CL is not superimposed on the captured image P, or "with performance line" where the performance line of the virtual crane CL is superimposed on the captured image P. As the performance line to be displayed on the captured image P, for example, a translucent cylindrical object indicating the working radius of the virtual crane CL can be displayed.

[0175] In the jib display selection part SC3-2, it is possible to select "no jib" where the jib 31C-J is not displayed at the tip of the boom 31 in the virtual crane CL superimposed on the captured image P, or "with jib" where the jib 31C-J is displayed at the tip of the boom 31 in the virtual crane CL superimposed on the captured image P.

[0176] When "without jib" is selected in the jib display selection unit SC3-2, the boom elevation slider SL3-1, the telescopic slider SL3-2, and the slewing slider SL3-3 are displayed on the posture adjustment operation panel CP3 corresponding to the schematic diagram of the virtual crane CL.

[0177] As shown in Fig. 19, when "with jib" is selected in the jib display selection unit SC3-2, in addition to the boom elevation slider SL3-1, the telescopic slider SL3-2, and the slewing slider SL3-3, the jib telescopic slider SL3-4 related to the operation of the jib 31C-J and the jib elevation slider SL3-5 are displayed on the posture adjustment operation panel CP3.

[0178] By the operator M sliding the jib telescopic slider SL3-4, it is possible to adjust the length of the jib 31C-J in the virtual crane CL superimposed on the captured image P, and by sliding the jib elevation slider SL3-5, it is possible to adjust the elevation angle of the jib 31C-J.

[0179] Between the performance line display selection unit SC3-1 and the jib display selection unit SC3-2 on the posture adjustment operation panel CP3 and the schematic diagram of the virtual crane CL, a lifting load display unit dp3-1, a rated total load display unit dp3-2, and a load load factor display unit dp3-3 are displayed.

[0180] The load of the load W lifted by the crane 1 can be input to the lifting load display unit dp3-1, and the input load is displayed.

[0181] The rated total load corresponding to the working posture of the virtual crane CL is displayed on the rated total load display unit dp3-2. When the working posture of the virtual crane CL changes by operating each slider SL3-1 to SL3-5, the rated total load displayed on the rated total load display unit dp3-2 also changes.

[0182] In the load load factor display unit dp3-3, the load of the load W input to the lifting load display unit dp3-1 and the load load factor corresponding to the working posture of the virtual crane CL are displayed. When the load of the load W input to the lifting load display unit dp3-1 changes, or when the working posture of the virtual crane CL changes by operating each slider SL3-1 to SL3-5, the load load factor displayed on the load load factor display unit dp3-3 also changes.

[0183] The rated total load displayed on the rated total load display unit dp3-2 and the load load factor displayed on the load load factor display unit dp3-3 can be configured to be calculated by the control unit 77 based on the load of the load W input to the lifting load display unit dp3-1 and the value corresponding to the working posture of the virtual crane CL.

[0184] Also, a computer capable of communicating with the mobile terminal 71 can be prepared separately, and information regarding the load of the load W input to the lifting load display unit dp3-1 and the working posture of the virtual crane CL is transmitted from the mobile terminal 71 to the computer, and the rated total load and the load load factor are calculated in the computer and fed back to the mobile terminal 71.

[0185] At the lower part of the working posture confirmation and adjustment screen G08, a setting completion button FB15 is displayed. By touching the setting completion button FB15, the display on the display 73 transitions from the working posture confirmation and adjustment screen G08 to the function selection screen G06.

[0186] The worker M who conducts the site survey of the work site S adjusts the working posture of the virtual crane CL by making selections in each selection unit SC3-1, SC3-2, operating each slider SL3-1 to SL3-5, and inputting to the lifting load display unit dp3-1 on the working posture confirmation and adjustment screen G08, and then touches the setting completion button FB15 to transition the screen displayed on the display 73 from the working posture confirmation and adjustment screen G08 to the function selection screen G06.

[0187] On the work posture confirmation and adjustment screen G08, a message can be displayed to assist the operator M when the work posture confirmation and adjustment screen G08 is displayed on the display 73. For example, a message such as "Please operate the posture adjustment operation panel to adjust the work posture of the virtual crane" can be displayed.

[0188] On the upper left of the work posture confirmation and adjustment screen G08, a return button BB07 is displayed. By touching the return button BB07, the display on the display 73 transitions from the work posture confirmation and adjustment screen G08 to the function selection screen G06. When reselecting the next task to be performed, etc., the return button BB07 can be touched to return the display on the display 73 to the function selection screen G06.

[0189] On the posture adjustment operation panel CP3, it is also possible to configure the display of a schematic diagram of the virtual crane CL as seen from above and the outriggers SL5-1 to SL5-4, which is the same as the crane position operation panel CP1 displayed on the placement position adjustment screen G05, to be displayable. Thereby, during the process of adjusting the work posture of the virtual crane CL on the work posture confirmation and adjustment screen G08, the placement position of the virtual crane CL can be corrected.

[0190] (Machine type change screen G09) As shown in FIG. 20, when the machine type change button FB08 on the function selection screen G06 is touched, the machine type change unit 775 displays the machine type change screen G09 on the display 73. The machine type change screen G09 displays a photographed image P of the work site S by the camera 72, a scanned area SC which is the area of the work site S where 3D information has been acquired by the 3D information acquisition unit 770, the virtual crane CL, and a list of machine types of the changeable crane 1, and a machine type list D03 for selecting a desired machine type from among the plurality of listed crane 1 machine types is displayed. The machine type list D03 is an example of a machine type selection operation unit. The photographed image P is displayed as the background of the machine type list D03.

[0191] On the model list D03, change buttons for models 01 to 07 that can be changed by the operator M are displayed. The operator M can change the model by touching the desired change button. On the model change screen G09, the state where the change button for model 03 has been touched is displayed. The selected button for model 03 that has been touched is shaded, and its display is different from the other non-shaded selected buttons.

[0192] On the model change screen G09, a message for assisting the operation of the operator M when the model change screen G09 is displayed on the display 73 can be displayed. For example, a message such as "Please select the model you want to place from the model list" can be displayed.

[0193] By displaying the model change screen G09 on the display 73, it is possible to easily change the model of the virtual crane CL that is superimposed on the captured image P.

[0194] At the bottom of the model change screen G09, a selection completion button FB16 is displayed. By touching the selection completion button FB16, the model change is completed, and the display on the display 73 transitions from the model change screen G09 to the function selection screen G06.

[0195] The operator M who conducts the on-site inspection of the work site S can touch the change button in the model list D03 on the model change screen G09 and then touch the selection completion button FB16 to transition the screen displayed on the display 73 to the function selection screen G06.

[0196] At the upper left of the model change screen G09, a back button BB08 is displayed. By touching the back button BB08, the display on the display 73 transitions from the model change screen G09 to the function selection screen G06. When reselecting the next operation, etc., the back button BB08 can be touched to return the display on the display 73 to the function selection screen G06.

[0197] (Obstacle Placement Screen G10) As shown in FIG. 21, when the obstacle placement button FB09 on the function selection screen G06 is touched, the obstacle placement screen G10 is displayed on the display 73 by the obstacle placement unit 776.

[0198] On the obstacle placement screen G10, there are a captured image P of the work site S by the camera 72, a scanned area SC which is the area of the work site S where three-dimensional information has been acquired by the three-dimensional information acquisition unit 770, a virtual crane CL, an obstacle BR superimposed on the captured image P, and an obstacle placement operation panel CP4 for selecting the type and number of obstacles to be displayed on the captured image P. The obstacle placement operation panel CP4 is an example of an obstacle selection operation unit for selecting the type and number of obstacles to be superimposed on the captured image.

[0199] On the obstacle placement operation panel CP4, there are an obstacle type selection unit SC4-1, an obstacle number selection unit SC4-2, an installation button SC4-3, a deletion button SC4-4, a schematic diagram of the obstacle BR, a height slider SL4-1, and an orientation slider SL4-2.

[0200] In the obstacle type selection unit SC4-1, it is possible to select the type of the obstacle BR to be displayed on the captured image P from among "electric pole BR1", "building BR2", and "suspended load BR3". In FIG. 21, "electric pole BR1" is selected, and the electric pole BR1 is displayed on the captured image P and the obstacle placement operation panel CP4.

[0201] In the obstacle number selection unit SC4-2, the number of the obstacle BR to be displayed on the captured image P can be selected from (1) to (5). On the captured image P, the obstacle BR corresponding to the numbers (1) to (5) can be displayed, and a maximum of 5 obstacle BRs can be displayed on the captured image P. In the obstacle number selection unit SC4-2, the number of the obstacle BR to be displayed on the captured image P can be selected.

[0202] In Fig. 21, since "utility pole BR1" is selected in the obstacle type selection section SC4-1 and number (1) is selected in the obstacle number selection section SC4-2, the utility pole BR1 corresponding to number (1) can be displayed in the captured image P.

[0203] In Fig. 21, as a schematic diagram of the obstacle BR, a schematic diagram of the utility pole BR1 is displayed. The height slider SL4-1 allows the operator M to adjust the height of the electric wire installed on the utility pole BR1 by sliding. The orientation slider SL4-2 allows the operator M to adjust the orientation of the electric wire installed on the utility pole BR1 by sliding.

[0204] After selecting the specifications of the utility pole BR1 using the obstacle specification selection section SC4-2 and then touching the installation button SC4-3, the utility pole BR1 can be superimposed and displayed on the captured image P. After superimposing and displaying the utility pole BR1 on the captured image P, it is possible to adjust the height and orientation of the electric wire installed on the utility pole BR1 using the height slider SL4-1 and the orientation slider SL4-2.

[0205] However, after selecting the specifications of the utility pole BR1 using the obstacle specification selection section SC4-2 and adjusting the height and orientation of the electric wire installed on the utility pole BR1 using the height slider SL4-1 and the orientation slider SL4-2, touching the installation button SC4-3 can also superimpose and display the utility pole BR1 on the captured image P.

[0206] In this case, for example, when the installation button SC4-3 is touched with number (1) selected in the obstacle number selection section SC4-2, the utility pole BR1 corresponding to number (1) is displayed in the captured image P. After displaying the utility pole BR1 corresponding to number (1) in the captured image P and then touching the installation button SC4-3 with number (2) selected in the obstacle number selection section SC4-2, in addition to the utility pole BR1 corresponding to number (1), the utility pole BR1 corresponding to number (2) can be displayed in the captured image P. The utility pole BR1 corresponding to each of numbers (1) to (5) can have the height and orientation of the installed electric wire adjusted individually.

[0207] Also, by touching the delete button SC4-4, the utility pole BR1 superimposed on the captured image P can be deleted from the captured image P.

[0208] As shown in Fig. 22(a), when "building BR2" is selected in the obstacle type selection section SC4-1, a schematic diagram of the building BR2 is displayed on the obstacle placement operation panel CP4. In addition, a height input section dp4-1 for inputting the height of the building BR2 to be displayed on the captured image P, a width input section dp4-2 for inputting the width of the building BR2 to be displayed on the captured image P, and a depth input section dp4-3 for inputting the depth of the building BR2 to be displayed on the captured image P are displayed.

[0209] Furthermore, an orientation slider SL4-2 is displayed on the obstacle placement operation panel CP4. By sliding the orientation slider SL4-2 by the operator M, the orientation of the building BR2 to be displayed on the captured image P can be adjusted.

[0210] When "building BR2" is selected in the obstacle type selection section SC4-1, the number of the building BR2 to be displayed on the captured image P can be selected from (1) to (5) by the obstacle specification selection section SC4-2. Similar to the case of the utility pole BR1, the building BR2 corresponding to the numbers (1) to (5) can be displayed on the captured image P, and a maximum of 5 buildings BR2 can be displayed on the captured image P.

[0211] By selecting the numbers (1) to (5) of the building BR2 by the obstacle specification selection section SC4-2 and touching the installation button SC4-3, the building BR2 corresponding to the selected numbers (1) to (5) can be superimposed on the captured image P. After the building BR2 is superimposed on the captured image P, the height, width, and depth of the building BR2 are input to the height input section dp4-1, width input section dp4-2, and depth input section dp4-3, respectively, to set the size of the building BR2, and the orientation of the building BR2 can be adjusted by the orientation slider SL4-2.

[0212] However, by selecting the numbers (1) to (5) of the building BR2 using the obstacle specification selection unit SC4-2, inputting the height, width, and depth of the building BR2 into the height input unit dp4-1, width input unit dp4-2, and depth input unit dp4-3 respectively to set the size of the building BR2, and adjusting the orientation of the building BR2 using the orientation slider SL4-2, then by touching the installation button SC4-3, it is also possible to superimpose and display the building BR2 corresponding to the selected numbers (1) to (5) on the captured image P. Also, by touching the deletion button SC4-4, the building BR2 superimposed and displayed on the captured image P can be deleted from the captured image P.

[0213] As shown in FIG. 22(b), when "suspended load BR3" is selected in the obstacle type selection unit SC4-1, a schematic diagram of the suspended load BR3 is displayed on the obstacle placement operation panel CP4.

[0214] Also, a height input unit dp4-1, width input unit dp4-2, and depth input unit dp4-3 are displayed on the obstacle placement operation panel CP4. When "suspended load BR3" is selected in the obstacle type selection unit SC4-1, the height of the suspended load BR3 to be displayed in the captured image P is input into the height input unit dp4-1, the width of the suspended load BR3 to be displayed in the captured image P is input into the width input unit dp4-2, and the depth of the suspended load BR3 to be displayed in the captured image P is input into the depth input unit dp4-3.

[0215] Furthermore, a height slider SL4-1 and an orientation slider SL4-2 are displayed on the obstacle placement operation panel CP4. When "suspended load BR3" is selected in the obstacle type selection unit SC4-1, the distance from the tip of the boom 31C of the virtual crane CL to the suspended load BR3 suspended from the tip of the boom 31C can be adjusted by the height slider SL4-1, and the orientation of the suspended load BR3 suspended from the tip of the boom 31C of the virtual crane CL can be adjusted by the orientation slider SL4-2.

[0216] When "suspended load BR3" is selected in the obstacle type selection unit SC4-1, by touching the installation button SC4-3, the suspended load BR3 can be superimposed and displayed on the captured image P. After the suspended load BR3 is superimposed and displayed on the captured image P, the height, width, and depth of the suspended load BR3 are input and set to the height input unit dp4-1, width input unit dp4-2, and depth input unit dp4-3 respectively. The distance from the tip of the boom 31C of the suspended load BR3 can be adjusted by the height slider SL4-1, and the orientation of the suspended load BR3 can be adjusted by the orientation slider SL4-2.

[0217] However, after the height, width, and depth of the suspended load BR3 are input and set to the height input unit dp4-1, width input unit dp4-2, and depth input unit dp4-3 respectively, the distance from the tip of the boom 31C of the suspended load BR3 is adjusted by the height slider SL4-1, and the orientation of the suspended load BR3 is adjusted by the orientation slider SL4-2, the suspended load BR3 can also be superimposed and displayed on the captured image P by touching the installation button SC4-3. Also, by touching the delete button SC4-4, the suspended load BR3 superimposed and displayed on the captured image P can be deleted from the captured image P.

[0218] Note that the suspended load BR3 suspended from the tip of the boom 31C in the virtual crane CL corresponds to the load W suspended from the tip of the boom 31 in the crane 1.

[0219] By operating the obstacle placement operation panel CP4 to superimpose and display the utility pole BR1, building BR2, and suspended load BR3 on the captured image P, it is possible to check whether the virtual crane CL during operation interferes with obstacles BR such as the utility pole BR1, building BR2, and suspended load BR3, and whether the suspended load BR3 suspended from the virtual crane CL becomes an obstacle that interferes with obstacles such as the building BU, utility pole BR1, and building BR2 existing at the work site S.

[0220] In addition, by displaying the obstacle placement screen G10 on the display 73, the obstacle BR can be easily displayed in the captured image P, and it is possible to confirm whether there is interference between the virtual crane CL and the obstacle BR during work.

[0221] A setting completion button FB17 is displayed at the lower part of the obstacle placement screen G10. By performing a touch operation on the setting completion button FB17, the display on the display 73 transitions from the obstacle placement screen G10 to the function selection screen G06.

[0222] The worker M who conducts the site survey of the work site S, on the obstacle placement screen G10, superimposes obstacles such as the utility pole BR1, the building BR2, and the suspended load BR3 on the captured image P, checks whether the virtual crane CL interferes with these obstacles, and then can perform a touch operation on the setting completion button FB17 to transition the screen displayed on the display 73 from the obstacle placement screen G10 to the function selection screen G06.

[0223] On the obstacle placement screen G10, it is possible to display a message for assisting the operation of the worker M when the obstacle placement screen G10 is displayed on the display 73. For example, messages such as "Operate the obstacle placement operation panel to place utility poles, buildings, and suspended loads" and "For the sizes of the building and the suspended load, please enter the height, width, and depth" can be displayed.

[0224] A return button BB09 is displayed at the upper left part of the obstacle placement screen G10. By performing a touch operation on the return button BB09, the display on the display 73 transitions from the obstacle placement screen G10 to the function selection screen G06. When reselecting the next work to be performed, etc., a touch operation can be performed on the return button BB09 to return the display on the display 73 to the function selection screen G06.

[0225] (Outrigger Extension Confirmation and Adjustment Screen G11) As shown in FIG. 23, when the outrigger extension button FB10 on the function selection screen G06 is touched, the outrigger extension confirmation adjustment screen G11 is displayed on the display 73 by the outrigger extension confirmation adjustment unit 777.

[0226] On the outrigger extension confirmation adjustment screen G11, there are a photographed image P of the work site S by the camera 72, a scanned area SC which is the area of the work site S where three-dimensional information has been acquired by the three-dimensional information acquisition unit 770, a virtual crane CL, an outrigger 23C protruding from the virtual crane CL, and an extension amount adjustment operation panel CP5 for adjusting the extension amount of the outrigger 23C, which are displayed. The extension amount adjustment operation panel CP5 is an example of an extension amount adjustment operation unit for adjusting the extension amount of the outrigger.

[0227] On the extension amount adjustment operation panel CP5, there are a schematic diagram of the virtual crane CL as viewed from above and outrigger sliders SL5-1 to SL5-4 for adjusting the extension amount of the outrigger 23C of the virtual crane CL, which are displayed.

[0228] By the operator M sliding the outrigger slider SL5-1, it is possible to adjust the extension amount of the front left outrigger 23C in the virtual crane CL, and by sliding the outrigger slider SL5-2, it is possible to adjust the extension amount of the front right outrigger 23C in the virtual crane CL.

[0229] Also, by the operator M sliding the outrigger slider SL5-3, it is possible to adjust the extension amount of the rear left outrigger 23C in the virtual crane CL, and by sliding the outrigger slider SL5-4, it is possible to adjust the extension amount of the rear right outrigger 23C in the virtual crane CL.

[0230] In this way, by operating the outrigger sliders SL5-1 to SL5-4, it is possible to change the extension amount of the outrigger 23C of the virtual crane CL superimposed on the photographed image P.

[0231] By operating the outrigger sliders SL5-1 to SL5-4 to change the outreach of the outrigger 23C, it is possible to check whether the outrigger 23C interferes with obstacles such as the building BU when the outrigger 23C is extended from the virtual crane CL placed at the work site S, or to check the outreach at which the outrigger 23C can be extended without interfering with obstacles such as the building BU.

[0232] On the upper part of the outreach adjustment operation panel CP5, an adjustment function selection section SC5-1 is displayed. In the adjustment function selection section SC5-1, the adjustment function to be performed on the outrigger outreach confirmation adjustment screen G11 can be selected between the "outrigger outreach function" for adjusting the outreach of the outrigger 23C and the "crane position adjustment function" for adjusting the placement position of the virtual crane CL.

[0233] When the "outrigger outreach function" is selected, a schematic diagram seen from above the virtual crane CL and the outrigger sliders SL5-1 to SL5-4 are displayed on the outreach adjustment operation panel CP5.

[0234] On the outreach adjustment operation panel CP5 when the "outrigger outreach function" is selected, adjacent to the outrigger sliders SL5-1 to SL5-4, the outreach of the corresponding outrigger 23C and the jack reaction force taking into account the posture of the virtual crane CL are displayed. The outreach of the outrigger 23C can be displayed, for example, as "○.○ [m]", and the jack reaction force of the outrigger 23C can be displayed, for example, as "○.○ [t]".

[0235] When the "crane position adjustment function" is selected, similar to the crane position operation panel CP1 on the placement position adjustment screen G05, a schematic diagram seen from the side of the virtual crane CL, the front-rear slider SL1-1, the left-right slider SL1-2, and the rotation slider SL1-3 are displayed. The "crane position adjustment function" can be selected to correct the placement position of the virtual crane CL when the outrigger 23C interferes with an obstacle when the outrigger 23C is extended by only the outreach required for the virtual crane CL to perform work.

[0236] By displaying the outrigger extension confirmation and adjustment screen G11 on the display 73, it is possible to easily display on the captured image P of the outrigger 23C and adjust the extension of the outrigger 23C, and it is possible to confirm the extension amount of the outrigger 23C that can be extended at the work site S.

[0237] At the lower part of the outrigger extension confirmation and adjustment screen G11, a setting completion button FB18 is displayed. By performing a touch operation on the setting completion button FB18, the display on the display 73 transitions from the outrigger extension confirmation and adjustment screen G11 to the function selection screen G06.

[0238] The worker M who conducts the site survey at the work site S operates the outrigger sliders SL5-1 to SL5-4 on the outrigger extension confirmation and adjustment screen G11 to adjust the extension amount of the outrigger 23C, and then performs a touch operation on the setting completion button FB18 to transition the screen displayed on the display 73 from the outrigger extension confirmation and adjustment screen G11 to the function selection screen G06.

[0239] On the outrigger extension confirmation and adjustment screen G11, it is possible to display a message for assisting the operation of the worker M when the outrigger extension confirmation and adjustment screen G11 is displayed on the display 73. For example, it is possible to display a message such as "Please adjust the extension amount of each outrigger using the outrigger slider".

[0240] At the upper left part of the outrigger extension confirmation and adjustment screen G11, a return button BB10 is displayed. By performing a touch operation on the return button BB10, the display on the display 73 transitions from the outrigger extension confirmation and adjustment screen G11 to the function selection screen G06. When reselecting the next operation to be performed, etc., a touch operation can be performed on the return button BB10 to return the display on the display 73 to the function selection screen G06.

[0241] The outrigger extension confirmation adjustment unit 777 can display the inclination amount of the ground Sg represented by the inclination line Sp, the gradation Gd, etc., and the required number of floor boards on the outrigger extension confirmation adjustment screen G11, which can be displayed on the arrangement position adjustment screen G05. By displaying the inclination amount of the ground Sg and the required number of floor boards on the outrigger extension confirmation adjustment screen G11, it becomes possible to adjust the extension amount of the outrigger 23C while considering the inclination amount of the ground Sg and the required number of floor boards.

[0242] (Distance measurement screen G12) As shown in FIG. 24, when the distance measurement button FB11 on the function selection screen G06 is touched, the distance measurement unit 778 displays the distance measurement screen G12 on the display 73.

[0243] On the distance measurement screen G12, a photographed image P of the work site S by the camera 72, a scanned area SC which is an area of the work site S where three-dimensional information has been acquired by the three-dimensional information acquisition unit 770, a virtual crane CL, a first cone CN1, a second cone CN2, a straight line L2 connecting the first cone CN1 and the second cone CN2, and a distance measurement operation panel CP6 for adjusting the positions of the first cone CN1 and the second cone CN2 are displayed. The first cone CN1 and the second cone CN2 are markers indicating any two points in the photographed image P. The distance measurement operation panel CP6 is an example of a third position adjustment unit for adjusting the positions of the markers.

[0244] On the distance measurement operation panel CP6, a measurement position selection unit SC6-1, a start point setting button SC6-2, an end point setting button SC6-3, a duplicate display button SC6-4, a duplicate deletion button SC6-5, schematic diagrams of the first cone CN1 and the second cone CN2, the straight line L2, a left-right movement slider SL6-1, and a front-back movement slider SL6-2 are displayed. The first cone CN1 is a marker indicating the start point of the distance measurement, and the second cone CN2 is a marker indicating the end point of the distance measurement.

[0245] In the measurement position selection unit SC6-1, it is possible to select and register up to five positions (1) to (5) where distance measurement is to be performed in the captured image P. In the measurement position selection unit SC6-1 shown in FIG. 23, (2) is selected.

[0246] When the distance measurement screen G12 is displayed on the display 73, a laser beam LZ is irradiated from the laser sensor 74 of the mobile terminal 71 in a direction orthogonal to the display 73, and a first cone CN1 is displayed at a location corresponding to the contact point between the laser beam LZ and the ground Sg in the captured image P.

[0247] When the start point setting button SC6-2 is touched and operated while adjusting the posture of the mobile terminal 71 so that the first cone CN1 is displayed at a desired position in the captured image P, the position of the first cone CN1 is fixed and the start point of the distance measurement is set.

[0248] When the position of the first cone CN1 is fixed, a second cone CN2 is displayed in the captured image P. Similar to the case of the first cone CN1, when the end point setting button SC6-3 is touched and operated while adjusting the posture of the mobile terminal 71 so that the second cone CN2 is displayed at a desired position in the captured image P, the position of the second cone CN2 is fixed and the end point of the distance measurement is set.

[0249] When the start point by the first cone CN1 and the end point by the second cone CN2 are set in the captured image P, a straight line L2 is displayed between the first cone CN1 and the second cone CN2, and the distance between the first cone CN1 and the second cone CN2 is displayed adjacent to the second cone CN2. In this case, the two-point distance between the first cone CN1 and the second cone CN2 is also displayed on the distance measurement operation panel CP6.

[0250] When the copy display button SC6-4 is touched and operated in the state where the straight line L2 is displayed, a copied straight line L2-1 which is a copy of the straight line L2 is displayed on the captured image P and the distance measurement operation panel CP6.

[0251] While the copied straight line L2-1 is displayed, by sliding the left-right movement slider SL6-1, the copied straight line L2-1 can be moved left and right. By sliding the forward-backward movement slider SL6-2, the copied straight line L2-1 can be moved forward and backward. By moving the copied straight line L2-1, a copied straight line L2-1 with the measured length can be displayed at any location of the captured image P.

[0252] When the copy deletion button SC6-5 is touched while the copied straight line L2-1 is displayed, the copied straight line L2-1 displayed on the captured image P and the distance measurement operation panel CP6 can be deleted.

[0253] By displaying the distance measurement screen G12 on the display 73, it is possible to easily confirm the distance between two desired points in the captured image P.

[0254] At the lower part of the distance measurement screen G12, a setting completion button FB19 is displayed. By touching the setting completion button FB19, the display on the display 73 transitions from the distance measurement screen G12 to the function selection screen G06.

[0255] The worker M who conducts the on-site investigation of the work site S, after measuring the distance between the first cone CN1 and the second cone CN2 on the distance measurement screen G12, can touch the setting completion button FB19 to transition the screen displayed on the display 73 from the distance measurement screen G12 to the function selection screen G06.

[0256] On the distance measurement screen G12, messages for assisting the operation of the worker M when the distance measurement screen G12 is displayed on the display 73 can be displayed. For example, messages such as "Measure the distance between two points. Please set the start point and the end point using the distance measurement operation panel." and "Up to 5 locations can be measured at most" can be displayed.

[0257] At the upper left of the distance measurement screen G12, a back button BB11 is displayed. By touching the back button BB11, the display on the display 73 transitions from the distance measurement screen G12 to the function selection screen G06. When reselecting the next operation to be performed, etc., the back button BB11 can be touched to return the display on the display 73 to the function selection screen G06.

[0258] (3D display screen G13) As shown in FIG. 25, when the 3D display button FB12 on the function selection screen G06 is touched, the 3D display unit 779 displays the 3D display screen G13 on the display 73.

[0259] On the 3D display screen G13, a 3D image P-3D which is a 3D-displayed photographed image P, a scanned area SC, a virtual crane CL, and obstacles BR (pole BR1 and suspended load BR3) which are display objects superimposed on the photographed image P, a viewpoint adjustment operation panel CP7, and an adjustment operation panel CP8 are displayed. The 3D image P-3D is formed by reconstructing the point cloud data of the 3D information acquired by the 3D information acquisition unit 770.

[0260] The viewpoint adjustment operation panel CP7 is a panel for adjusting the viewpoint of the 3D display on the 3D display screen G13. The viewpoint adjustment operation panel CP7 is an example of a viewpoint adjustment operation unit.

[0261] On the viewpoint adjustment operation panel CP7, a viewpoint adjustment selection unit SC7-1 is displayed. In the viewpoint adjustment selection unit SC7-1, it is possible to select "viewpoint movement" for moving the viewpoint of the 3D display on the 3D display screen G13 and "viewpoint rotation" for rotating the viewpoint of the 3D display on the 3D display screen G13.

[0262] When "viewpoint rotation" is selected in the viewpoint adjustment selection unit SC7-1, by swiping the display 73 with one finger, the viewpoint of the 3D display can be rotated in the swiped direction.

[0263] Also, when "rotation of viewpoint" is selected in the viewpoint adjustment selection unit SC7-1, a rotation display illustration dp7-1 is displayed on the viewpoint adjustment operation panel CP7. The rotation display illustration dp7-1 is a display suggesting that the 3D display screen G13 is in a state where the viewpoint of the 3D display can be rotated. An operator M who sees the rotation display illustration dp7-1 can easily grasp that the 3D display screen G13 is in a state where the viewpoint of the 3D display can be rotated.

[0264] When "movement of viewpoint" is selected in the viewpoint adjustment selection unit SC7-1, by swiping the display 73 with one finger, the viewpoint of the 3D display can be translated in parallel in the swiped direction.

[0265] Also, when "movement of viewpoint" is selected in the viewpoint adjustment selection unit SC7-1, a movement display illustration dp7-2 shown in FIG. 26 is displayed on the viewpoint adjustment operation panel CP7. The movement display illustration dp7-2 is a display suggesting that the 3D display screen G13 is in a state where the viewpoint of the 3D display can be moved. An operator M who sees the movement display illustration dp7-2 can easily grasp that the 3D display screen G13 is in a state where the viewpoint of the 3D display can be moved.

[0266] By displaying the 3D display screen G13 on the display 73, display objects such as the scanned area SC, the virtual crane CL, and the obstacle BR superimposed on the captured image P can be three-dimensionally visually recognized from various positions and angles in a bird's-eye view by the 3D image P-3D. Thereby, it is possible to easily grasp the presence or absence of interference between the virtual crane CL and the obstacle BR, etc., and it is possible to confirm the feasibility of the work by the crane at the work site S.

[0267] In the three-dimensional display screen G13, when the virtual crane CL interferes with an obstacle BR or the like, the portion of the virtual crane CL that is interfering with the obstacle BR or the like can be colored and displayed in a predetermined color such as red. Here, the "obstacle BR or the like" includes, in addition to the virtual obstacle BR superimposed on the captured image P, obstacles such as the building BU and the wall surface WL that actually exist at the work site S and for which three-dimensional information has been acquired by the three-dimensional information acquisition unit 770. For example, when the second-stage portion of the boom 31C in the virtual crane CL is in contact with the obstacle BR, the second-stage portion of the boom 31C can be colored red and displayed on the three-dimensional display screen G13. Thereby, the portion where the virtual crane CL interferes with the obstacle BR or the like can be emphasized, and it becomes easier to grasp the interfering portion.

[0268] The adjustment operation panel CP8 is a panel for adjusting the position of the virtual crane CL or for adjusting the working posture of the virtual crane CL. On the adjustment operation panel CP8, an adjustment function selection unit SC8-1 is displayed. In the adjustment function selection unit SC8-1, it is possible to select a "crane position adjustment function" for adjusting the arrangement position of the virtual crane CL and a "working posture adjustment function" for adjusting the working posture of the virtual crane CL.

[0269] When the "crane position adjustment function" is selected in the adjustment function selection unit SC8-1, similar to the crane position operation panel CP1 on the arrangement position adjustment screen G05, a schematic diagram of the virtual crane CL, a front-back slider SL1-1, a left-right slider SL1-2, and a rotation slider SL1-3 are displayed.

[0270] By selecting the "crane position adjustment function" in the adjustment function selection unit SC8-1, the operator M can adjust the arrangement position of the virtual crane CL by operating the sliders SL1-1 to SL1-3 on the three-dimensional display screen G13.

[0271] When the "working posture adjustment function" is selected in the adjustment function selection unit SC8-1, similar to the posture adjustment operation panel CP3 on the working posture confirmation and adjustment screen G08, the performance line display selection unit SC3-1, the jib display selection unit SC3-2, the lifted load display unit dp3-1, the rated total load display unit dp3-2, the load load factor display unit dp3-3, a schematic diagram of the virtual crane CL viewed from the side, the luffing slider SL3-1, the telescopic slider SL3-2, and the slewing slider SL3-3 are displayed. Note that Fig. 25 shows the adjustment operation panel CP8 when the "working posture adjustment function" is selected in the adjustment function selection unit SC8-1.

[0272] By selecting the "working posture adjustment function" in the adjustment function selection unit SC8-1, the operator M can adjust the working posture of the virtual crane CL by making selections in the respective selection units SC3-1 and SC3-2, operating the respective sliders SL3-1 to SL3-5, and inputting to the lifted load display unit dp3-1 on the three-dimensional display screen G13.

[0273] On the three-dimensional display screen G13, messages can be displayed to assist the operation of the operator M when the three-dimensional display screen G13 is displayed on the display 73. For example, when the "crane position adjustment function" is selected in the adjustment function selection unit SC8-1, messages such as "Please operate the adjustment operation panel to adjust the position of the virtual crane" can be displayed, and when the "working posture adjustment function" is selected in the adjustment function selection unit SC8-1, messages such as "Please operate the adjustment operation panel to adjust the working posture of the virtual crane" can be displayed.

[0274] An AR screen button BB12 is displayed in the upper left corner of the three-dimensional display screen G13. By touching the AR screen button BB12, the display on the display 73 transitions from the three-dimensional display screen G13 to the function selection screen G06 which is an augmented reality screen. When it is necessary to reselect the next task to be performed, etc., the AR screen button BB12 can be touched to return the display on the display 73 to the function selection screen G06.

[0275] The three-dimensional display unit 779 can display, on the three-dimensional display screen G13, the inclination amount of the ground Sg represented by the inclination line Sp, the gradation Gd, etc., and the number of required floorboards, which can be displayed on the arrangement position adjustment screen G05. By displaying the inclination amount of the ground Sg and the number of required floorboards on the three-dimensional display screen G13, it becomes possible to three-dimensionally overlook the work site S while considering the inclination amount of the ground Sg and the number of required floorboards, and to arrange the virtual crane CL at an appropriate position.

[0276] (Work completion screen G14) As shown in FIG. 27, when the work completion button FB13 on the function selection screen G06 is touch-operated, the work vehicle arrangement application 77A displays the work completion screen G14 on the display 73.

[0277] On the work completion screen G14, a photographed image P of the work site S by the camera 72, a scanned area SC which is the area of the work site S where three-dimensional information has been acquired by the three-dimensional information acquisition unit 770, the virtual crane CL, and a work selection display D04 for selecting the next work are displayed.

[0278] On the work selection display D04, an application termination button FB20, a resume button BB13, and a cancel button BB14 are displayed.

[0279] When the application termination button FB20 is touch-operated, the execution of the work vehicle arrangement application 77A stops and the work vehicle arrangement application 77A is closed. When the on-site investigation of the work site S is completed, etc., the operator M can touch-operate the application termination button FB20 to close the work vehicle arrangement application 77A.

[0280] When the resume button BB13 is touch-operated, the display on the display 73 transitions from the work completion screen G14 to the top screen G01. When the operator M needs to conduct the on-site investigation of the work site S from the beginning again, etc., the resume button BB13 can be touch-operated to display the top screen G01 on the display 73.

[0281] When the cancel button BB14 is touched, the display on the display 73 transitions from the work completion screen G14 to the function selection screen G06. When the worker M needs to reselect the next task, etc., the worker M can touch the cancel button BB14 to display the function selection screen G06 on the display 73.

[0282] On the work completion screen G14, a message for assisting the operation of the worker M when the work completion screen G14 is displayed on the display 73 can be displayed. For example, a message such as "The crane has been installed. Please select the next task you want to perform" can be displayed.

[0283] As described above, by executing the work vehicle placement application 77A on the mobile terminal 71, it is possible to easily confirm whether the crane 1 can be carried into and installed at the work site S, whether work can be performed by the crane 1 at the work site S, and the model of the crane 1 that can perform work at the work site S.

[0284] [Relationship between the function selection screen, the travel path confirmation and adjustment screen, and the work posture confirmation and adjustment screen] As shown in FIG. 28, a travel path confirmation button FB06 is displayed on the function selection screen G06, which is the placement position confirmation and adjustment screen. By touching the travel path confirmation button FB06, the screen displayed on the display 73 can be transitioned from the function selection screen G06 to the travel path confirmation and adjustment screen G07. The travel path confirmation button FB06 is an example of a first movement operation unit for moving from the placement position confirmation and adjustment screen to the travel path confirmation and adjustment screen.

[0285] On the function selection screen G06, which is the configuration position confirmation adjustment screen, there is a work posture adjustment button FB07 displayed. By touching the work posture adjustment button FB07, the screen displayed on the display 73 can be transitioned from the function selection screen G06 to the work posture confirmation adjustment screen G08. The work posture adjustment button FB07 is an example of a second movement operation unit for moving from the configuration position confirmation adjustment screen to the work posture confirmation adjustment screen.

[0286] On the travel track confirmation adjustment screen G07, there is a return button BB06 displayed. By touching the return button BB06, the screen displayed on the display 73 can be transitioned from the travel track confirmation adjustment screen G07 to the function selection screen G06. The return button BB06 is an example of a third movement operation unit for moving from the travel track confirmation adjustment screen to the configuration position confirmation adjustment screen.

[0287] On the work posture confirmation adjustment screen G08, there is a return button BB07 displayed. By touching the return button BB07, the screen displayed on the display 73 can be transitioned from the work posture confirmation adjustment screen G08 to the function selection screen G06. The return button BB07 is an example of a fourth movement operation unit for moving from the work posture confirmation adjustment screen to the configuration position confirmation adjustment screen.

[0288] In this way, with the travel track confirmation button FB06 and the work posture adjustment button FB07 displayed on the function selection screen G06, the return button BB06 displayed on the travel track confirmation adjustment screen G07, and the return button BB07 displayed on the work posture confirmation adjustment screen G08, it is possible to smoothly move between the function selection screen G06, the travel track confirmation adjustment screen G07, and the work posture confirmation adjustment screen G08, enabling the on-site investigation at the work site S to proceed quickly.

[0289] In this embodiment, it is configured to be movable between the function selection screen G06, the travel path confirmation and adjustment screen G07, and the working posture confirmation and adjustment screen G08. However, with a similar configuration, it is also possible to configure it to be movable between the placement position adjustment screen G05, the travel path confirmation and adjustment screen G07, and the working posture confirmation and adjustment screen G08. Thereby, on the travel path confirmation and adjustment screen G07 and the working posture confirmation and adjustment screen G08, when it is desired to greatly change the placement position of the virtual crane CL, etc., the placement position adjustment screen G05 can be quickly displayed on the display 73.

[0290] [Modification example of the placement of the virtual crane in the captured image] In this embodiment, the configuration of arranging one virtual crane CL in the captured image P has been described. However, a plurality of virtual cranes CL can also be arranged and superimposed in the captured image P.

[0291] In the work vehicle placement application 77A, the model of crane 1 is selected on the model selection screen G03, the virtual crane CL corresponding to the selected model is arranged in the captured image P on the placement position confirmation screen G04, and after adjusting the position of the virtual crane CL superimposed on the captured image P on the placement position adjustment screen G05, it transitions to the function selection screen G06.

[0292] In this case, a "crane additional installation button" is provided on the function selection screen G06. By touching the "crane additional installation button", it transitions to the model selection screen G03 to select the model of crane 1 again, and then transitions to the placement position confirmation screen G04 to arrange the virtual crane CL in the captured image P again, so that the second virtual crane CL can be superimposed and displayed in the captured image P. Furthermore, by transitioning from the placement position confirmation screen G04 through the placement position adjustment screen G05 to the function selection screen G06, touching the "crane additional installation button" and continuing the same operation, it is possible to arrange the third and subsequent virtual cranes CL in the captured image P.

[0293] When a plurality of virtual cranes CL are arranged on the captured image P, on various function screens such as the arrangement position adjustment screen G05, the travel track confirmation adjustment screen G07, the working posture confirmation adjustment screen G08, the model change screen G09, the obstacle arrangement screen G10, and the outrigger extension confirmation adjustment screen G11, etc., among the plurality of virtual cranes CL, a selection button for selecting which virtual crane CL to be the operation target can be provided, and it can be configured to operate the virtual crane CL selected by the selection button.

[0294] For example, in the obstacle type selection unit SC4-1 of the obstacle arrangement operation panel CP4 of the obstacle arrangement screen G10, the type of the obstacle BR arranged on the captured image P is configured to be selected from among "utility pole BR1", "building BR2", and "suspended load BR3". Similarly, a selection unit can be displayed on the operation panel of each screen to be configured to select the virtual crane to be operated from among the plurality of arranged virtual cranes CL.

[0295] In the present embodiment, the case where the crane 1 is applied as the work vehicle arranged at the work site S where the on-site survey is performed using the work vehicle arrangement support system has been described. However, the work vehicle is not limited to this, and other work vehicles such as a gantry type hydraulic lifter, which is a lifting machine that lifts a load using a jack mechanism that expands and contracts by a hydraulic cylinder or the like and a beam, can also be applied.

Explanation of reference numerals

[0296] 1 Crane 7 Work vehicle arrangement support system 23C Outrigger 71 Portable terminal 72 Camera 73 Display 77 Control unit 77A Work vehicle arrangement application 77B Vehicle information storage unit 770 3D information acquisition unit 771 Model selection unit 772 Arrangement position confirmation adjustment unit 773 Travel Track Confirmation and Adjustment Unit 774 Working Posture Confirmation and Adjustment Unit 775 Machine Type Change Unit 776 Obstacle Arrangement Unit 777 Outrigger Extension Confirmation and Adjustment Unit 778 Distance Measurement Unit 779 3D Display Unit FB04 Crane Arrangement Button FB06 Travel Track Confirmation Button FB07 Working Posture Adjustment Button BB06, BB07 Return Button BR Obstacle BR1 Utility Pole BR2 Building BR3 Suspended Load CL Virtual Crane CN1 First Cone CN2 Second Cone CP1 Crane Position Operation Panel CP2 Travel Track Position Operation Panel CP3 Posture Adjustment Operation Panel CP4 Obstacle Arrangement Operation Panel CP5 Extension Amount Adjustment Operation Panel CP6 Distance Measurement Operation Panel CP7 Viewpoint Adjustment Operation Panel D03 Machine Type List G04 Arrangement Position Confirmation Screen G05 Arrangement Position Adjustment Screen G06 Function Selection Screen G07 Travel Track Confirmation and Adjustment Screen G08 Working Posture Confirmation and Adjustment Screen G09 Machine Type Change Screen G10 Obstacle Arrangement Screen G11 Outrigger Extension Confirmation and Adjustment Screen G12 Distance Measurement Screen G13 3D Display Screen Gd Gradation L1 Distance (from Wall to Mark) MK Mark P Photographed Image P-3D 3D Image RT Travel Track S Work Site SC Scanned Area Sp Incline WL Wall

Claims

1. A mobile terminal having a camera capable of photographing a work site where a work vehicle is to be placed, a display capable of displaying a photographed image taken by the camera, and a work vehicle placement support system including a control unit for superimposing and displaying a virtual work vehicle on the photographed image, wherein the control unit includes a three-dimensional information acquisition unit for acquiring three-dimensional information of the work site where the work vehicle is to be placed, a model selection unit capable of selecting a model of the work vehicle to be placed at the work site, a placement position confirmation adjustment unit for designating a placement position of the virtual work vehicle in the photographed image, superimposing and displaying the virtual work vehicle at the designated placement position in the photographed image, and adjusting the placement position of the virtual work vehicle superimposed on the photographed image, a travel trajectory confirmation adjustment unit for superimposing a travel trajectory of the virtual work vehicle displayed in the photographed image on the photographed image and adjusting the displayed travel trajectory, and a work posture confirmation adjustment unit for adjusting a work posture of the virtual work vehicle displayed in the photographed image. A work vehicle placement support system comprising the above components.

2. The control unit is capable of displaying, on the display, a placement position confirmation adjustment screen for designating a placement position of the work vehicle, superimposing and displaying the virtual work vehicle on the photographed image, and adjusting the position of the virtual work vehicle superimposed on the photographed image by the placement position confirmation adjustment unit, a travel trajectory confirmation adjustment screen for superimposing the travel trajectory of the virtual work vehicle on the photographed image and adjusting the travel trajectory by the travel trajectory confirmation adjustment unit, and a work posture confirmation adjustment screen for adjusting the work posture of the virtual work vehicle by the work posture confirmation adjustment unit, wherein the placement position confirmation adjustment screen displays a first movement operation unit for moving from the placement position confirmation adjustment screen to the travel trajectory confirmation adjustment screen and a second movement operation unit for moving from the placement position confirmation adjustment screen to the work posture confirmation adjustment screen, the travel trajectory confirmation adjustment screen displays a third movement operation unit for moving from the travel trajectory confirmation adjustment screen to the placement position confirmation adjustment screen, and the work posture confirmation adjustment screen displays a fourth movement operation unit for moving from the work posture confirmation adjustment screen to the placement position confirmation adjustment screen. The work vehicle placement support system according to Claim 1.

3. The arrangement position confirmation adjustment unit can display, on the display, an arrangement position confirmation adjustment screen for designating the arrangement position of the work vehicle, superimposing and displaying the virtual work vehicle on the captured image, and adjusting the position of the virtual work vehicle superimposed on the captured image. The arrangement position confirmation adjustment screen is an arrangement position confirmation screen on which the captured image, a region in which three-dimensional information of the work site in the captured image is acquired, a mark indicating a position where the virtual work vehicle is to be arranged in the captured image, and an arrangement operation unit for superimposing and displaying the virtual work vehicle at the display position of the mark in the captured image are displayed. The work vehicle arrangement support system according to claim 1, comprising: an arrangement position confirmation screen on which the captured image, a region in which three-dimensional information of the work site in the captured image is acquired, the virtual work vehicle, and a first position adjustment operation unit for adjusting the position of the virtual work vehicle superimposed on the captured image are displayed; and an arrangement position adjustment screen on which the captured image, a region in which three-dimensional information of the work site in the captured image is acquired, the virtual work vehicle, and a first position adjustment operation unit for adjusting the position of the virtual work vehicle superimposed on the captured image are displayed.

4. The travel track confirmation adjustment unit can display, on the display, the travel track of the virtual work vehicle superimposed on the captured image and a travel track confirmation adjustment screen for adjusting the travel track. The work vehicle arrangement support system according to claim 1, wherein the travel track confirmation adjustment screen displays the captured image, a region in which three-dimensional information of the work site in the captured image is acquired, the virtual work vehicle superimposed on the captured image, the travel track of the virtual work vehicle, and a second position adjustment operation unit for adjusting the travel track.

5. The work posture confirmation adjustment unit can display, on the display, a work posture confirmation adjustment screen for adjusting the work posture of the virtual work vehicle. The work vehicle arrangement support system according to claim 1, wherein the work posture confirmation adjustment screen displays the captured image, a region in which three-dimensional information of the work site in the captured image is acquired, the virtual work vehicle superimposed on the captured image, and a posture adjustment operation unit for adjusting the work posture of the virtual work vehicle.

6. The control unit further includes a model change unit for changing the model of the virtual work vehicle to be superimposed on the captured image. The model change unit can display, on the display, a model change screen for changing the model of the virtual work vehicle to be displayed in the captured image. The work vehicle arrangement support system according to claim 1, wherein a model selection operation unit for selecting a desired model from among the work vehicles of a plurality of models is displayed on the model change screen.

7. The control unit further includes an obstacle arrangement unit that superimposes an obstacle on the captured image, the obstacle arrangement unit can display an obstacle arrangement screen for superimposing an obstacle on the captured image on the display, the obstacle arrangement screen displays the captured image, an area where three-dimensional information of the work site in the captured image is acquired, the virtual work vehicle superimposed on the captured image, the obstacle superimposed on the captured image, and an obstacle selection operation unit for selecting the type and number of obstacles to be superimposed on the captured image. The work vehicle arrangement support system according to claim 1.

8. The control unit further includes an outrigger extension confirmation adjustment unit that superimposes the outriggers of the virtual work vehicle on the captured image and adjusts the extension amount of the displayed outriggers, the outrigger extension confirmation adjustment unit can display an outrigger extension confirmation adjustment screen for superimposing the outriggers of the virtual work vehicle on the captured image and adjusting the extension amount of the displayed outriggers on the display, the outrigger extension confirmation adjustment screen displays the captured image, an area where three-dimensional information of the work site in the captured image is acquired, the virtual work vehicle superimposed on the captured image, the outriggers protruding from the virtual work vehicle, and an extension amount adjustment operation unit for adjusting the extension amount of the outriggers. The work vehicle arrangement support system according to claim 1.

9. The control unit further includes a distance measurement unit that measures the distance between any two points in the captured image, the distance measurement unit can display a distance measurement screen for measuring the distance between any two points in the captured image on the display, the distance measurement screen displays the captured image, an area where three-dimensional information of the work site in the captured image is acquired, the virtual work vehicle superimposed on the captured image, a marker indicating any two points in the captured image, and a third position adjustment operation unit for adjusting the position of the marker. The work vehicle arrangement support system according to claim 1.

10. The control unit The system further includes a three-dimensional display unit that three-dimensionally displays the captured image and the display object superimposed on the captured image from an aerial viewpoint. The three-dimensional display unit can display, on the display, a three-dimensional display screen for three-dimensionally displaying the captured image and the display object superimposed on the captured image from an aerial viewpoint. The work vehicle placement support system according to claim 1, wherein the three-dimensional display screen displays the captured image three-dimensionally displayed, the display object superimposed on the captured image, and a viewpoint adjustment operation unit for adjusting the viewpoint of the three-dimensional display.

11. The placement position confirmation adjustment unit On the placement position confirmation adjustment screen The work vehicle placement support system according to claim 3, which displays the inclination amount of the work site in the captured image and the required number of floor plates to be laid between the outriggers of the virtual work vehicle and the work site.

12. The placement position confirmation adjustment unit Can recognize a wall existing at the work site based on the three-dimensional information of the work site acquired by the three-dimensional information acquisition unit, The work vehicle placement support system according to claim 3, wherein the distance from the wall to the mark can be displayed on at least one of the placement position confirmation screen and the placement position adjustment screen.

13. The control unit further includes a vehicle information storage unit that stores information regarding the work vehicles of multiple models, The work vehicle placement support system according to claim 1, wherein the model selection unit can extract the work vehicle that can be placed at the work site from multiple models of work vehicles based on the three-dimensional information of the work site acquired by the three-dimensional information acquisition unit and the information regarding the work vehicles stored in the vehicle information storage unit.

Images