Mobile crane

Abstract

To provide a mobile crane capable of easily generating a transportation route of a cargo with one-hand and capable of transporting the cargo along the generated transportation route.SOLUTION: A transportation route generating device 7 of a mobile crane 1 comprises: a camera 73 capable of photographing a transportation site S; a display 72 capable of displaying the photographed image PT3 captured by the camera 73; and a portable terminal 71 comprising a control part 77 having a three-dimensional information acquisition part 770 for acquiring three-dimensional information of the transportation site S, a transporting destination designation part 771 for designating a transportation destination of a cargo W lifted by a crane device 6 in the captured image PT3, and a transportation route generating part 772 for generating a transportation route TR of the cargo W connecting a start point P0 at which the cargo W starts moving and an end point P2 of the movement of the cargo W to be the transportation destination of the cargo W, and superimposing the transportation route TR on the captured image PT3 and displaying it. The transportation route generating part 772 can change the transportation route TR superimposed on the captured image PT3 and displayed, depending on a posture of the portable terminal 71.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a mobile crane. [Background technology]

[0002] In the past, in a mobile crane in which a crane device is mounted on a vehicle with a loading platform, when transporting a load using the crane device, the crane device is operated by operating an operating device such as a lever switch or joystick equipped on a radio-controlled operation device. In this case, the worker operating the radio-controlled operation device operates the operating device of the radio-controlled operation device with one hand while supporting the load with the other hand and moves the load to the destination.

[0003] When transporting cargo to its destination while operating the radio-controlled operating tool, there are obstacles between the crane apparatus and the destination that may interfere with the cargo, so it is necessary to operate the radio-controlled operating tool while the cargo is being transported to operate the boom and hook of the crane apparatus so that the cargo does not interfere with the obstacles.

[0004] The radio-controlled machine is provided with multiple operating tools for adjusting the length, hoisting angle, and rotation angle of the boom, as well as the up and down position of the hook, and when moving cargo, by operating the multiple operating tools, it is possible to move the cargo along an appropriate transport route that does not interfere with obstacles.

[0005] However, it is difficult for an operator to operate the multiple operating tools of the radio-controlled robot with one hand to move the luggage along the appropriate transport path. Furthermore, if the multiple operating tools of the radio-controlled robot are operated with both hands to move the luggage along the appropriate transport path, multiple operators are required.

[0006] Therefore, conventionally, as disclosed in Patent Document 1, a travel route from a starting point where delivery begins to an end point where delivery ends is generated within a movable area in which a delivery robot can travel, based on a map of a specified area that includes the starting point and the end point, and the delivery robot is made to travel autonomously along the determined travel route. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] JP 2023-5449 A Summary of the Invention [Problem to be solved by the invention]

[0008] When the technology disclosed in the aforementioned Patent Document 1 for determining a travel route based on a map including a start point and an end point is applied to transporting luggage using a crane device in a mobile crane, the situation at the transport site where the luggage is transported by the crane device changes from moment to moment, and there are cases where an obstacle that interferes with the luggage is actually present in an area designated as a movable area on the map, making it impossible to generate an appropriate travel route.

[0009] Therefore, the present invention provides a mobile crane that can easily generate an appropriate cargo transport route with one hand depending on the conditions of the transport site where the cargo is to be transported, and can transport the cargo along the generated transport route. [Means for solving the problem]

[0010] The mobile crane that solves the above problems has the following features.

[0011] That is, the mobile crane is a mobile crane equipped with a crane apparatus mounted on a vehicle equipped with a loading platform and a transport path generation device that generates a transport path for the luggage by the crane apparatus, and the transport path generation device is equipped with a mobile terminal having a camera capable of photographing the surroundings of the mobile crane including the mobile crane, a display capable of displaying the captured image captured by the camera, a 3D information acquisition unit that acquires 3D information of the surroundings of the mobile crane including the mobile crane, a destination designation unit that designates a destination of the luggage lifted by the crane apparatus in the captured image, and a transport path generation unit that generates a transport path for the luggage connecting a starting point where the luggage begins to move and an end point of the movement of the luggage which becomes the destination of the luggage, and superimposes and displays the transport path on the captured image, and the transport path generation unit is capable of changing the transport path that is superimposed and displayed on the captured image depending on the attitude of the mobile terminal.

[0012] This allows the luggage transport route generated by the transport route generation unit to be set arbitrarily by changing the posture of the mobile terminal, allowing the worker to easily set the luggage transport route with one hand while assisting the luggage with the other hand depending on the situation at the transport site where the luggage is being transported, and transport the luggage to its destination.

[0013] In addition, the control unit further has a transport control unit that controls the operation of the crane apparatus so that the luggage moves along the transport path, and the mobile terminal has a transport start button that starts control of the operation of the crane apparatus by the transport control unit.

[0014] This allows the luggage to be automatically transported along the transport route by operating the transport start button, and after operating the transport start button, the worker can prepare for the transport of the next luggage, thereby making the luggage transport work more efficient.

[0015] The control unit also has a communication unit capable of communicating with the crane apparatus, and a movable range display unit to which information regarding the load of the luggage lifted by the crane apparatus is input through the communication unit, which calculates a movable range of the luggage based on the input information regarding the load of the luggage, and displays the calculated range in a superimposed manner on the captured image.

[0016] This makes it possible to recognize the range within which the cargo can be moved at the time the cargo is lifted by the crane device before it is transported, thereby preventing the cargo from having to be returned to its original location.

[0017] In addition, the transport path generation unit sets an initial route line connecting the starting point and the end point, sets a control point at any position in the captured image, and moves the control point three-dimensionally according to the attitude of the mobile terminal, thereby converting the initial route line into a curve determined by the positional relationship between the starting point, the end point, and the control point, thereby generating the transport path.

[0018] This makes it possible to easily set a transport route for a package by changing the orientation of the portable terminal.

[0019] Further, the transport path generating unit determines the presence or absence of an obstacle interfering with the generated transport path based on the three-dimensional information acquired by the three-dimensional information acquiring unit.

[0020] This makes it possible to prevent the start of transporting luggage along a transport path that interferes with an obstacle, thereby suppressing the occurrence of return of the luggage being transported. Effect of the Invention

[0021] According to the present invention, the luggage transport route generated by the transport route generation unit can be set arbitrarily by changing the posture of the mobile terminal, so that the worker can easily set the luggage transport route with one hand while assisting the luggage to be transported with the other hand depending on the situation at the transport site where the luggage is to be transported, and transport the luggage to its destination. [Brief description of the drawings]

[0022] [Figure 1] FIG. 2 is a side view showing the mobile crane. [Diagram 2] FIG. 2 is a block diagram showing a control configuration of the mobile crane. [Diagram 3] FIG. 2 is a block diagram showing a configuration of a mobile terminal. [Figure 4] FIG. 13 is a diagram showing a radio control screen displayed on a display of a mobile terminal. [Diagram 5] FIG. 13 is a diagram showing a lift compass screen displayed on the display of a mobile terminal. [Figure 6] FIG. [Figure 7] FIG. 13 is a diagram showing an image captured by a camera and displayed on a display 72 of a mobile terminal. [Figure 8] 13 is a diagram showing a flow when a transport route generation application is executed to generate a transport route for a package. FIG. [Figure 9] 11 is a diagram showing a captured image being displayed on a display of a mobile terminal held by a worker. FIG. [Figure 10] 11 is a diagram showing a state in which a movable range line is superimposed on a captured image displayed on a display of a mobile terminal. FIG. [Figure 11] FIG. 13 is a diagram showing a state in which a marker is displayed on a captured image. [Figure 12] 11 is a diagram showing an initial route line superimposed on a captured image displayed on a display of a mobile terminal. FIG. [Figure 13] FIG. 13 illustrates a method for converting an initial path line into a Bezier curve. [Figure 14] 13 is a diagram showing a state in which the generated transport route is superimposed on a captured image displayed on a display of a mobile terminal. FIG. [Figure 15] FIG. 13 is a diagram showing a transport route confirmation screen displayed on a display of a mobile terminal. [Figure 16] 11A and 11B are diagrams showing application examples of screens displayed on a display of a mobile terminal. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0023] Next, an embodiment of the present invention will be described with reference to the accompanying drawings.

[0024] [Mobile crane] The mobile crane 1 shown in Figure 1 is one embodiment of the mobile crane according to the present invention. The mobile crane 1 includes a vehicle 2, such as a truck, having a cabin 3, a bed 4, and a vehicle frame 5, and a crane apparatus 6 mounted on the vehicle frame 5 at a position between the cabin 3 and the bed 4. The vehicle 2 has front wheels 13A and rear wheels 13B.

[0025] The crane equipment 6 comprises a base 7 fixed onto the vehicle frame 5, a post 8 rotatable relative to the base 7 by a rotation motor, a boom 9 mounted on the upper end of the post 8 so as to be capable of being raised, lowered, and extended, a pair of outriggers 10 mounted on both the left and right sides of the base 7, and a control device 20.

[0026] A winch is built into the post 8. A wire rope 17 is led from the winch to the tip 9a of the boom 9, and the wire rope 17 extends downward from the tip 9a of the boom 9. A hook 11 is suspended from the lower end of the wire rope 17. The wire rope 17 and hook 11 are suspended from the tip 9a of the boom 9 so as to be freely wound up and down by the drive of the winch.

[0027] The crane apparatus 6 and work equipment such as the outriggers 10 are hydraulically driven by a hydraulic circuit. The crane apparatus 6 is provided with levers 12 on both the left and right sides of a base 7 for operating the work equipment. In addition, a control device 20 for electrically controlling the hydraulic circuit is provided on the side of the base 7. The control device 20 controls the hydraulic circuit in response to the operation of the levers 12 by an operator to operate the crane apparatus 6.

[0028] As shown in Fig. 2, the crane apparatus 6 has an extension sensor 31 for detecting the attitude of the boom 9, a hoist sensor 32, a winding sensor 33, and a rotation sensor 34. The extension sensor 31 is a sensor for detecting the extension length of the boom 9. The hoist sensor 32 is a sensor for detecting the hoisting angle of the boom 9. The winding sensor 33 is a sensor for detecting the payout length of the wire rope 17 that suspends the hook 11 and is wound around the winch. The rotation sensor 34 is a sensor for detecting the rotation angle of the boom 9.

[0029] The crane apparatus 6 is equipped with a suspended load detection means 41 that detects the suspended load, which is the weight of the load W lifted by the hook 11. The suspended load detection means 41 can detect the suspended load using the boom lowering moment acting on the boom 9 and the working radius of the boom 9.

[0030] The suspended load detection means 41 can be configured to include, for example, a boom hoisting cylinder axial force detection means for detecting the axial force acting on the boom hoisting cylinder of the boom 9, a working radius detection means for detecting the working radius of the boom 9, and a calculation unit for calculating the suspended load using the detection values ​​of these detection means, and the calculation unit can be configured to determine the suspended load component of the boom lowering direction moment generated around the boom hoisting support point of the boom 9 and divide this by the working radius to determine the suspended load.

[0031] The suspended load detection means 41 may be configured to detect the suspended load via, for example, the tension of the wire rope 17 that suspends the hook 9 from the tip 9a of the boom 9. In this case, the suspended load detection means 41 may be configured, for example, with a load cell installed in the attachment part of the end of the wire rope 17 to the tip 9a of the boom 9.

[0032] The loading platform 4 is provided with a loading platform load detection means 42 for detecting the load applied to the loading platform 4 (the load of the cargo placed on the loading platform 4). The loading platform load detection means 42 may be constituted by, for example, a load cell, and a detection signal therefrom is sent to the control device 20. The loading platform load detection means 42 may be, for example, a pressure sensor for detecting the pressure applied to the loading platform 4.

[0033] The outriggers 10 extend and touch the ground to stabilize the vehicle when the boom 9 is used to hoist a load W. The outriggers 10 have a slide beam 14 provided on the base 7, a jack 15 which is a jack device fixed to the tip of the slide beam 14, and a float 16 located at the bottom end of the jack 15. When starting work, the mobile crane 1 extends the slide beam 14 and extends the jack 15, causing the float 16 at the bottom end of the jack 15 to touch the ground, and the outriggers 10 support the load caused by hoisting the load W, thereby stabilizing the vehicle 2.

[0034] The extension sensor 31 , the elevation sensor 32 , the winding sensor 33 , the rotation sensor 34 , the suspended load detection means 41 , and the platform load detection means 42 are connected to the control device 20 .

[0035] The control device 20 has an information storage unit 21. The information storage unit 21 stores various programs required for controlling the crane device 6. In addition, the information storage unit 21 is capable of storing various types of data.

[0036] The control device 20 has an information processing unit 22. The information processing unit 22 has a function of acquiring and calculating various information input from the sensors 31 to 34, the suspended load detection means 41, the platform load detection means 42, etc., and controlling the operation of the crane device 6.

[0037] The control device 20 may actually be configured with a CPU, ROM, RAM, HDD, etc. connected via a bus, or may be configured with a one-chip LSI or the like.

[0038] The crane apparatus 6 is equipped with an overload prevention device 43. The overload prevention device 43 is a safety device that suppresses an excessive work moment applied to the crane apparatus 6 mounted on the vehicle 2, and prevents the vehicle 2 from tipping over or the crane apparatus 6 from being damaged due to an overload exceeding the rated load. The overload prevention device 43 is connected to the control device 20.

[0039] The overload prevention device 43 receives input of the rotation angle of the boom 9, the extension length of the boom 9, and the raising and lowering angle of the boom 9 detected by each sensor 31-34, the suspended load of the cargo W detected by the suspended load detection means 41, the load on the platform 4 detected by the platform load detection means 42, and the extension width of the outriggers 10, etc.

[0040] The overload prevention device 43 calculates the work moment and the rated moment based on the input information, and obtains the moment load factor by dividing the work moment by the rated moment. The obtained moment load factor is input from the overload prevention device 43 to the control device 20.

[0041] When the input moment load rate reaches 100% or more, the control device 20 stops operation of the crane device 6 toward the dangerous side and issues a warning by sounding a buzzer and turning on an indicator light, etc. When the moment load rate reaches 100% or more, the control device 20 can perform control such that operation of the crane device 6 toward the dangerous side is stopped but operation toward the safe side is permitted.

[0042] The control device 20 performs overload control based on the moment load rate input from the overload prevention device 43. For example, when the moment load rate is 100% or more, the control device 20 performs control to stop operation of the crane equipment 6 toward the dangerous side and issue an alarm, when the moment load rate is 90% or more but less than 100%, the control device 20 issues an alarm to call attention, and when the moment load rate is less than 90%, the control device 20 indicates that it is safe.

[0043] The crane apparatus 6 includes a communication unit 44 capable of communicating with other devices. The communication unit 44 is connected to the control device 20.

[0044] The crane apparatus 6 configured in this manner can perform crane operation by jacking up the outriggers 10 on both the left and right sides to stably support the crane apparatus 6, hoisting a cargo W using the hook 11 suspended from the tip 9a of the boom 9, driving the slewing motor to rotate the post 8, and raising and lowering the boom 9 to move the tip 9a of the boom 9 to any position, and then driving the winch to hoist and lower the hook 11 to raise and lower the cargo W.

[0045] [Transportation route generation device] The mobile crane 1 is equipped with a transport route generating device 7 that generates a transport route TR for the luggage W by the crane apparatus 6. In this embodiment, the transport route generating device 7 is configured with a mobile terminal 71. However, the transport route generating device 7 may be configured to include other devices besides the mobile terminal 71.

[0046] The mobile terminal 71 is a terminal that can be carried at a transport site S by a worker M who slings a load onto the crane equipment 6 and operates the crane equipment 6 when transporting the load W by the crane equipment 6. As the mobile terminal 71, for example, a smartphone, a tablet, a notebook computer, or a dedicated terminal device can be applied.

[0047] As shown in FIG. 3, the mobile terminal 71 includes a display 72, a camera 73, a laser sensor 74, an acceleration sensor 75, a gyro sensor 76, a control unit 77, and a communication unit 78.

[0048] 4, the mobile terminal 71 can display a radio control screen PT1 on the display 72. The radio control screen PT1 is a screen on which operations for operating the crane device 6 can be performed.

[0049] The left joystick JS1-L and the right joystick JS1-R are displayed on the radio control screen PT1. By operating the left joystick JS1-L and the right joystick JS1-R, operation instructions can be given to the crane apparatus 6, and the actuators that drive the post 8, boom 9, wire rope 17, etc. of the crane apparatus 6 can be operated.

[0050] The communication unit 78 of the portable terminal 71 is configured to be able to communicate with the communication unit 44 of the crane apparatus 6, and operation instructions for the crane apparatus 6 by operating the left joystick JS1-L and the right joystick JS1-R are input to the crane apparatus 6 through the communication units 78 and 44. The communication unit 78 of the portable terminal 71 and the communication unit 44 of the crane apparatus 6 are configured to be able to communicate with each other, for example, by wireless communication.

[0051] On the radio control screen PT1, for example, the boom 9 can be raised or lowered by operating the left joystick JS1-L in the forward or backward direction, and the boom 9 can be rotated by operating it in the left or right direction. In addition, the hook 11 can be raised or lowered by operating the right joystick JS1-R in the forward or backward direction, and the boom 9 can be extended or retracted by operating it in the left or right direction.

[0052] The radio control screen PT1 displays a suspended load display section dp1-1 that displays the suspended load, which is the weight of the load W being lifted by the hook 11, a rated load display section dp1-2 that displays the rated load of the crane apparatus 6, and a moment load rate display section dp1-3 that displays the moment load rate determined by the overload prevention device 43. The suspended load displayed on the suspended load display section dp1-1, the rated load displayed on the rated load display section dp1-2, and the moment load rate displayed on the moment load rate display section dp1-3 are input from the control device 20 to the control section 77 via the communication section 44 and the communication section 78.

[0053] 5, the mobile terminal 71 can display a lift compass screen PT2 on the display 72. The lift compass screen PT2 is a screen on which an operation for moving the luggage W lifted by the hook 11 can be performed.

[0054] The left joystick JS2-L and the right joystick JS2-R are displayed on the lift compass screen PT2. By operating the left joystick JS2-L and the right joystick JS2-R, operation instructions can be given to the crane apparatus 6, and the actuators that drive the post 8, the boom 9, the wire rope 17, etc. of the crane apparatus 6 can be operated.

[0055] Operation instructions for the crane apparatus 6 by operating the left joystick JS2-L and the right joystick JS2-R are input to the crane apparatus 6 via the communication units 78 and 44.

[0056] On the lift compass screen PT2, for example, by operating the left joystick JS2-L in the forward / backward / leftward / rightward directions, the cargo W lifted by the hook 11 can be moved in the forward / backward / leftward / rightward / leftward directions. Also, by operating the right joystick JS2-R in the forward / backward / rightward directions, the hook 11 can be raised or lowered.

[0057] The lift compass screen PT2 displays a suspended load display section dp2-1 that displays the load of the cargo W being lifted by the hook 11, a rated load display section dp2-2 that displays the rated load of the crane apparatus 6, and a moment load rate display section dp2-3 that displays the moment load rate determined by the overload prevention device 43. The suspended load display section dp2-1, the rated load display section dp2-2, and the moment load rate display section dp2-3 are configured in the same manner as the suspended load display section dp1-1, the rated load display section dp1-2, and the moment load rate display section dp1-3, respectively.

[0058] The camera 73 is capable of photographing a transfer site S as shown in Fig. 6. The transfer site S is a site where a load W is transferred by a crane device 6.

[0059] 7, mobile terminal 71 is capable of displaying captured image PT3 captured by camera 73 on display 72. Captured image PT3 captures, for example, the scenery around mobile crane 1, including mobile crane 1. In other words, camera 73 is capable of capturing images of the surroundings of mobile crane 1, including mobile crane 1. In addition, display 72 is capable of displaying captured image PT3 captured by camera 73.

[0060] At the transfer site S, there are obstacles OB1 to OB5 that may interfere with the transported luggage W and become an impediment to transporting the luggage W. A mobile crane 1 having a crane apparatus 6 mounted thereon is parked at the transfer site S.

[0061] The laser sensor 74 is a distance sensor that can detect three-dimensional information of the transport site S by using Lidar (Light Detection Ranging). The output value from the laser sensor 74 is generally three-dimensional point cloud data.

[0062] The acceleration sensor 75 is a sensor that detects an inertial force generated when the moving speed of the mobile terminal 71 changes and outputs it as an acceleration. The gyro sensor 76 is a sensor that detects a change in the rotation or orientation of the mobile terminal 71 as an angular velocity and outputs it. In the mobile terminal 71, the acceleration sensor 75 and the gyro sensor 76 configure an inertial measurement unit (IMU) that detects three-dimensional inertial motion.

[0063] A transport route generation application 77A is installed in the control unit 77. The transport route generation application 77A is an application for specifying a transport destination of the luggage W in a captured image PT3 captured by the camera 72 using an augmented reality (AR) technology, generating a transport route TR for the luggage W from the crane device 6 to the transport destination, and displaying the generated transport route TR superimposed on the captured image PT3.

[0064] As shown in Figure 3, the transport route generation application 77A installed in the control unit 77 has a three-dimensional information acquisition unit 770, a transport destination designation unit 771, a transport route generation unit 772, a transport control unit 773, and a movable range display unit 774.

[0065] That is, the control unit 77 includes a three-dimensional information acquisition unit 770 , a transport destination designation unit 771 , a transport path generation unit 772 , a transport control unit 773 , and a movable range display unit 774 .

[0066] The three-dimensional information acquisition unit 770 acquires three-dimensional information of the surroundings of the mobile crane 1, including the mobile crane 1, at the transfer site S based on the detection results of the laser sensor 74. However, the means for acquiring the three-dimensional information is not limited to the laser sensor 74, and may be a combination of the camera 72 and the IMU.

[0067] The destination designation unit 771 designates the destination of the luggage W lifted by the crane device 6 in the photographed image PT3. The transport route generation unit 772 generates a transport route TR for the luggage W connecting a start point P0 from which the luggage W starts to move and an end point P2 of the movement of the luggage W, which is the destination of the luggage W, and displays the transport route TR superimposed on the photographed image PT3.

[0068] The transport control unit 773 controls the operation of the crane apparatus 6 so that the luggage W moves along the transport path TR. The movable range display unit 774 calculates the movable range of the luggage W based on information related to the load of the luggage W, and displays it in a superimposed manner on the captured image PT3.

[0069] [Running the transport route generation application] Next, a flow of operations when the transport route generation application 77A is executed on the mobile terminal 71 to generate a transport route TR for the luggage W and automatically transport the luggage W along the transport route TR will be described.

[0070] 8, when generating a transport route TR for a baggage W, the worker M starts up the transport route generation application 77A on the mobile terminal 71 (S01). After starting up the transport route generation application 77A, the worker M moves within the transport site S together with the mobile terminal 71 while holding the mobile terminal 71, thereby allowing the mobile terminal 71 to acquire three-dimensional information of the transport site S.

[0071] As the portable terminal 71 moves within the transfer site S, the laser sensor 74 scans the transfer site S three-dimensionally to detect three-dimensional information of the transfer site S. The three-dimensional information acquisition unit 770 of the transfer route generation application 77A acquires the three-dimensional information of the transfer site S detected by the laser sensor 74 (S02).

[0072] As shown in Figure 9, when the mobile terminal 71 moves within the transport site S and the three-dimensional information acquisition unit 770 acquires three-dimensional information of the transport site S, a captured image PT3 captured by the camera 73 is displayed on the display 72 of the mobile terminal 71.

[0073] In addition, when worker M carries portable terminal 71 within the transport site S, worker M can easily carry portable terminal 71 by fixing portable terminal 71 to a holder 79 having a grip 79a and holding grip 79a.

[0074] The three-dimensional information of the transfer site S includes the topography of the transfer site S, the position of the mobile terminal 71 at the transfer site S, the positions and shapes of the mobile crane 1 and obstacles OB1 to OB5 present at the transfer site S, and the like.

[0075] When the three-dimensional information acquisition unit 770 acquires three-dimensional information of the transfer site S using the laser sensor 74, the three-dimensional information acquisition unit 770 can acquire the three-dimensional information of the transfer site S by SLAM (Simultaneous Localization and Mapping) technology. In addition, the three-dimensional information acquisition unit 770 can recognize the position of the mobile crane 1 at the transfer site S by object recognition or marker recognition.

[0076] Since the range that the laser sensor 74 scans in the transport site S is limited, it is preferable that the worker M moves 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 desired to be obtained is scanned by the laser sensor 74. The three-dimensional information of the work site S can also be obtained using an IMU composed of the camera 72, the acceleration sensor 75, and the gyro sensor 76.

[0077] The worker M moves around the transport site S and acquires three-dimensional information of the transport site S on the mobile terminal 71, then slings the cargo W placed on the loading platform 4 of the vehicle 2 onto the hook 11, and further operates the crane device 6 to reel in the wire rope 17, thereby hoisting the cargo W with the hook 11 (S03).

[0078] When the cargo W is lifted by the hook 11, the suspended load detection means 41 of the crane apparatus 6 grasps the suspended load of the lifted cargo W. The overload prevention device 43 of the crane apparatus 6 calculates a moment load rate using the suspended load of the cargo W grasped by the suspended load detection means 41, and inputs the calculated moment load rate to the control device 20. The control device 20 of the crane apparatus 6 transmits the input moment load rate to the control unit 77 of the mobile terminal 71 via the communication unit 44 and the communication unit 78.

[0079] When the moment load rate transmitted from the control device 20 is input to the control unit 77, the moment load rate is input from the control unit 77 to the movable range display unit 774. The moment load rate is an example of information relating to the load of luggage.

[0080] The movable range display unit 774 calculates the movable range of the luggage W at the transport site S based on the input moment load rate. The movable range of the luggage W is a range in which the luggage W can be stably transported by the crane device 6. If the luggage W is transported beyond the movable range, the vehicle 2 may tilt or the front wheels 13A or the rear wheels 13B may lift off the ground, making it impossible to transport the luggage W stably.

[0081] 10, the movable range display unit 774 displays a movable range line CR superimposed on the captured image PT3 displayed on the display 72 based on the calculated movable range (S04). The movable range line CR has an arc shape centered on the rotation center of the boom 9, and indicates the boundary of the movable range of the luggage W at the transport site S.

[0082] In the photographed image PT3, the range located closer to the crane apparatus 6 than the movable range line CR is the movable range of the luggage W. That is, the movable range display unit 774 displays the movable range of the luggage W superimposed on the photographed image PT3. The movable range line CR can be displayed so as to indicate, for example, the boundary where the moment load rate of the crane apparatus 6 is 90%.

[0083] Also, as shown in Figure 10, on the display 72 of the mobile terminal 71, when the 3D information acquisition unit 770 completes acquisition of 3D information of the transport site S, a marker MK indicating the position of the destination of the luggage W is displayed on the captured image PT3 by the destination designation unit 771.

[0084] 11, a laser light LZ is emitted from a laser sensor 74 provided in the mobile terminal 71 in a direction perpendicular to the display 72. When the mobile terminal 71 is held in a position in which the laser light LZ is emitted toward the ground Sg of the transport site S, the marker MK is displayed at a point where the laser light LZ contacts the ground Sg of the transport site S in the captured image P. In this case, for example, the marker MK is located at the center of the display 72, and the captured image P is displayed such that the point where the laser light LZ contacts the ground Sg is located at the center of the display 72. Note that the laser light LZ emitted from the laser sensor 74 does not necessarily need to be emitted in a direction perpendicular to the display 72, and it is also possible to emit it in a direction that is not perpendicular to the display 72.

[0085] By changing the position and attitude of the portable terminal 71 in a state in which the marker MK is displayed on the display 72, the worker M can move the marker MK to a desired location in the transportation site S in the photographed image PT3.

[0086] For example, when the worker M touches the display 72 while positioning the marker MK at a location in the photographed image PT3 that the worker M wishes to set as the destination of the luggage W, the destination designation unit 771 fixes the location of the marker MK in the photographed image PT3. This allows the location in the transport site S where the marker MK is displayed to be set as the destination of the luggage W (S05).

[0087] When setting the destination of the luggage W, it is possible to check whether the marker MK is located closer to the crane equipment 6 than the movable range line CR, or farther from the crane equipment 6 than the movable range line CR. If the marker MK is located farther from the crane equipment 6 than the movable range line CR, there is a risk that the luggage W may not be able to be transported to the destination, so it is preferable to set the destination of the luggage W with the marker MK located closer to the crane equipment 6 than the movable range line CR.

[0088] As shown in FIG. 12, when the destination of the baggage W is set by the destination designation unit 771, the conveyance route generation unit 772 displays an initial route line TR0 superimposed on the captured image PT3 on the display 72.

[0089] The initial route line TR0 is a straight line connecting the starting point P0 and the end point P2 when the position of the hook 11 that hoists the luggage W is set as the starting point P0 where the luggage W begins to move, and the position of the marker MK to which the luggage W is to be transported is set as the end point P2 of the movement of the luggage W.

[0090] The worker M can convert the initial route line TR0 into a curve by changing the attitude of the mobile terminal 71, such as by tilting the mobile terminal 71 while the initial route line TR0 is displayed on the captured image PT3 of the display 72.

[0091] In this case, the transport path generation unit 772 sets a control point P1 at any position on the captured image PT3 and converts the initial path line TR0 into a Bezier curve by moving the control point P1 according to the attitude, such as the tilt angle, of the mobile terminal 71.

[0092] The initial route line TR0 can be converted into a Bezier curve, for example, as shown in Fig. 13. In Fig. 13, a division point P3 is set to divide the line segment P0-P1 connecting the start point P0 and the control point P1 at a ratio of t:(1-T), and a division point P4 is set to divide the line segment P1-P2 connecting the control point P1 and the end point P2 at a ratio of t:(1-T). Furthermore, a division point P5 is set to divide the line segment P3-P4 connecting the division point P3 and the division point P4 at a ratio of t:(1-T). Then, a Bezier curve is generated connecting the start point P0, the division point P5, and the end point P1, so that the initial route line TR0 can be converted into a Bezier curve.

[0093] In this case, by changing the attitude of the portable terminal 71, the angle of the line segment P0-P1 with respect to the line segment P0-P2 can be adjusted. This allows the shape of the generated Bezier curve to be changed. The Bezier curve converted from the initial route line TR0 is a curve determined by the positional relationship between the start point P0, the end point P2, and the control point P1. The transport route generation unit 772 can obtain the attitude of the portable terminal 71, such as the tilt angle, using the detection results of the acceleration sensor 75 and the gyro sensor 76.

[0094] In addition, a joystick JS3 is displayed on the display 72, and the distance between the start point P0 and the control point P1 can be adjusted by operating the joystick JS3, thereby changing the shape of the generated Bezier curve.

[0095] Furthermore, in the mobile terminal 71, the value of t in the ratio t:(1-T) can be configured to be variable, and the shape of the generated Bezier curve can be changed by adjusting the position of division point P3 on line segment P0-P1, the position of division point P5 on line segment P1-P2, and the position of division point P5 on line segment P3-P5.

[0096] When converting the initial route line TR0 into a Bezier curve, it is preferable to change the shape of the Bezier curve by adjusting the attitude of the mobile terminal 71 and operating the joystick JS3, etc., so that the Bezier curve is generated in a shape that does not interfere with the obstacles OB1 to OB5.

[0097] 14, the transport route generating unit 772 generates a transport route TR for the baggage W from the start point P0 to the end point P2 by three-dimensionally executing a process of converting such an initial route line TR0 into a Bezier curve (S06). Note that FIG. 14 shows the portable terminal 71 in a state tilted to the right compared to the portable terminal 71 shown in FIG.

[0098] In this embodiment, the transport path generating unit 772 performs processing to convert the initial path line TR0 into a Bezier curve, but may be configured to convert the initial path line TR0 into a curve other than a Bezier curve.

[0099] In this way, the transport path generating unit 772 sets an initial route line TR0 connecting the start point P0 and the end point P2, sets a control point P1 at an arbitrary position on the captured image PT3, and converts the initial route line TR0 into a curve determined by the positional relationship between the start point P0, the end point P2, and the control point P1 by three-dimensionally moving the control point P1 according to the attitude of the mobile terminal 71, thereby generating the transport path TR. Furthermore, the transport path generating unit 772 is capable of changing the transport path TR superimposed on the captured image PT3 according to the attitude of the mobile terminal 71.

[0100] This makes it possible to easily set the transport route TR for the baggage W by performing an operation to change the attitude of the portable terminal 71, such as by tilting the portable terminal 71.

[0101] After generating the transfer route TR, the transfer route generation unit 772 can compare the generated transfer route TR with the three-dimensional information of the transfer site S acquired by the three-dimensional information acquisition unit 770 to determine whether or not there is interference between the transfer route TR and obstacles OB1 to OB5 that exist at the transfer site S. In other words, the transfer route generation unit 772 determines whether or not there are obstacles OB1 to OB5 that interfere with the generated transfer route TR based on the three-dimensional information acquired by the three-dimensional information acquisition unit 770.

[0102] In addition, as shown in FIG. 15, the transport route generation unit 772 displays on the display 72 a transport route confirmation screen PT4 showing the generated transport route TR and the transport site S, so that the worker M can look at the transport route confirmation screen PT4 and check whether or not there is interference between the transport route TR and obstacles OB1 to OB5.

[0103] After the transport route generating unit 772 or the worker M confirms that the transport route TR does not interfere with the obstacles OB1 to OB5, by touching the joystick JS3, an instruction to operate the crane apparatus 6 is transmitted from the control unit 77 of the mobile terminal 71 to the control device 20 of the crane apparatus 6 to operate the crane apparatus 6 so as to transport the cargo W along the transport route TR. The instruction to operate the crane apparatus 6 is issued by the transport control unit 773 in the transport route generating application 77A of the control unit 77.

[0104] The control device 20, to which an operation instruction for the crane apparatus 6 from the transport control unit 773 has been input, starts transporting the luggage W by the crane apparatus 6 along the transport route TR from the viewpoint P0 to the end point P2 (S07). In other words, the transport control unit 773 controls the operation of the crane apparatus 6 so that the luggage W moves along the transport route TR. In addition, the joystick JS3 displayed on the display 72 is a transport start button that the mobile terminal 71 has and that starts control of the operation of the crane apparatus 6 by the transport control unit 773.

[0105] Also, the mobile terminal 71 can be configured so that after the transport path TR is generated by the transport path generating unit 772, the joystick JS3 is tilted to move the hook 11 along the transport path TR at a speed proportional to the amount of operation of the joystick JS3. In this case, an instruction to operate the crane apparatus 6 so that the hook 11 moves at a speed proportional to the amount of operation of the joystick JS3 is given by the transport control unit 773. An operation instruction for the crane apparatus 6 from the transport control unit 773 is input to the control device 20 of the crane apparatus 6, and the control device 20 operates the crane apparatus 6 based on the operation instruction from the transport control unit 773. The transport control unit 773 can control the operation of the crane apparatus 6 so that the movement speed of the hook 11 becomes faster as the amount of operation of the joystick JS3 becomes larger, for example.

[0106] In the mobile crane 1 equipped with the mobile terminal 71 constituting the transport route generating device 7, the transport route TR for the luggage W generated by the transport route generating unit 772 of the mobile terminal 71 can be arbitrarily set by changing the attitude of the mobile terminal 71. This allows the worker M to operate the mobile terminal 71 with one hand while assisting the luggage W to be transported with the other hand depending on the situation of the transport site S where the luggage W is transported, and the worker M can easily set the transport route TR for the luggage W and transport the luggage W to its destination.

[0107] In this case, the mobile terminal 71 has a joystick JS3 which is a transfer start button for starting control of the operation of the crane device 6 by the transfer control unit 773, so that the luggage W can be automatically transferred along the transfer route TR by operating the joystick JS3. This allows the worker M to prepare for the transfer of the next luggage W after operating the joystick JS3, thereby making it possible to improve the efficiency of the work of transferring luggage W.

[0108] Furthermore, in the mobile terminal 71, the movable range display unit 774 can display the movable range of the luggage W lifted by the crane apparatus 6 superimposed on the captured image PT3, so that the movable range of the luggage W can be recognized at the time when the luggage W is lifted by the crane apparatus 6 before being transported. This can prevent the destination of the luggage W from being set outside the movable range, which causes the luggage W to be transported to be returned.

[0109] Furthermore, in the mobile terminal 71, the transport route generating unit 772 determines whether or not there are any obstacles OB1-OB5 interfering with the transport route TR before the crane device 6 starts transporting the luggage W. This makes it possible to prevent the transport of the luggage W along the transport route TR interfering with the obstacles OB1-OB5 from being started, and thus makes it possible to suppress the occurrence of reversal of the luggage W being transported.

[0110] [Application example] As shown in FIG. 16, the display 72 of the mobile terminal 71 can display a crane operation screen PT5 showing an illustration of the mobile crane 1 and the joystick JS4-L and joystick JS4-P for operating the crane equipment 6 of the mobile crane 1.

[0111] The portable terminal 71 acquires three-dimensional information of the transport site S based on the detection results of the laser sensor 74, and grasps the posture of the portable terminal 71 based on the detection results of the acceleration sensor 75 and the gyro sensor 76, making it possible to constantly grasp the relative position and relative positions between the mobile crane 1 and the portable terminal 71.

[0112] This makes it possible to display an illustration of the mobile crane 1 that reflects the orientation of the mobile crane 1 relative to the mobile terminal 71 on the crane operation screen PT5.

[0113] In addition, in the crane operation screen PT5, for example, the joystick JS4-L has a function as an operating tool for rotating the boom 9 of the crane device 6 of the mobile crane 1.

[0114] When the crane operation screen PT5 is displayed on the display 72, the rotation direction of the boom 9 in the illustration of the mobile crane 1 and the operation direction of the joystick JS4-L are matched in the control unit 77, so that, for example, if it is desired to rotate the boom 9 to the left on the crane operation screen PT5, the boom 9 can be rotated to the left by tilting the joystick JS4-L to the left. This makes it possible to intuitively operate the crane apparatus 6, such as the boom 9, using the joysticks JS4-L and JS4-R.

[0115] In conventional radio-controlled operation, for example, the direction of joystick operation and the direction of boom rotation were uniquely determined. Therefore, depending on the orientation of the crane equipment 6 and the mobile terminal 71, the direction of joystick operation and the direction of boom rotation may be opposite from the viewpoint of the worker M, making it difficult to perform intuitive operation.

[0116] However, as in this application example, by displaying an illustration of the mobile crane 1 and the joysticks JS4-L and JS4-R on the crane operation screen PT5, it becomes possible to intuitively operate the crane equipment 6, such as the boom 9, making it easier to operate the crane equipment 6. [Explanation of symbols]

[0117] 1 Mobile crane 2 Vehicles 4 Cargo bed 6 Crane equipment 7. Transport route generation device 9. Boom 71 Mobile Devices 72 Display 73 Camera 78 Communications Department 770 3D information acquisition unit 771 Destination Designation Section 772 Transport Path Generation Unit 773 Transport control section 774 Movable range display section CR Moveable range line JS3 Joystick OB1~OB5 Obstacles P0 fulcrum P1 control point P2 End point PT3 Captured images S Transport Site TR0 Initial route line TR Transport Route W Luggage

Claims

1. A mobile crane equipped with a crane device mounted on a vehicle having a loading platform and equipped with a transport path generating device that generates a transport path for a load by the crane device, The transport path generating device includes: A camera capable of photographing the surroundings of the mobile crane including the mobile crane; a display capable of displaying an image captured by the camera; a control unit having a three-dimensional information acquisition unit that acquires three-dimensional information about the surroundings of the mobile crane including the mobile crane, a destination designation unit that designates a destination of the luggage lifted by the crane device in the captured image, and a transport path generation unit that generates a transport path for the luggage connecting a start point where the luggage starts to move and an end point of the movement of the luggage that is the destination of the luggage, and displays the transport path by superimposing it on the captured image; A mobile terminal including: The transport path generation unit is a mobile crane that is capable of changing the transport path that is superimposed and displayed on the captured image in accordance with the attitude of the mobile terminal.

2. The control unit further includes a transport control unit that controls an operation of the crane apparatus so that the luggage is moved along the transport path. The mobile crane according to claim 1 , wherein the mobile terminal has a transport start button for starting control of the operation of the crane apparatus by the transport control unit.

3. The control unit is A communication unit capable of communicating with the crane apparatus; 3. The mobile crane according to claim 1 or 2, further comprising a movable range display unit which receives information about the load of the cargo hoisted by the crane apparatus through the communication unit, calculates a movable range of the cargo based on the input information about the load of the cargo, and displays the calculated range on the captured image.

4. The transport path generation unit An initial route line is set connecting the start point and the end point, and a control point is set at an arbitrary position of the photographed image; 3. The mobile crane according to claim 1 or 2, wherein the control points are moved three-dimensionally in accordance with the attitude of the mobile terminal, thereby converting the initial route line into a curve determined by the positional relationship between the start point, the end point, and the control points, thereby generating the transport route.

5. The transport path generation unit 3. The mobile crane according to claim 1, wherein the presence or absence of an obstacle interfering with the generated transport path is determined based on the three-dimensional information acquired by the three-dimensional information acquisition unit.

Images