Support system for crane work training

Abstract

To provide a support system for crane work training, the system comprising a mechanism causing a trainee to perform pointing and calling behavior.SOLUTION: A support system for crane work training comprises: a HMD device on which a trainee mounts; a virtual space device which outputs to the HMD device, a visual field image in a virtual space including a crane object and a work field; an operation device for training, which outputs an operation signal for the crane object in the virtual space to the virtual space device according to the operation of an operation unit by the trainee; and a detection device detecting behavior of the trainee. The virtual space device has: a virtual space control unit which outputs the visual field image based on a given operation scenario to the HMD device, operates the crane object on the basis of the operation signals, and displays a pointing confirmation object corresponding to pointing and calling actions in the virtual space; and a pointing and calling management unit that detects whether the trainee contacts the pointing confirmation object on the basis of the position of the trainee's hand and determines the presence and absence of the pointing and calling actions of the trainee.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a training support technique for crane operation. [Background technology]

[0002] Conventionally, simulator technologies for the purpose of education and training have been proposed, as described in Patent Documents 1 and 2. In recent years, simulator technologies that apply VR (Virtual Reality) technology have also been proposed (for example, Patent Document 3).

[0003] Training using simulators can be used to teach trainees (unskilled individuals) the operation of actual machinery such as cranes for the purpose of obtaining licenses or training new employees.It can also be used as a training (re-education / retraining) tool for trainees (experts) who have mastered the operation techniques. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 3322644 [Patent Document 2] Patent No. 6061798 [Patent Document 3] Japanese Patent Publication No. 2022-178407 Summary of the Invention [Problem to be solved by the invention]

[0005] Trainees can acquire operating skills through repeated training on a simulator, but the work of actually operating a real machine involves pointing and calling out actions, such as pointing at work objects, signs, signals, instruments, etc., and confirming their names and status out loud, as described in Patent Document 2. This pointing and calling action is an "effective means of raising the level of awareness and improving the accuracy of confirmation," and is therefore incorporated as a mandatory safety confirmation action when working with a real machine.

[0006] On the other hand, there is the issue of inexperienced trainees becoming distracted by the operation and not performing the pointing and calling action, and skilled trainees sometimes omit or simplify the pointing and calling action as they become "familiar with the work," resulting in a lack of focus on the pointing and calling action.In particular, because training using a simulator is merely a simulation, it can be difficult to make trainees realize the importance of the pointing and calling action, or in other words, the risk of neglecting the pointing and calling action.

[0007] Here, Patent Document 2 proposes a technology for monitoring the behavior of a driver and detecting whether or not the driver is pointing and calling. Patent Document 2 provides a mechanism for determining whether or not the driver's behavior corresponds to the pointing and calling behavior, and for example, the presence or absence of the pointing and calling behavior is detected by capturing the pointing and calling gesture, the voice uttered when pointing and calling, the driver's line of sight, etc. using a sensor.

[0008] However, even if a trainee's behavior (e.g., gestures such as swinging their arms) is understood, there is a problem in that it is not possible to fully determine whether the trainee looked closely at the target and pointed at it. For example, even if the trainee's behavior is simplified and they do not look closely at the target, it will be determined that the trainee performed the pointing and calling action if it meets the criteria for the pointing and calling action. Conversely, even if the trainee does not move their arms much, they will be determined not to have performed the pointing and calling action if their behavior does not meet the criteria for the pointing and calling action. This is because each trainee has individual differences in physical characteristics such as physique, and therefore also individual differences in the pointing and calling action.

[0009] Therefore, a system such as that disclosed in Patent Document 2 that monitors the behavior of a trainee and determines whether or not the trainee is performing pointing and calling actions has a technical problem of being prone to false detection and overdetection.

[0010] False detection and overdetection may result in a failure to provide training support that helps trainees acquire the desired movements, such as judging a movement as NG even when it is performed properly, or judging a movement as OK even when it is not performed properly.In addition, combining a variety of behavior detection methods, such as gaze detection and finger direction detection, can improve the accuracy of judging pointing and calling movements, but this increases the number of sensor devices that grasp the behavior of the trainee and the processing that analyzes the behavior, which can lead to the problem of the system (device) becoming bloated and complex.

[0011] Furthermore, if we look at the conventional system of monitoring the trainee's behavior and determining whether or not they point and call, from another perspective, it is a system that requires the trainee to make a certain movement in response to the pointing and calling. While this has some effect, the original purpose of pointing and calling is to raise the trainee's level of awareness, increase tension and concentration, and improve work safety. Therefore, the purpose of training is not to have the trainee acquire the same movement, but rather to have the trainee acquire their own way of "looking carefully at the target of the pointing and calling and pointing."

[0012] As such, conventional technologies that provide mechanisms for "monitoring" pointing and calling behaviors are insufficient for training purposes, and a new mechanism was needed that would enable people to acquire the behavior of "looking carefully at the target of pointing and calling and pointing."

[0013] Therefore, the present invention aims to provide a training support system for crane operation that has a mechanism for allowing trainees to perform pointing and calling actions, and that allows trainees to acquire the pointing and checking actions required during actual work along with crane operation techniques. [Means for solving the problem]

[0014] (1) A crane operation training support system of the present invention includes a head-mounted display device worn by a trainee, a virtual space device that outputs a field of view image in a virtual space including a crane object and a work field to the head-mounted display device in accordance with the trainee's field of view direction, a training operation device that has an operation unit corresponding to the operation device of a real crane and outputs an operation signal for a crane object in the virtual space to the virtual space device in accordance with operation of the operation unit by the trainee, and a detection device that detects the behavior of the trainee. The virtual space device includes a virtual space control unit that outputs a field of view image based on a predetermined work scenario to the head-mounted display device, operates the crane object in the work field based on the operation signal, and displays in the virtual space a pointing and calling object that corresponds to the pointing and calling action included in the predetermined work scenario, and a pointing and calling management unit that detects whether the trainee has contacted the pointing and calling object based on the position of the trainee's hand detected by the detection device and determines whether the trainee has performed the pointing and calling action.

[0015] (2) In (1) above, the virtual space control unit can control the display of the pointing confirmation object while the target to be pointed at and named is displayed in the virtual space in the trainee's field of vision.

[0016] (3) In (1) above, the virtual space control unit can be configured to superimpose a pointing confirmation object on the target being pointed at and called out in the virtual space displayed in the field of view image, or to display a pointing confirmation object in close proximity to the target being pointed at and called out in the virtual space displayed in the field of view image.

[0017] (4) In the above (1), the detection device can detect the orientation of the head-mounted display device worn by the trainee. Here, the pointing and calling management unit can determine whether the orientation of the head-mounted display device is facing the display direction of the pointing and calling object displayed in the virtual space, and can determine whether the trainee is performing a pointing and calling action based on the determination result of the orientation of the head-mounted display device and the detection result of contact with the pointing confirmation object.

[0018] (5) The above-mentioned (1) can be configured to include a microphone device for collecting the trainee's speech. In this case, the pointing and calling management unit can determine whether the trainee's speech corresponds to a predetermined pointing and calling keyword associated with the pointing and calling action, and can determine whether the trainee has performed the pointing and calling action based on the determination result of the trainee's speech and the detection result of contact with the pointing and calling object.

[0019] (6) In (1) above, the predetermined work scenario can include a practical skill assessment mode, and can be configured to include a memory unit that stores operation evaluation criteria information that specifies multiple operation categories in crane work, operation contents corresponding to the operation categories, and assessment criteria for each operation category. In this case, the virtual space control unit can be configured to determine whether the assessment criteria are met for each corresponding operation category in crane work in the practical skill assessment mode based on the predetermined work scenario, and generate an assessment result.

[0020] (7) In the above (1), the work field displayed as the field of view image can be a virtual space generated by 3D photographing or modeling the actual work site where the crane is operated.

[0021] (8) The device according to (1) above may be configured to include a storage unit that stores a replay image of a crane object operating in a virtual space based on a crane operation history relating to predetermined prohibitions, predetermined cautions, or predetermined trouble cases. The virtual space control unit may be configured to output the replay image to a head-mounted display device.

[0022] (9) In the above (1), the head-mounted display device can be configured to have a half-mirror structure. The virtual space device can be controlled so that the operation unit within the field of view of the real trainee is displayed in the virtual space against the field of view image.

[0023] (10) A program of the present invention is a program executed by a virtual space device of a crane work training support system having a head-mounted display device worn by a trainee, a virtual space device that outputs a field of view image in a virtual space including a crane object and a work field to the head-mounted display device in accordance with the trainee's field of view direction, a training operation device that has an operation unit corresponding to the operation device of a real crane and outputs an operation signal for the crane object in the virtual space to the virtual space device in accordance with operation of the operation unit by the trainee, and a detection device that detects the behavior of the trainee. The program realizes a first function of outputting a field of view image based on a predetermined work scenario to the head-mounted display device, operating the crane object in the work field based on the operation signal, and displaying a pointing and calling object in the virtual space that corresponds to the pointing and calling action included in the predetermined work scenario, and a second function of detecting whether the trainee has contacted the pointing and calling object based on the position of the trainee's hand detected by the detection device, and determining whether the trainee has made the pointing and calling action. [Effects of the Invention]

[0024] The present invention detects whether the trainee has made contact with a pointing and calling object and determines whether or not the trainee has made a pointing and calling action, making contact with the object a necessary result of the pointing and calling action, and thus provides a mechanism for having the trainee perform the pointing and calling action. This allows the trainee to acquire the pointing and calling action required for actual crane operation as well as crane operation techniques. [Brief explanation of the drawings]

[0025] [Figure 1] 1 is a system configuration diagram of a crane operation training support system according to a first embodiment. [Figure 2] 1 is a diagram showing an example of a training operation device operated by a trainee in a first embodiment. FIG. [Figure 3] FIG. 10 is an explanatory diagram of a VR space of a crane according to the first embodiment. [Figure 4] FIG. 2 is a diagram showing an example of a training menu screen in the first embodiment, and is a diagram showing a top screen. [Figure 5] FIG. 4 is a diagram showing an introduction mode menu screen according to the first embodiment. [Figure 6] FIG. 2 is a diagram showing a basic rule learning mode menu screen according to the first embodiment. [Figure 7] FIG. 4 is a diagram showing a trouble / accident learning mode menu screen in the first embodiment. [Figure 8] FIG. 10 is a diagram showing a simulation mode menu screen for "practical work training" in the first embodiment. [Figure 9] FIG. 4 is a diagram showing an example of operation evaluation criterion information for a crane according to the first embodiment. [Figure 10] FIG. 10 is a diagram showing an example of an output of an evaluation result of practical skill assessment in the first embodiment. [Figure 11] FIG. 4 is a diagram showing a display example of a pointing confirmation object in the first embodiment. [Figure 12] FIG. 2 is a diagram showing a processing flow of the crane operation training support system of the first embodiment. [Figure 13] FIG. 2 is a diagram showing a processing flow of the crane operation training support system of the first embodiment. BEST MODE FOR CARRYING OUT THE INVENTION

[0026] Hereinafter, embodiments will be described with reference to the drawings.

[0027] (First embodiment) 1 to 13 are diagrams for explaining a crane operation training support system according to the first embodiment. Fig. 1 is a system configuration diagram of a crane operation training support system (hereinafter referred to as a training support system) according to the present embodiment.

[0028] The training support system of this embodiment allows trainees to experience crane operation in a virtual work field in a VR space, providing a training environment in which they can acquire or retrain crane operation techniques.

[0029] In the following explanation, an overhead crane will be used as an example, however, the present invention is not limited to overhead cranes and can be configured as a training support system for lifting, moving, and transporting heavy objects, such as container cranes (gantry cranes), unloaders (grab trolley type, rope trolley type, continuous type, etc.), mobile cranes (tow trucks), and forklifts.

[0030] <System configuration> As shown in FIG. 1, the training support system includes a management device 100, a head-mounted display device (hereinafter referred to as an HMD device) 200, a training operation device 300, hand trackers 400A, 400B, a base station 400C, and a tracker receiver 400D.

[0031] The management device 100 provides a field of view image of the VR space to the HMD device 200, and has a known VR space control function including object control within the VR space and object movement control according to operations by the trainee. The management device 100 is configured as a virtual space device that outputs a field of view image of the VR space (virtual reality space) including a crane object and a work field to the HMD device 200 according to the field of view direction of the trainee. The management device 100 includes a VR space control unit 110, a storage unit 120, and a communication unit 130.

[0032] The HMD device 200 is a known head-mounted display device that is worn on the head of the trainee and displays a visual field image output from the management device 100. The HMD device 200 is also called VR goggles, and allows the trainee to experience operating a crane object in a virtual work field.

[0033] The HMD device 200 has a known half mirror structure, and allows the trainee to actually see the training operation device 300 within the visual field image. The HMD device 200 is equipped with a display device that displays the visual field image of the VR space output from the management device 100, and the visual field image (projected image) projected from the display device and the actual field of view (background image) incident from the front of the half mirror are blended by the half mirror and delivered to the trainee's eyes. This allows the trainee to visually recognize the training operation device 300 within his or her field of view against the visual field image of the VR space as a background.

[0034] In addition, the HMD device 200 can be equipped with a microphone (audio collection device) and earphones (audio output device) not shown, and can collect the trainee's spoken voice and output it to the management device 100, or allow the trainee to hear sounds transmitted from the management device 100 (e.g., environmental sounds or work sounds).

[0035] The training operation device 300 is equipped with an operation unit 310 that corresponds to the operation device of an actual crane. Operation signals corresponding to the operation of the operation unit 310 by the trainee are output to the management device 100 via an operation signal control device 320. As shown in FIG. 2, the operation unit 310 is configured to include operation sections such as various operation levers (travel lever, traverse lever, main hoist lever), an automatic slinging device operation panel, a power panel operation panel, and an operation siren. The group of operation sections that make up the operation unit 310 are connected to the operation signal control device 320. The operation signal control device 320 transmits operation signals output from each operation section of the operation unit 310 to the management device 100. The training operation device 300 shown in FIG. 2 is an operation device for an overhead crane, but it can be equipped with an operation unit corresponding to the crane that is the subject of training.

[0036] The training operation device 300 is created to resemble the driver's cab of an actual aircraft, and is configured to reproduce a situation in which an operation unit 310 is disposed in front of, or in front of and around, the trainee while seated (for example, above, below, left, and right of the trainee according to the driver's cab of the actual aircraft). The trainee wearing the HMD device 200 sits facing the operation unit 310 and operates the operation unit 310 while viewing a visual field image of the VR space displayed on the HMD device 200. As described above, the trainee wearing the HMD device 200 can visually recognize the operation unit 310 within the visual field image of the VR space. In this case, to improve visibility, for example, the area around the training operation device 300 can be covered with a blackout curtain or the like, or the training support system can be installed in a dark place.

[0037] The hand trackers 400A and 400B, the base station 400C, and the tracker receiver 400D constitute a detection device that detects the behavior of the trainee. The hand trackers 400A and 400B are tracking devices worn on the trainee's arms, hands, or feet, and the base station 400C is a sensor device that transmits infrared rays to the hand trackers 400A and 400B. The hand trackers 400A and 400B receive the infrared rays transmitted from the base station 400C, calculate their own positions, and transmit the calculated positions to the tracker receiver 400D connected to the management device 100. The hand trackers 400A and 400B are "sensors that transmit position information," and the tracker receiver 400D is a receiver (dongle). Note that the system may be configured with multiple tracker receivers 400D in one-to-one correspondence with the corresponding trackers, or with one tracker receiver 400D for multiple trackers.

[0038] A tracking technique in which the trainee wears hand trackers 400A, 400B and uses a base station 400C as an external device is called the "outside-in method." On the other hand, there is also an "inside-out method" tracking technique, in which the trainee's arms and hands are photographed using a camera (not shown) (for example, an infrared camera) mounted on the HMD device 200 to determine their position information (SLAM: Simultaneous Localization and Mapping). In the "inside-out method," the camera of the HMD device 200 is configured as a detection device that detects the behavior of the trainee, and the behavior (position information) of the trainee is provided from the HMD device 200 to the management device 100.

[0039] Furthermore, the trainee's head position and face (head direction) direction can be detected as the trainee's behavior. In the "Outside-In method," the HMD device 200 has a tracker function, and can receive infrared rays transmitted from the base station 400C to calculate the position and direction of the HMD device 200, which can then be output as the trainee's head position and face direction. Also, in the "Inside-Out" method, the trainee's head position and face direction can be grasped using a camera mounted on the HMD device 200.

[0040] In this embodiment, known techniques, including the tracking technique described above, can be applied as appropriate. Then, information such as the position information of the trainee's arms, hands, and feet, the position of the head, and the direction of the face, is transmitted to the management device 100. The management device 100 controls the visual field image in the VR space according to the position of the head and the direction of the face, and can synchronize the position information of the trainee's hands (fingers) within the VR space.

[0041] The management device 100 is equipped with a communication unit 130 that performs data communication, and communication between the management device 100 and the HMD device 200, and between the management device 100 and the training operation device 300 (operation signal control device 320) can be connected wirelessly or via a wired connection.

[0042] 3 is a diagram illustrating the process of generating a VR space for overhead crane training. In this embodiment, as an example, a 3D work field is generated by taking 3D images of the inside of a building (worksite) where overhead crane work is actually performed. Alternatively, a known method can be applied, such as modeling the inside of a building (worksite) where overhead crane work is actually performed without taking 3D images, to generate a 3D work field. Then, various objects, including the overhead crane operating within the work field and the object to be lifted (heavy load), are modeled (generated).

[0043] An overhead crane includes the following components: a girder that moves along a traveling rail inside a building, a club trolley that moves in the longitudinal direction of the girder, an automatic slinging device suspended downward from the club trolley, and a driver's seat installed at the bottom of the girder, and each component is modeled as an overhead crane object in the work field. Note that in the example of Figure 3, the object to be lifted is a transported object, and the example illustrates crane work in which the transported object is lifted and transported by the automatic slinging device.

[0044] Here, we will explain the automatic slinging device. The automatic slinging device is equipped with a pair of claws. It can perform a "sling arm opening operation," which moves upward the fall prevention pins attached to the pair of claws, and a "sling arm closing operation," which inserts the pair of claws into the bottom of the transported object and moves the fall prevention pins downward. The transported object abuts the pair of claws and the back part located behind the claws, and the transported object becomes ready for transport by the automatic slinging device. The automatic slinging device is then hoisted up to lift the transported object (lifting a heavy object placed on the ground or floor and removing it from the ground or floor), and the overhead crane is moved to the target location, where the automatic slinging device is lowered to land the transported object.

[0045] In this way, a VR space for overhead crane training can be generated in which an overhead crane object in a 3D work field can be operated from the viewpoint of the driver's cab of the overhead crane to transport a lifted object. The VR space including the overhead crane object and work field is generated by a separate VR space generation device and stored in the memory unit 120 of the management device 100. While an example of the generation of a VR space related to an overhead crane has been described above, as described above, a VR space for overhead crane training can also be generated for cranes other than overhead cranes, in which an overhead crane object can be transported by operating a crane object in a 3D work field from the viewpoint of the driver's cab of the crane.

[0046] The VR space control unit 110 of the management device 100 determines the trainee's visual field direction based on the trainee's behavior, and outputs a visual field image of the VR space including the crane object and work field to the HMD device 200 according to the determined visual field direction. Then, the VR space control process is performed to operate the crane object in the work field based on an operation signal from the training operation device 300, and to lift and transport the object to be lifted.

[0047] In addition, the VR space control unit 110 can control to display a training menu screen (operation panel) in the VR space. Then, the position of the trainee's hands is synchronized with the VR space. The VR space control unit 110 can obtain selection information for the training menu screen based on the position of the trainee's hands and provide various training support contents (VR training support contents) through the training menu screen.

[0048] <Explanation of various training contents> The training support system of this embodiment mainly provides three training functions.

[0049] The first is a basic operation training function. Crane work involves transporting a heavy load to a target position, and includes multiple operation items such as moving the crane to the position of the heavy load (crane travel operation), lifting the heavy load (hoisting operation), moving the crane toward the target position with the heavy load lifted (crane travel operation), and lowering the heavy load at the target position (lowering operation). The training support system of this embodiment can provide a function for experiencing the basic operation of each operation item. Note that in this case, the basic operation training function may be configured to include a function for displaying an explanation screen (explanatory content) for the crane or training operation device 300 to be operated.

[0050] The second is a reenactment video learning function. This function plays educational video materials and allows trainees to watch them. As mentioned above, crane operations, such as transporting heavy objects to a target position, involve multiple operational procedures, and each operation involves operations that must not be performed or that require caution, which can lead to crane breakdowns. This function provides trainees with reenactment videos of operations that must not be performed or that require caution, allowing them to learn what the operations actually involve through the reenactment video in a VR space. In addition, the function for providing educational video materials can also be configured to allow trainees to experience past cases of accidents and malfunctions through reenactment videos.

[0051] The third function is a practical learning function. The training support system of this embodiment can provide a function for experiencing a series of crane operations based on a predetermined work scenario. A work scenario is a crane operation process that simulates actual on-site work (work field). A work scenario is set for each crane operation process at the work site, and the trainee can experience the work scenario in the VR space, in other words, crane operation along a predetermined transport route.

[0052] For example, there is the following work scenario (crane work process). (A) The work of transporting and storing items received at the receiving gate to the temporary storage area; (B) Transporting the products from the temporary storage area to the inspection area based on the work information sent through the management system; (C) Based on the inspection results, transporting the products to different storage locations depending on the inspection results. (D) The work of transporting the processed products in the reprocessing area to the respective areas (pass area, fail area) depending on whether they pass or fail the inspection (re-inspection); (E) Transporting items from the reject area to the exit gate (exit work), (F) The work of transporting products from the passing area to the delivery gate and shipping them out.

[0053] The management system is a known computer system that manages and stores work information specifying what to transport, from where, and to where at a work site, and the crane work process described above constitutes a crane work scenario in accordance with the work information managed and stored in this management system. The crane work processes (A) to (F) above are examples and are not limited to these.

[0054] Furthermore, for example, even for the same work, if the work site (work field) is different, the transport route will be different and the crane work operation content along the transport route will also be different. Furthermore, the crane work process performed at each work site will also be different. Therefore, it is possible to configure so that a work scenario based on the crane work process along the transport route is set for each work site.

[0055] As will be described later, the function of experiencing a series of crane operations based on a predetermined work scenario can be configured to include a practice mode (practical training mode) and a certification mode (practical evaluation mode).

[0056] 4 is a diagram showing the top screen of the training support system of this embodiment. The training menu is divided into "introductory training" and "practical training." "Introductory training" includes an introductory mode, a basic rule learning mode, and a trouble and accident learning mode, and "practical training" includes an operation practice mode and a simulation mode.

[0057] FIG. 5 shows the introduction mode menu screen. The introduction mode menu screen includes the "Explanation of Each Operation Device" and "Crane Operation Experience" options. The "Explanation of Each Operation Device" function displays an explanatory diagram of each object modeled within the work field within the field of view. For example, an explanatory diagram of an automatic slinging device can be displayed. The "Crane Operation Experience" function allows the trainee to experience operating a crane object, which is the equipment to be operated within the work field. The management device 100 outputs a work field including the crane object to the HMD device 200, and the trainee can operate the training operation device 300 to experience operating the crane object. The VR space control unit 110 can control the display of operation guide information within the field of view. The trainee can operate the training operation device 300 in accordance with the operation guide displayed in the VR space and learn basic crane operation.

[0058] 6 is a diagram showing the basic rule learning mode menu screen. The basic rule learning mode is a function that provides the trainee with a replay video, and outputs to the HMD device 200 a field of view video in which a crane object performs a predetermined operation in the VR space. The predetermined operation includes operations that should not be performed (prohibited actions in crane work) and operations that require caution (operations that should be performed with caution in crane work), and provides a replay video of the crane object operating based on these operations.

[0059] Examples of prohibited operations include contact with fixed objects (including the transported object) of a moving crane, transported object, or automatic slinging device, and performing the opposite operation without stopping the crane during traveling, traversing, or hoisting. Operations that should not be performed can be arbitrarily set based on the structure and operability of the crane, past cases of trouble and accidents, etc.

[0060] Operations that require careful attention include, for example, selecting a crane operation based on the work information (what, from where, to where) of the transported object managed by the management system before powering on, sounding the siren before the first operation after powering on, and performing travel and traverse operations after checking the direction of travel. Operations that require careful attention can be configured to include safety confirmation operations required for crane operation in addition to operating the training operation device 300, and can set operating techniques and safety confirmation operations that the trainee should acquire, for example, from the perspective that work omissions and inadequate safety confirmations are likely to occur.

[0061] The VR space control unit 110 outputs an image that reproduces the behavior of the crane object in the work field in the VR space for each prohibited operation and operation that must be performed with caution to the HMD device 200. The reproduced image is created in advance and stored in the storage unit 120.

[0062] 7 is a diagram showing the trouble and accident learning mode menu screen. The trouble and accident learning mode is a function that provides the trainee with a replay video, and a field of view video in which a crane object is operated in a VR space based on a crane operation that has caused a problem in the past is output to the HMD device 200. This replay video is also created in advance and stored in the storage unit 120.

[0063] For example, during an actual crane operation at a work site, a video of a problem can be reproduced in the VR space, in which an automatic slinging device collides with equipment in the work field while the crane is moving. By providing the trainee with a reproduced video of this accident through the HMD device 200, the trainee can experience it from the perspective of an actual worker (the perspective of the driver's seat operating the crane). At this time, it is also possible to configure the reproduced video to display explanatory messages explaining the cause of the problem, such as why the collision occurred and what kind of crane operation is necessary to prevent the collision, as well as how to deal with the problem.

[0064] Figure 8 shows the simulation mode menu screen for "practical work training." The simulation mode menu screen includes work selection items, practical skill training items, and practical skill assessment items. Each of the multiple work selection items is configured with a specific work scenario, allowing the trainee to experience crane work in accordance with the work scenario within the VR space.

[0065] The trainee can select a task selection item and perform practical practice or have their skill assessed for the selected task. The VR space control unit 110 outputs a field of view image based on the task scenario corresponding to the task selection item to the HMD device 200. The VR space control unit 110 receives an operation signal output from the training operation device 300, controls the movement of a crane object in the task field, and outputs the field of view image to the HMD device 200. In addition, each task in the task selection items is associated with a transport route guide. When selecting a transport route guide, a transport map of the task field is displayed, including the lifting position of the transported object, the crane movement route, and the landing position of the transported object. When performing practical practice or a practical assessment, the trainee can refer to the transport route guide to check the crane task procedures in advance.

[0066] Practical training is in practice mode. In practice mode, the VR space control unit 110 can control the trainee to operate a crane by displaying guide messages and guide objects according to a predetermined work scenario. The guide messages display guide messages and guide objects during a series of crane operations, such as transporting an object placed in a work field to a specific location within the work field. For example, a message such as "Please drive slowly when starting" and an arrow can be displayed when operating the crane, or a message such as "Please point and call out 'Ready to hoist'" can be displayed during a hoisting operation. The guide messages can include messages instructing the next operation according to the work scenario and messages urging caution during operation.

[0067] The practical skill assessment is in the test mode. The VR space control unit 110 evaluates the crane work performed by the trainee for the selected crane work scenario without displaying the guide that was displayed in the practice mode.

[0068] Figure 9 is an example of crane operation evaluation criteria information. The example in Figure 9 lists evaluation items including operation type, operation content, judgment criteria, deduction points, and operation trends. In the example in Figure 9, multiple evaluation items are configured to be linked to one of the operation trends, and the operation trends include five trends: operation accuracy, operation timing, depth of recognition, situation understanding, and pointing and calling performance. In addition, "prohibited operations" are included as exceptions to the operation trends. Prohibited operations are operations that should not be performed in the basic rule learning mode described in Figure 6, and operations that should not be performed are also subject to evaluation.

[0069] A series of crane operations in a predetermined work scenario includes crane operations (including safety confirmation operations) for each operation category. In other words, a work scenario is made up of a combination of crane operations for each operation category, and the VR space control unit 110 determines whether a demerit operation, demerit action, or prohibited operation that meets the evaluation criteria has been performed in an operation that corresponds to an operation category in the predetermined work scenario. If the result of the determination is that a demerit operation, demerit action, or prohibited operation has been performed, a demerit evaluation is performed. These demerit points are accumulated for a series of crane operations, and an evaluation score can be calculated using a demerit system.

[0070] Figure 10 is an example of the output of the practical skill assessment evaluation results. As shown in Figure 10, the score calculated using the point deduction system based on the operation evaluation standard information in Figure 9 is displayed, and the presence or absence and number of prohibited operations, deductible operations for each operation category in the crane evaluation standard information, and the presence or absence of deductible actions can be output as evaluation results.

[0071] In addition, the right column of FIG. 10 outputs the driver's operation tendencies. As described above, the driver's operation tendencies include five analysis items: operation accuracy, operation timing, depth of recognition, situation understanding, and pointing and calling performance. Statistical processing is performed to determine which analysis item the "penalties" in the operation evaluation criteria information in FIG. 9 correspond to. This configuration makes it possible to understand the driver's (trainee's) operation tendencies based on the number of deductions for each analysis item and the number of operations that are subject to deductions. In the example of FIG. 10, the fewer the number of operations that are subject to deductions (number of occurrences) and the number of deductions, the higher the evaluation result that is output. Furthermore, as shown in FIG. 10, the evaluation results of the driver's operation tendencies, which are composed of five analysis items, can also be displayed graphically in a radar chart.

[0072] In this way, the VR space control unit 110 can be equipped with a function to measure the trainee's crane operation proficiency in the test mode. Operation evaluation criteria information, which specifies multiple operation categories for crane work, operation details corresponding to the operation categories, and evaluation criteria for each operation category, is stored in advance in the storage unit 120. The VR space control unit 110 can generate evaluation results by comparing the evaluation criteria for each corresponding operation category during crane work in a practical skill evaluation mode based on a predetermined work scenario. The evaluation results of the practical skill evaluation shown in FIG. 10 can be displayed and presented in the VR space to the trainee who has completed the practical skill evaluation mode.

[0073] The VR space control unit 110 may be configured to perform evaluation processing by applying different operation evaluation criteria information depending on the selected work field and work scenario. In other words, the operation evaluation criteria information includes multiple operation contents extracted from a series of crane operations performed in each work scenario in each work field, and is information in which judgment criteria are set for the extracted operation contents and the extracted operation contents are classified into each operation category. Therefore, the operation evaluation criteria information shown in FIG. 9 may be different for each work field and work scenario, or may be common operation evaluation criteria information for each work scenario in each work field.

[0074] <Explanation of the pointing and calling management function> FIG. 11 is a diagram showing an example of a display of a pointing confirmation object in the VR space.

[0075] The training support system of this embodiment not only "monitors" the trainee's pointing and calling actions, but also provides a mechanism for the trainee to perform the pointing and calling actions, thereby creating an environment in which the trainee can acquire the pointing and checking actions required for actual work along with crane operation techniques.

[0076] Specifically, as described above, the simulation mode of "practical work training" exemplified in Fig. 8 allows practical skill practice according to a predetermined work scenario, and the VR space control unit 110 performs guide display control. At this time, the VR space control unit 110 can perform control in the guide display control to display messages instructing the next operation according to the work scenario and messages calling attention to operation, as well as to display in the virtual space a pointing confirmation object Y corresponding to the pointing and calling action included in the predetermined work scenario.

[0077] In addition, in the practical skill assessment in the simulation mode of "practical work training," the VR space control unit 110 can only perform display control to display the pointing confirmation object Y in accordance with the operation procedure in a specified work scenario, and can control not to display messages instructing the next operation in accordance with the work scenario or messages urging caution when operating.

[0078] The VR space control unit 110 displays a pointing confirmation object Y in the field of view image during a series of crane operations based on a predetermined work scenario, and the pointing and calling management unit 111 detects whether the trainee has come into contact with the pointing and calling object Y based on the position of the trainee's hand, and determines whether the trainee has performed a pointing and calling operation.

[0079] The predetermined work scenario includes each operation content of the multiple operation categories shown in FIG. 9, and includes a pointing and calling action as a safety confirmation action. The VR space control unit 110 can grasp a scene in which the pointing and calling action is performed in the operation procedure of the predetermined work scenario, and displays a pointing and calling confirmation object Y in the field of view image in the corresponding scene. As shown in FIG. 11, for example, the trainee looks closely at the pointing and calling target displayed in the VR space, utters "XX OK" as the pointing and calling action, and points his / her finger as if to touch the pointing and calling confirmation object Y in the VR space to perform the pointing and calling action. The pointing and calling target displayed in the VR space may include the operation unit 310 of the training operation device 300, which can be seen through the half-mirror structure of the HMD device 200.

[0080] The position of the trainee's fingers (hands) in the VR space can be grasped based on the trainee's behavior acquired by the hand trackers 400A, 400B or the HMD device 200, and the pointing and calling management unit 111 can detect (determine) whether or not the trainee has made contact with the pointing and calling object Y. The pointing and calling management unit 111 determines whether or not the trainee has made a pointing and calling action based on whether or not the pointing and calling object Y has been contacted in conjunction with the pointing and calling action. Note that while FIG. 11 illustrates an example in which a hand object synchronized with the position of the trainee's fingers (hands) is displayed in the VR space, the present invention is not limited to this. For example, a configuration may be adopted in which contact with the pointing and calling object Y is detected without displaying a hand object in the VR space.

[0081] By configuring it in this way, it is possible to have the child perform and master the action of "looking carefully at the object being pointed at and named"

[0082] Conventional systems that monitor the behavior of trainees to grasp the pointing and calling behavior have had aspects that prevent them from achieving the original purpose of pointing and calling. In particular, simply monitoring the behavior of trainees only indicates whether or not they performed the pointing and calling behavior, and is not a system that ensures that the trainee performs the pointing and calling behavior. In addition, there are technical issues that make it easy for false detections and overdetections to occur, and there is an issue that it is not possible to provide sufficient "training that allows trainees to perform and acquire the behavior."

[0083] In contrast to this, in this embodiment, contact with an object in the VR space is incorporated as a requirement for the pointing and calling action, and the presence or absence of the pointing and calling action is determined by detecting whether or not the pointing confirmation object Y has been contacted. This makes contact with an object a necessary result of the pointing and calling action, and it is possible to provide training that allows a person to perform and master the pointing and calling action.

[0084] As a mechanism for executing the pointing and calling action, if contact with the pointing confirmation object Y cannot be detected in a scene where the pointing and calling action is performed, control may be performed so that the operation does not proceed to the next operation scene based on the operation procedure of a predetermined work scenario. For example, the VR space control unit 110 may control the operation procedure of the predetermined work scenario to proceed to the next step based on the detection result of "presence" of contact with the pointing confirmation object Y output from the pointing and calling management unit 111, and may also control the operation procedure of the predetermined work scenario not to proceed to the next step until contact with the pointing confirmation object Y is confirmed.

[0085] On the other hand, the process of determining whether or not a pointing and calling action has been performed may take into account other factors in addition to the detection of contact with the pointing confirmation object Y. For example, it is possible to check whether or not a pointing and calling action has been uttered during the pointing and calling action, or to check the orientation (face direction) of the trainee relative to the object being pointed at and called.

[0086] The trainee's speech can be acquired through the microphone device of the HMD device 200. Pointing and calling keywords corresponding to the pointing and calling actions are stored in advance in the storage unit 120. The pointing and calling management unit 111 analyzes the speech through speech recognition processing and compares the speech recognition results with the pointing and calling keywords. That is, the pointing and calling management unit 111 determines whether the trainee's speech corresponds to a predetermined pointing and calling keyword associated with the pointing and calling action. If the comparison results in the content of the trainee's speech corresponding to the pointing and calling keyword for the crane operation, it can determine that a pointing and calling action has been "present." In this way, the pointing and calling management unit 111 can determine that a pointing and calling action has been performed if the pointing and calling object Y has been touched and a pointing and calling action has been uttered, based on whether the pointing and calling object Y has been touched and a pointing and calling action has been uttered. With this configuration, the trainee can be made to make a contact action with the pointing confirmation object Y and to point and call out the name.

[0087] Furthermore, as described above, the orientation (face direction) of the trainee relative to the pointing and calling object can be acquired through the HMD device 200. The pointing and calling management unit 111 determines whether the trainee is facing the display direction of the pointing and calling object displayed in the VR space. If it is determined that the trainee is facing the display direction of the pointing and calling object displayed in the VR space, it can be determined that the trainee was looking at the pointing and calling object during the pointing and calling action for the crane operation. Based on the determination results of whether or not the pointing and calling object Y was touched and whether the trainee was looking closely at the pointing and calling object, the pointing and calling management unit 111 can determine that a pointing and calling action was performed if the pointing and calling object was touched and the trainee was looking closely at the pointing and calling object. This configuration allows the trainee to perform the touch action toward the pointing and calling object Y while looking closely at the pointing and calling object.

[0088] The pointing and calling management unit 111 may be configured to determine whether or not a pointing and calling action has been performed based on the determination results of whether or not the pointing and calling object Y has been touched, whether or not a pointing and calling action has been uttered, and whether or not the trainee has looked closely at the pointing and calling target. By configuring it in this way, the trainee can be made to touch the pointing and calling object Y and utter a pointing and calling action while looking closely at the pointing and calling target.

[0089] Here, we will explain the display control of the pointing confirmation object Y displayed in the VR space. The VR space control unit 110 can grasp the scene where the pointing and calling action is performed in the operation procedure of a predetermined work scenario, and displays the pointing confirmation object Y in the VR space in the corresponding scene, but at this time, it can be configured to display the pointing confirmation object Y even if the pointing and calling target is not displayed in the field of view image.

[0090] In another aspect, the pointing confirmation object Y can be controlled to be displayed when the pointing and calling target is displayed in the field of view image. The VR space control unit 110 can control to display the pointing confirmation object Y when the pointing and calling target is displayed in the field of view image corresponding to the orientation of the trainee's face (orientation of the HMD device 200) in a scene where the pointing and calling action is performed in the operation procedure of a predetermined work scenario.

[0091] In this case, the display of the pointing and calling object Y may be controlled based on the display position of the pointing and calling object and the time the pointing and calling object is displayed. For example, the pointing and calling object Y may be displayed when the pointing and calling object is displayed at the center or near the center of the field of view image in a scene where a pointing and calling action is performed. Alternatively, the pointing and calling object Y may be displayed when the pointing and calling object is maintained displayed in the field of view image for a predetermined time (for example, several seconds). Alternatively, these may be combined to display the pointing and calling object Y when the pointing and calling object is maintained displayed in the field of view image for a predetermined time (for example, several seconds).

[0092] The display position of the pointing confirmation object Y in the field of view image is within the range that the trainee's finger (hand) can reach in the VR space, but as an example, it can be displayed slightly above the center of the field of view image with the trainee facing forward. In another aspect, the VR space control unit 110 can display the pointing confirmation object Y superimposed on the target to be pointed at and called in the virtual space displayed in the field of view image, or can display the pointing confirmation object Y in a position close to the target to be pointed at and called in the virtual space displayed in the field of view image.

[0093] 12 and 13 are diagrams showing the processing flow of the training support system of this embodiment.

[0094] 12, after startup, the management device 100 outputs a field of view image of the VR space to the HMD device 200 worn by the trainee, and displays a menu screen. The trainee operates the menu screen and selects a desired menu. The management device 100 controls the screen display in response to the menu operation by the trainee (S101, S102, S103).

[0095] When "Introduction Mode" is selected in the "Introductory Training" menu (S104, S105), the trainee can choose between "Explanation of Each Operational Device" or "Crane Operation Experience," as shown in FIG. 5. When "Explanation of Each Operational Device" is selected, the management device 100 displays the corresponding explanation content in the VR space (S106, S107). When "Crane Operation Experience" is selected (S108), the management device 100 outputs the VR content of the selected crane operation experience, i.e., a field-of-view image of the VR space in which a crane object is displayed in the work field, to the HMD device 200 (S109). The trainee can then operate the training operation device 300 to experience operating the crane object. The management device 100 controls the operation of the crane object based on the operation signal from the training operation device 300 (S110).

[0096] When "Basic Rule Learning Mode" is selected in the "Introductory Training" menu (S104, S111), the trainee can view reproduced images of "Prohibited Actions in Crane Operation" and "Operations to be Performed with Caution in Crane Operation," as shown in Fig. 6. The management device 100 outputs to the HMD device 200 a field of view image that reproduces the behavior of the crane object in the work field in the VR space for each of the "Prohibited Actions in Crane Operation" and "Operations to be Performed with Caution in Crane Operation" (S112).

[0097] Similarly, when "Trouble and Accident Learning Mode" is selected in the "Introductory Training" menu (S104, S113), the trainee can view a reenactment video of each "accident case," as shown in Fig. 7. For each "accident case," the management device 100 outputs to the HMD device 200 a field of view video in which the behavior of the crane object in the work field is reproduced in the VR space (S114).

[0098] As shown in Fig. 13, a work field (building for training) can be selected in the "Actual Work Training" menu, and when a work field is selected, the simulation mode menu screen shown in Fig. 8 is displayed (S120). Then, on the menu screen shown in Fig. 8, one work (work scenario) can be selected from the work selection items (S121).

[0099] After the work is selected, when "Transportation Route Guide" is selected (S122), the management device 100 outputs the corresponding transportation route map to the HMD device 200 and controls the transportation route map so that it can be viewed in the VR space (S123).

[0100] After a task is selected, if "practical training" is selected (S124), the management device 100 outputs a field of view image based on a task scenario corresponding to the selected "task" to the HMD device 200 (S125). Also, guide display control including the pointing confirmation object Y is performed in accordance with the task scenario (S126). The management device 100 receives an operation signal output from the training operation device 300, controls the movement of the crane object in the task field, and outputs the field of view image to the HMD device 200 (S127).

[0101] As a guide display control, the management device 100 displays a pointing confirmation object Y in the field of view image based on the work scenario, and detects whether the trainee has contacted the pointing confirmation object Y based on the position of the trainee's hand (S128).If the pointing confirmation object Y has been contacted, it determines that a pointing and calling action has been made (S129), and if the pointing confirmation object Y has not been contacted, it determines that a pointing and calling action has not been made (S130).

[0102] Control of the field of view image in the VR space, control of the movement of each object including the crane object in the work field based on the operation signal output from the training operation device 300, guide display control, and pointing and calling action determination control based on contact with the pointing confirmation object Y are performed according to the work scenario, and when the work scenario ends (YES in S131), the management device 100 ends the "practical training" (S132).

[0103] Next, after the work has been selected, when "practical skill evaluation" is selected (S133), the management device 100 starts the evaluation process for the crane work based on the crane operation evaluation standard information shown in FIG. 9 (S134).

[0104] The management device 100 outputs a field of view image based on the work scenario corresponding to the selected "work" to the HMD device 200 (S135). At this time, the management device 100 performs guide display control to display only the pointing confirmation object Y in accordance with the work scenario (S136). The management device 100 receives an operation signal output from the training operation device 300, controls the movement of each object including the crane object in the work field, and outputs the field of view image to the HMD device 200 (S137). For crane work based on the work scenario, the management device 100 refers to operation evaluation criteria information and sequentially performs evaluation and judgment processing to judge whether or not the judgment criteria are met for each applicable operation category.

[0105] The management device 100 displays a pointing confirmation object Y in the field of view image based on the work scenario, and detects whether the trainee has touched the pointing confirmation object Y based on the position of the trainee's hand (S138).If the pointing confirmation object Y has been touched, it determines that the pointing and calling action has been "present" (S139), and if the pointing and calling object Y has not been touched, it determines that the pointing and calling action has been "absent" (S140).

[0106] Control of the field of view image in the VR space, control of the movement of each object in the work field, including the crane object, based on the operation signal output from the training operation device 300, control of the guide display of the pointing confirmation object Y, control of the pointing and calling action determination based on contact with the pointing confirmation object Y, and evaluation and judgment processing of the crane work based on the operation evaluation standard information are performed according to the work scenario. When the work scenario ends (YES in S141), the management device 100 generates evaluation information as the processing result of the evaluation and judgment processing (S142). The evaluation information can generate the evaluation result shown in FIG. 10. The management device 100 displays the generated evaluation information in the VR space and outputs it to the HMD device 200 as the field of view image (S143). Thereafter, the "practical skill evaluation" ends (S144).

[0107] 12 and 13, if the trainee performs an operation to display (return to) the top screen shown in Fig. 4 or an operation to display each of the screens shown in Fig. 5 to 8 at any timing, the management device 100 can perform processing to display each of these screens, although this is not shown. In addition to the operation by the trainee, after various processes in the processing flows of Fig. 12 and 13 are completed, the management device 100 can also perform control to automatically display the top screen shown in Fig. 4 or each of the screens shown in Fig. 5 to 8.

[0108] The above has described an embodiment, but each function of the management device 100 that constitutes the crane work training support system can be realized by a program, and a computer program prepared in advance to realize each function is stored in an auxiliary storage device, and a control unit such as a CPU reads the program stored in the auxiliary storage device into a main storage device, and the control unit executes the program read into the main storage device, thereby operating the functions of each unit. [Explanation of symbols]

[0109] 100 Management device 110 VR space control unit 111 Pointing and Calling Management Department 120 Storage section 130 Communications Department 200 Head-mounted display device 300 Training operating device 310 Operation Unit 320 Operation signal control device 400A, 400B Hand Tracker 400C Base Station 400D Tracker Receiver

Claims

1. A crane work training support system, a head-mounted display device worn by the trainee; a virtual space device that outputs a field of view image in a virtual space including a crane object and a work field to the head-mounted display device according to the trainee's field of view direction; a training operation device that includes an operation unit corresponding to an operation device of a real crane, and outputs an operation signal for a crane object in a virtual space to the virtual space device in response to an operation of the operation unit by a trainee; a detection device for detecting the behavior of the trainee, The virtual space device comprises: a virtual space control unit that outputs the field of view image based on a predetermined work scenario to the head-mounted display device, operates a crane object in a work field based on the operation signal, and displays a pointing and confirming object in a virtual space that corresponds to a pointing and calling action included in the predetermined work scenario; a pointing and calling management unit that detects whether the trainee has contacted the pointing confirmation object based on the position of the trainee's hand detected by the detection device and determines whether the trainee has made a pointing and calling action; A crane operation training support system comprising:

2. The crane operation training support system according to claim 1, characterized in that the virtual space control unit displays the pointing confirmation object while the target to be pointed at and called is displayed in the virtual space in the trainee's field of vision.

3. 2. The crane operation training support system according to claim 1, wherein the virtual space control unit displays the pointing confirmation object superimposed on the target to be pointed at and called out in the virtual space displayed in the field of view image, or displays the pointing confirmation object in a position close to the target to be pointed at and called out in the virtual space displayed in the field of view image.

4. the detection device detects the orientation of the head-mounted display device worn by the trainee, The crane work training support system according to claim 1, wherein the pointing and calling management unit determines whether the orientation of the head-mounted display device is facing the display direction of the pointing and calling object displayed in the virtual space, and determines whether the trainee has performed a pointing and calling action based on the determination result of the orientation of the head-mounted display device and the detection result of contact with the pointing confirmation object.

5. A microphone device is provided to collect the speech of the trainee, The crane work training support system of claim 1, wherein the pointing and calling management unit determines whether the trainee's speech corresponds to a predetermined pointing and calling keyword associated with a pointing and calling action, and determines whether the trainee has performed a pointing and calling action based on the determination result of the trainee's speech and the detection result of contact with the pointing and calling object.

6. The predetermined work scenario includes a practical skill assessment mode, a storage unit that stores operation evaluation standard information that specifies a plurality of operation categories in crane work, operation contents corresponding to the operation categories, and judgment standards for each operation category; The virtual space control unit The crane operation training support system according to claim 1, characterized in that, in crane operation in the practical skill assessment mode based on a predetermined work scenario, it is determined whether or not the assessment criteria are met for each applicable operation category, and a judgment result is generated.

7. 2. The crane operation training support system according to claim 1, wherein the work field displayed as the field of view image is a virtual space generated by 3D photographing or modeling the work site where a crane is actually operated.

8. a storage unit that stores a reproduced video of a crane object being operated in a virtual space based on a crane operation history relating to predetermined prohibitions, predetermined cautions, or predetermined trouble cases; 2. The crane operation training support system according to claim 1, wherein the virtual space control unit outputs the reproduced image to the head-mounted display device.

9. the head-mounted display device has a half mirror structure, The crane operation training support system described in claim 1, characterized in that the virtual space device controls the operating unit that is within the field of view of the real trainee to be displayed in the virtual space with the field of view image as a background.

10. A crane work training support system including a head-mounted display device worn by a trainee, a virtual space device that outputs a field of view image in a virtual space including a crane object and a work field to the head-mounted display device according to the trainee's field of view direction, a training operation device that has an operation unit corresponding to the operation device of an actual crane and outputs an operation signal for a crane object in the virtual space to the virtual space device according to operation of the operation unit by the trainee, and a detection device that detects the behavior of the trainee, said program being executed by the virtual space device, a first function of outputting the field of view image based on a predetermined work scenario to the head-mounted display device, operating a crane object in a work field based on the operation signal, and displaying a pointing and confirmation object corresponding to a pointing and calling action included in the predetermined work scenario in a virtual space; a second function of detecting whether the trainee has contacted the pointing confirmation object based on the position of the trainee's hand detected by the detection device and determining whether the trainee has made a pointing and calling action; A program characterized by realizing the above.

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