Visualization system and suspended state detection set

Abstract

To provide a visualization system capable of sharing a work situation by reflecting a state of a suspended load of lifting work on a virtual space in order to realize an environment for safer work.SOLUTION: A visualization system 1 that visualizes a state of a suspended load SL of a lifting work by reflecting the state of suspended load SL on a virtual space, according to the present invention, includes: a space control unit 72 configured to control the virtual space; a position measurement unit 62 configured to detect an azimuth of the suspended load; and a shape acquisition unit configured to acquire a shape of the suspended load SL. The position measurement unit 62 detects the azimuth of the suspended load SL by detecting an azimuth of a specific direction of the shape of the suspended load. The space control unit 72 performs a suspended load state reflection process in which the state of the suspended load is reflected on a virtual suspended load in a virtual space corresponding to the suspended load SL. In the suspended load state reflection process, an azimuth reflection process is performed in which a shape of the virtual suspended load is reflected on the virtual space such that a virtual specific direction of the virtual suspended load corresponding to a specific direction of the suspended load is aligned with the azimuth of the specific direction, based on the azimuth of the changed specific direction.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] The present invention relates to a visualization system that reflects and visualizes the state of a suspended load during lifting work in a virtual space, and a suspended load state detection set that can be used for the visualization system. [Background technology]

[0002] There is a hanging object rotation device for positioning the rotation direction of an object suspended by a wire, in which a gimbal frame that rotatably supports a flywheel is integrally provided with a gimbal shaft for tiltably supporting the flywheel, and the gyro effect generated by the tilting of the flywheel that rotates around a central axis is used to rotate the object (see Patent Document 1).

[0003] On the other hand, when landing the load at the unloading location, an operator must operate the load rotation device, and the rigger may also use an assistant rope attached to the load to guide it to the destination, making the work at the unloading location time-consuming (see Patent Document 2).

[0004] Therefore, Patent Document 2 discloses a lifting support system that includes a control unit connected to a hanging equipment slewing device that suspends a flying load, wherein the control unit acquires positioning information from multiple positioning devices installed at different positions on the hanging equipment slewing device, uses the positioning information to identify the current location of the hanging equipment slewing device, and instructs the hanging equipment to rotate according to the current location and the landing direction of the flying equipment. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Laid-Open No. 2014-131940 [Patent Document 2] Japanese Patent Application Publication No. 2023-156107 Summary of the Invention [Problem to be solved by the invention]

[0006] However, when performing lifting work using a crane or the like, only a few workers on-site can see the condition of the suspended load, and there are times when the suspended load is located in the blind spot of the operator operating the crane or the like, making it impossible for the operator to check the condition of the suspended load.

[0007] In situations like this where there are only a limited number of people who can monitor, there is a risk that dangerous conditions will be overlooked, so it is necessary to create an environment where workers can work more safely.

[0008] The present invention was made in consideration of these circumstances, and aims to provide a visualization system that can share work conditions by reflecting the state of the load during lifting work in a virtual space, in order to create an environment where work can be carried out safer. [Means for solving the problem]

[0009] In order to achieve the above object, the present invention is realized by the following configuration. The visualization system of the present invention is a visualization system that visualizes the state of a load during lifting work by reflecting it on a virtual space, and the visualization system comprises a space control unit that controls the virtual space, a positioning unit that detects the orientation of the load, and a shape acquisition unit that acquires the shape of the load, wherein the positioning unit detects the orientation of the load by detecting the orientation of a specific direction of the load shape, and the space control unit performs a load state reflection process that reflects the state of the load on a virtual load in the virtual space that corresponds to the load, and in the load state reflection process, an orientation reflection process is performed that reflects the virtual load shape on the virtual space based on the changing orientation of the specific direction so as to align the virtual specific direction of the virtual load that corresponds to the specific direction of the load with the orientation of the specific direction.

[0010] The load status detection set of the present invention is a load status detection set used to reflect the status of a load during lifting work in a virtual space, and includes a positioning device that is attached to a lifting scale or a load and detects the position and orientation of the load, and a shape detection device that is attached to a position where the shape of the load can be detected. [Effects of the Invention]

[0011] According to the present invention, a visualization system can be provided that can share the work situation by reflecting the state of the load during lifting work in a virtual space, in order to create an environment where work can be carried out safely. [Brief explanation of the drawings]

[0012] [Figure 1] FIG. 1 is a diagram for explaining a visualization system according to a first embodiment of the present invention. [Figure 2] FIG. 2 is a diagram for explaining parts related to the crane of the first embodiment according to the present invention. [Figure 3] 3 is a view of the area circled by the dotted line in FIG. 2 as seen from the direction of the arrow. [Figure 4] FIG. 2 is a diagram illustrating a hardware configuration of a field terminal according to the first embodiment of the present invention. [Figure 5] FIG. 2 is a diagram for explaining setting input on a display unit according to the first embodiment of the present invention. [Figure 6] FIG. 4 is a diagram for explaining a suspended load state detection set according to a second embodiment of the present invention. [Figure 7] FIG. 10 is a perspective view for explaining a suspended load state detection set according to a third embodiment of the present invention. [Figure 8] FIG. 10 is a plan view seen from the side for explaining a suspended load state detection set according to a third embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0013] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a mode for carrying out the present invention (hereinafter referred to as an "embodiment") will be described in detail with reference to the accompanying drawings. It should be noted that the same elements are denoted by the same numbers or symbols throughout the description of the embodiments.

[0014] "First embodiment" A visualization system 1 according to a first embodiment of the present invention will be described with reference to FIGS.

[0015] FIG. 1 is a diagram for explaining a visualization system 1 according to a first embodiment of the present invention. In Figure 1, for ease of viewing, the numbers and symbols of the crane 2 have been almost completely omitted, and for the numbers and symbols related to the crane 2, please refer to Figure 2.

[0016] FIG. 2 is a diagram for explaining parts related to the crane 2 of the first embodiment according to the present invention. The crane 2 itself in FIG. 2 is similar to the crane 2 in FIG. 1, but the illustration also includes the configuration for hoisting a load SL. Furthermore, in Figure 2, the numbers and symbols of the components, including the suspended load SL, have been almost completely omitted, and for the numbers and symbols of the components, including the suspended load SL, please refer to Figure 3.

[0017] FIG. 3 is a view of the area circled by a dotted line in FIG. 2 as seen from the direction of the arrow.

[0018] The visualization system 1 is a system that reflects and visualizes the state of the suspended load SL when lifting work is performed using a crane 2 or the like at a construction site CS in a virtual space, allowing everyone to share the status of the lifting work, thereby enabling more appropriate risk prediction, etc. In this embodiment, a crawler crane is shown as the crane 2, but it may also be a crawler type crane, or a stationary jib crane or the like.

[0019] As shown in Figure 1, the visualization system 1 of this embodiment includes an on-site terminal 3 used by operators, etc., a remote terminal 4 used by construction personnel, etc. at a monitoring center MC, etc., a design terminal 5 installed in a design room DO, etc., a load status detection set 6 (see Figure 3) used to reflect the status of the load SL (see Figures 2 and 3) during lifting work in virtual space, and a cloud server 7 that reproduces the situation at the construction site in virtual space.

[0020] As will be explained later, the crane 2 (communication unit 23C described later), the on-site terminal 3, the remote terminal 4, the design terminal 5, and the cloud server 7 are communicably connected via the Internet IN. Furthermore, the crane 2 (communication unit 23C described later) and the on-site terminal 3 are connected so as to be able to communicate with each other without going through the Internet IN.

[0021] <Crane 2> As shown in Figure 2, the crane 2 comprises a main body 21, an operating unit 22 having an arm 22A that can be raised and lowered relative to the main body 21, a drive detection unit 23 that detects the overall drive state of the crane 2, and a construction state detection unit 24 that detects the state of the construction object according to the progress of construction.

[0022] [Main body 21] The main body 21 includes a crawler-type running body 21A and a rotating body 21B that is rotatably provided on the running body 21A via a rotating part and has a driver's cab and the like.

[0023] [Operating part 22] The operating unit 22 is a part that is driven to transport (lift) materials, etc., and is equipped with an arm 22A whose base end is connected to the rotating body 21B so that it can be raised and lowered, and a hook 22B that is attached to the tip of the arm 22A so that it can move up and down.

[0024] (Arm 22A) In this embodiment, the arm 22A is only a boom, but it is not limited to this and may have a jib whose base end is connected to the tip of the boom so that it can be raised and lowered.

[0025] (Hook part 22B) The hook portion 22B is connected to a wire rope WR1 from a winch (not shown) provided at the rear of the rotating body 21B, and the tip of the arm portion 22A can move up and down by winding up and down the wire rope WR1 using the winch.

[0026] The rear of the rotating body 21B refers to the side opposite the arm 22A across the center of rotation of the rotating body 21B when the rotating body 21B rotates, and conversely, the arm 22A side is the front of the rotating body 21B, and so on.

[0027] [Drive detection unit 23] The drive detection unit 23 is provided behind the rotating body 21B and includes a pair of GNSS 23A that detects the position of the main body 21 and the direction in which the forward direction of the rotating body 21B is facing, an inclination sensor 23B that detects the inclination of the arm 22A, and a communication unit 23C that receives the detection results detected by the GNSS 23A and the inclination sensor 23B and transmits them to the cloud server 7 described later.

[0028] In this embodiment, the GNSS 23A and the tilt sensor 23B have wireless communication functions such as Wi-Fi (registered trademark), but they may also have wired communication functions as long as they are able to transmit detection results to the communication unit 23C described below.

[0029] In addition, in this embodiment, the GNSS 23A and the tilt sensor 23B are connected to a power source via a power cable, but may be of a type with a built-in secondary battery. However, it is preferable to connect it to the power supply of the crane 2 with a power cable, as this eliminates the need for separate charging.

[0030] (GNSS23A) A pair of left and right GNSS23A (Global Navigation Satellite Systems) are provided at a position rearward of the rotating body 21B, approximately equidistant from the front-to-rear axis of the rotating body 21B in the left-to-right direction, across the front-to-rear axis that passes through the center of rotation when the rotating body 21B rotates.

[0031] The longitudinal axis of the rotating body 21B refers to an axis extending from the rear to the front of the rotating body 21B that passes through the center of rotation, and the left-right direction refers to the horizontal direction of the rotating body 21B that is perpendicular to the longitudinal axis.When looking forward from the rear of the rotating body 21B, the right side is the right side (also called the right) of the rotating body 21B, and the left side is the left side (also called the left) of the rotating body 21B, and the same applies hereinafter.

[0032] Also, since Figure 2 is an illustration viewed from the right side of the rotating body 21B of the crane 2, only the right-side GNSS 23A is visible in Figure 2, but there is also a left-side GNSS 23A on the left side of the rotating body 21B, overlapping it towards the back of the page.

[0033] The left and right GNSS23A are fixed onto an installation base, and a magnet is provided at the bottom of the base, allowing them to be attached and detached to the rotating body 21B by magnetic force, making it easy to install even on cranes that do not have GNSS23A.

[0034] Each of the left and right GNSS23A detects latitude, longitude, and altitude, and from the detection results, the direction from left to right GNSS23A is calculated. The direction rotated 90 degrees counterclockwise around the midpoint between the left and right GNSS23A is the front side of the rotating body 21B where the arm 22A is located.

[0035] Once the left and right GNSSs 23A are installed, the relationship between the installation positions of the left and right GNSSs 23A and the base end (connection position) of the arm 22A connected to the rotating body 21B does not change.

[0036] Therefore, if the positional relationship between the installation positions of the left and right GNSSs 23A when they are installed and the base end (connection position) of the arm 22A connected to the rotating body 21B is determined in advance, the base end (connection position) of the arm 22A can then be determined based on the detection results of the position and orientation of the left and right GNSSs 23A.

[0037] Therefore, the starting position (connection position) of the raising and lowering motion of the arm 22A and the direction of the raising and lowering motion can be obtained from the detection results of the position and direction detected by the left and right GNSS 23A.

[0038] In reality, the location where each model of crane 2 should be installed is determined in advance, and the virtual crane VR2 (described later) on the cloud server 7 side also detects the position and orientation at the installation location and reflects this in the virtual space.

[0039] However, it is not necessary to be limited to deciding the installation location in advance; the installation location can be set arbitrarily, and after installation, it is possible to set which part of the virtual crane VR2 (described later) on the cloud server 7 side needs to be treated as the position and orientation detection position accordingly.

[0040] Furthermore, the position of the crane 2 can be detected based on the latitude and longitude detected by the left and right GNSS 23A, and the movement of the crane 2 can also be detected based on changes in the latitude and longitude.

[0041] Then, the detection results (data) of the position and direction detected by the left and right GNSSs 23A are transmitted to the cloud server 7 from a communication unit 23C (described later) via the Internet IN.

[0042] As a result, the cloud server 7 can also determine the starting position (connection position) of the raising and lowering motion of the arm 22A, the direction of the raising and lowering motion of the arm 22A, and the position and movement state of the crane 2.

[0043] (Tilt sensor 23B) Tilt sensor 23B is detachably attached to arm 22A with a belt, tape, or the like, and detects the tilt angle (also referred to as the inclination angle) of arm 22A. Therefore, it can be easily installed even on a crane that does not have the tilt sensor 23B.

[0044] As explained above, the length of arm 22A is known, and the starting position of the raising and lowering movement of arm 22A and the direction in which arm 22A is facing (the direction in which the forward direction of rotating body 21B is facing) can also be obtained. Therefore, based on the detection result (tilt angle) detected by this inclination sensor 23B, it is possible to determine in which direction and how arm 22A is extending, based on the starting position of the raising and lowering movement of arm 22A.

[0045] Furthermore, if the arm 22A has a jib whose base end is connected to the tip of the boom so that it can be raised and lowered, an inclination sensor 23B can also be provided on the jib, making it possible to determine how the boom and the arm 22A with the jib are extended forward.

[0046] Specifically, since it is known where the base end of the jib is connected to the boom, if the starting position of the raising and lowering movement of the arm 22A and the inclination angle of the boom are known, the base end of the jib (starting position of the raising and lowering movement) can be determined, and since the length of the jib is also known, if the inclination angle of the jib is known, it is possible to determine how the jib extends forward, just as with the boom.

[0047] Then, the detection result (data) of the tilt angle detected by tilt sensor 23B is transmitted to cloud server 7 from communication unit 23C (described later) via Internet IN.

[0048] Therefore, the cloud server 7 can determine how the arm 22A is stretched forward, that is, how the arm 22A is moving, based on the starting position of the up-and-down motion of the arm 22A.

[0049] In this embodiment, a gyro (not shown) is also provided in a control box (not shown) that houses the control panel (not shown) of the crane 2, which is installed near the driver's cab of the rotating body 21B, so that the inclination of the entire crane 2 can also be detected.

[0050] For this reason, the tilt angle detected by the tilt sensor 23B can be further corrected taking into account the tilt of the entire crane 2, and data on the tilt angle of the entire crane 2 detected by the gyro (not shown) is also transmitted from the communication unit 23C described below to the cloud server 7 via the Internet IN.

[0051] Therefore, the cloud server 7 is able to determine the operation of the arm 22A taking into consideration the inclination of the entire crane 2.

[0052] (Communications Department 23C) The communication unit 23C is a communication interface that performs communication (e.g., wireless or wired communication) between the GNSS 23A, the tilt sensor 23B, and the 3D-LiDAR as the construction status detection unit 24 described below, communication (e.g., wireless communication) with the on-site terminal 3, communication (e.g., wireless communication) with the suspended load status detection set 6 described below, and communication via the Internet IN.

[0053] As mentioned above, the communication unit 23C receives the detection results (data) detected by the GNSS 23A, the tilt sensor 23B, and the 3D-LiDAR serving as the construction status detection unit 24, and transmits them to the cloud server 7. In addition, the detection result (data) detected to reflect the state of the suspended load SL during lifting work from the suspended load state detection set 6 described below in the virtual space is received, and transmitted to the cloud server 7.

[0054] Then, when the cloud server 7 receives the data from the communication unit 23C, the virtual space is controlled based on the received data as described below.

[0055] [Construction Status Detection Unit 24] As shown in FIG. 2, in this embodiment, the construction status detection unit 24 is a 3D-LiDAR (Light Detection and Ranging) provided at the tip of the arm 22A, and acquires each structure of the construction object as three-dimensional point cloud data.

[0056] In this embodiment, the 3D-LiDAR as the construction status detection unit 24 is provided at the tip of the arm 22A, but it does not have to be at the tip of the arm 22A as long as it is located in a position where the installation of beams, pillars, and other structural members as the construction progresses can be seen in the field of view. However, the tip of the arm 22A is a suitable location for providing a 3D-LiDAR as the construction status detection unit 24, as it is easy to bring the installation location of the building frame or the like into the field of view.

[0057] In addition, in this embodiment, the 3D-LiDAR has a wireless communication function such as Wi-Fi (registered trademark), but it may also have a wired communication function as long as it is capable of transmitting detection results to the communication unit 23C described below.

[0058] Furthermore, in this embodiment, the 3D-LiDAR is connected to a power source via a power cable, but it may be a type that has a built-in secondary battery. However, it is preferable to connect it to the power supply of the crane 2 with a power cable, as this eliminates the need for separate charging.

[0059] The point cloud data acquired by this 3D-LiDAR is the detection result (data) that detects the state of the construction object according to the construction progress, which is detected when the main structure such as beams and pillars is installed according to the construction progress, and is transmitted to the cloud server 7 via the communication unit 23C.

[0060] If a 3D-LiDAR is installed at the tip of the arm 22A of the crane 2, the three-dimensional point cloud data defined by the X, Y, and Z coordinates from the 3D-LiDAR can be converted into latitude, longitude, and altitude based on the position (latitude, longitude, and altitude) of the tip of the arm 22A of the crane 2, thereby making it possible to determine the position (latitude, longitude, and altitude) at which a structure has appeared depending on the progress of construction.

[0061] The position of the tip of the arm 22A of the crane 2 is determined by the starting point position of the raising and lowering motion of the arm 22A, the inclination angle of the arm 22A, the length of the arm 22A, and the direction in which the arm 22A is facing (the direction in which the front of the rotating body 21B is facing).

[0062] As explained above, the length of arm 22A is known information, and the starting position of the raising and lowering movement of arm 22A, the inclination angle of arm 22A, and the direction in which arm 22A is facing (the direction in which the forward direction of rotating body 21B is facing) are detected by GNSS 23A and inclination sensor 23B.These detected detection results, etc. are transmitted to cloud server 7 and are also shared by cloud server 7.

[0063] Therefore, the cloud server 7 can convert the three-dimensional point cloud data defined by the X, Y, and Z coordinates obtained by the 3D-LiDAR into latitude, longitude, and altitude, and can grasp the status of the construction object according to the progress of construction, such as the position where the structure has appeared, including the height.

[0064] <On-site terminal 3> The on-site terminal 3 is a so-called tablet terminal that can be brought into the driver's cab of the crane 2 and used by the operator who operates the crane 2. The number of on-site terminals 3 does not need to be one, and there may be on-site terminals 3 carried by on-site workers other than the operator.

[0065] Specifically, the on-site terminal 3 is a terminal capable of displaying an image of a virtual space that reflects the state of the suspended load SL during lifting work, and can be suitably used, for example, to allow the operator to check the state of the suspended load SL when the suspended load SL is located in the operator's blind spot.

[0066] FIG. 4 is a diagram showing the hardware configuration of the field terminal 3 of the first embodiment according to the present invention. As shown in FIG. 4, the field terminal 3 includes a CPU 31, a RAM 32, a ROM 33, a display unit 34, and a communication unit 35, which are connected via a bus 36 so as to be accessible. The CPU 31, the RAM 32, and the ROM 33 may be replaced by an integrated circuit or the like.

[0067] (CPU31) The CPU 31 is a central processing unit that loads a program stored in the ROM 33 into the RAM 32 and controls various controls and arithmetic processes in accordance with the program.

[0068] (RAM32) The RAM 32 is a volatile memory that temporarily stores various data, calculation results by the CPU 31, and the like.

[0069] (ROM33) The ROM 33 is a non-volatile memory that stores programs and the like (for example, applications and the like compatible with the visualization system 1 of this embodiment).

[0070] (Display section 34) The display unit 34 is a touch panel display device that can accommodate various setting inputs. The display unit 34 has a display function for displaying images in a virtual space, and can also perform settings for using the visualization system 1, which will be described later. The settings for using the visualization system 1 will be described with reference to FIG. FIG. 5 is a diagram for explaining setting input on the display unit 34 according to the first embodiment of the present invention.

[0071] When the display unit 34 is touched to operate the application of the visualization system 1, a communication connection with the cloud server 7 is established, and an input screen 341 is displayed on the display unit 34. The input screen 341 is provided with buttons (model, site, suspended load, etc.) that can be selected by touch operation.

[0072] For example, when the "site" button is selected by touch operation, a setting screen 341A for setting the construction site of the construction work, as shown in the dotted line balloon, is displayed on the display unit .

[0073] Then, when the user selects the name of the construction project or the like in a pull-down menu and touches Finish, an image in a virtual space that recreates the construction site corresponding to the selected name of the construction project or the like is displayed on the display unit 34. A more detailed explanation will be given in the explanation of the design terminal 5 below.

[0074] Specifically, the name of the selected construction work, etc. is sent from the communication unit 35 described below to the cloud server 7, and when the cloud server 7 receives the name of the construction work, etc., it begins sending an image of the construction site in the virtual space corresponding to the received name of the construction work, etc. to the site terminal 3.

[0075] The image in the virtual space transmitted from the cloud server 7 is then received by a communication unit 35 (described later), and the received image in the virtual space is displayed on the display unit 34 of the on-site terminal 3.

[0076] Furthermore, when the "Model" button is selected by touch operation, a setting screen 341B for setting the model of the crane 2 as shown in the dotted line balloon is displayed on the display unit .

[0077] In addition, when the control unit (not shown) of the crane 2 is activated, the detection results of the GNSS 23A and the inclination sensor 23B are transmitted from the communication unit 23C to the cloud server 7, and upon receiving the detection results, the cloud server 7 performs a recognized crane reflection process, which reflects the detection results based on the position and orientation of the crane 2, so as to display a virtual crane VR2 in the virtual space corresponding to the recognized crane 2.

[0078] After the application of the visualization system 1 starts operating, "UN" is displayed for the virtual crane VR2 for which no "model" has been selected, so touch the "UN" display with your finger F, select the "model" of the crane 2 corresponding to that virtual crane VR2 in pull-down format on the setting screen 341B, and then touch Finish. Once this setting is complete, the "UN" will no longer be displayed.

[0079] Then, the pixel coordinates of the touched virtual crane VR2 on the display unit 34 (the coordinates of the pixels that make up the screen of the display unit 34) as well as information on the selected "model" are sent from the communication unit 35 described below to the cloud server 7.

[0080] Then, when the pixel coordinates and "model" information are received, the cloud server 7 detects that the virtual crane VR2 on the image of the virtual space at the position corresponding to the received pixel coordinates of the display unit 34 has been touched, and performs a crane information reflection process to reflect (apply) the information of the type of crane 2 selected in the "model" to the selected virtual crane VR2.

[0081] Specifically, the database DB described below stores information (data) on the actual sizes of the main body 21, arm 22A, etc. linked to the "model," and in the crane information reflection process, the actual sizes of the main body 21, arm 22A, etc. linked to the "model" information are reflected (applied) to the virtual crane VR2.

[0082] When the "suspended load" button is selected by touch operation, a setting screen 341C for setting what the suspended load SL is, as shown in the dotted line balloon, is displayed on the display unit 34. When the design for construction work is completed, it is decided what materials will be used for the structural components such as beams and columns, so a list of materials is prepared as a drop-down menu.

[0083] Therefore, the material to be lifted is selected using a pull-down menu, and after touching the virtual crane VR2 corresponding to the crane 2 that will lift that material, when the operation is finished, information on the selected "material" is sent along with the pixel coordinates on the display unit 34 of the touched virtual crane VR2 (the coordinates of the pixels that make up the screen of the display unit 34).

[0084] Then, upon receiving the pixel coordinates and the "materials" information, the cloud server 7 detects that the virtual crane VR2 on the image of the virtual space at the position corresponding to the received pixel coordinates on the display unit 34 has been touched, and the cloud server 7 recognizes that the crane 2 corresponding to the detected virtual crane VR2 will begin lifting the materials selected in "hanging load."

[0085] In this embodiment, the case where the material to be lifted is selected using the setting screen 341C for setting the type of suspended load SL has been described. However, for example, a camera may be provided to capture an image of the suspended load SL, and the type of material to be lifted may be automatically identified based on characteristics such as shape using image recognition, and the setting may be made without using the setting screen 341C.

[0086] It should be noted that when "END" is touched by the touch operation, the setting screen 341A, the setting screen 341B, and the setting screen 341C are all no longer displayed on the display unit .

[0087] (Communications Department 35) The communication unit 35 is a wireless communication interface for communicating with the outside. As already mentioned, the settings etc. set by operating the display unit 34 are transmitted to the cloud server 7 via the Internet IN. It also receives images in the virtual space transmitted from the cloud server 7.

[0088] <Remote Terminal 4> The remote terminal 4 is a terminal that allows construction workers and others who are located away from the construction site CS, for example, at a monitoring center MC, to share the status of lifting work, and for this reason, it has a display unit 41 (e.g., a monitor) that displays images in virtual space.

[0089] FIG. 1 shows a case where a personal computer is used as the remote terminal 4, but it may also be a terminal consisting of only a display unit 41. Basically, the hardware configuration is similar to that of the field terminal 3, so a description thereof will be omitted.

[0090] <Design Terminal 5> The design terminal 5 is a terminal for designing a construction object, and specifically, a terminal for constructing a three-dimensional model (for example, BIM / CIM) of the construction object in a completed state.

[0091] In this embodiment, the 3D model of the completed construction object (also called the construction site 3D model), which has been synthesized onto 3D map data, is transmitted to the cloud server 7 via the Internet IN and stored in the database DB described below.

[0092] This construction site 3D model is given a name such as the name of the project, and this name is used as the name of the project when selecting in a pull-down menu when the "Site" button on the input screen 341 displayed on the display unit 34 of the site terminal 3 described above is touched.

[0093] Then, by selecting the name of the construction project, etc., in the pull-down format described in the section on the site terminal 3 and touching Finish, an image in the virtual space of the construction site 3D model read by the cloud server 7 based on the selected name of the construction project, etc., is displayed on the display unit 34.

[0094] As will be described later, the database DB also stores the latest 3D construction site model that reflects the progress of construction. If the latest construction site 3D model has been saved, when the name of the construction project, etc., is selected in the pull-down format described in the on-site terminal 3 section and Finish is touched, the cloud server 7 will read the latest construction site 3D model from the database DB based on the selected name of the construction project, etc., and an image in virtual space reflecting the construction progress will be displayed on the display unit 34.

[0095] The synthesis with three-dimensional map data does not necessarily have to be performed on the design terminal 5. For example, the on-site terminal 3 may obtain three-dimensional map data (also called 3D map data) including the surrounding area of ​​the construction site from a map information service provided on the Web (e.g., Google Maps (registered trademark)), send it to the cloud server 7, and the cloud server 7 may synthesize it.

[0096] Furthermore, in this embodiment, when a 3D model of the completed construction object is created on the design terminal 5, the 3D shape data of the materials to be used is linked to the "materials" information, transmitted via the Internet IN to the cloud server 7, and stored in the database DB described below. The "material" information is, for example, an identification name such as a product number given to identify the material, and in this embodiment, the identification name such as the product number is used to link the material to the three-dimensional shape data. Specifically, the 3D shape data of the material is saved with the identification name such as product number as the file name, so by reading data with the same file name as the "material" information (identification name such as product number), the 3D shape data for the suspended load SL in the "material" information can be extracted.

[0097] Therefore, when the cloud server 7 receives information about the "materials" that were previously selected by the on-site terminal 3 and sent to the cloud server 7, the cloud server 7 can obtain the shape of the suspended load SL based on the information about the "materials."

[0098] <Load Status Detection Set 6> The suspended load state detection set 6 will be described with reference to FIG. As shown in FIG. 3, the suspended load state detection set 6 includes a hoisting balance 61 and a position measuring unit 62 that is detachably provided on the hoisting balance 61 and detects the orientation of the suspended load SL.

[0099] (Hanging balance 61) The lifting balance 61 comprises a rod-shaped balance main body 61A, a hook-side lifting piece 61B provided on the hook portion 22B side of the balance main body 61A and located in the longitudinal center of the balance main body 61A, and a pair of load-side lifting pieces 61C provided on the load SL side of the balance main body 61A and located approximately equidistant from the longitudinal center of the balance main body 61A, on either side of the longitudinal center of the balance main body 61A.

[0100] In this embodiment, the hook portion 22B and the hook portion side hanging piece 61B are connected via a load cell LC that measures the weight, but the hook portion 22B may also be connected directly to the hook portion side hanging piece 61B.

[0101] (Positioning unit 62) The position measurement unit 62 includes a pair of GNSSs 62A (also referred to as position measurement devices) arranged on either side of the longitudinal center (central suspension axis CA) of the balance main body 61A at positions approximately equidistant from the longitudinal center (central suspension axis CA) of the balance main body 61A on the hook portion 22B side of the balance main body 61A, and a base 62B having a magnet on its bottom surface for installing the GNSSs 62A on the balance main body 61A. The central suspension axis CA is a vertical axis passing through the suspension center of the hook portion 22B, and the same applies to the following. The only difference between the GNSS62A and the GNSS23A is that it has a built-in secondary battery; otherwise, they are the same.

[0102] In this embodiment, the GNSS 62A (Global Navigation Satellite System) can be detachably installed using the base 62B, but a structure for installing the GNSS 62A may be provided in the balance main body 61A from the beginning, making the base 62B unnecessary.

[0103] Furthermore, in this embodiment, the GNSS 62A is installed on the balance main body 61A, but as shown by the dotted line, the GNSS 62A' may be installed on the suspended load SL. In this case, as in the previous case, the GNSS 62A' may be installed at positions spaced apart from the central suspension axis CA at approximately the same distance as the central suspension axis CA.

[0104] When slinging, in order to ensure safe lifting operations, such as preventing the load SL from slipping off the wire rope WR2 that is suspending the load SL, the center of gravity G of the load SL is positioned approximately on the central suspension axis CA, so how the load SL is suspended by the wire rope WR2 relative to the balance main body 61A is generally predetermined.

[0105] Therefore, the direction along the longitudinal direction of the balance body 61A of the shape of the suspended load SL (also referred to as the suspended load shape) when suspended by the wire rope WR2 is defined as the specific direction.

[0106] In this way, the direction of that particular direction can be detected as the direction from one GNSS 62A to the other GNSS 62A, and the detection results (data) such as latitude, longitude, and altitude detected by this pair of GNSS 62A are transmitted to the cloud server 7 via the communication unit 23C.

[0107] Therefore, the cloud server 7 can obtain the orientation of the specific direction of the load SL by determining the orientation of the specific direction (the orientation from one GNSS 62A to the other GNSS 62A) from the detection results received from the pair of GNSS 62A.

[0108] Therefore, the cloud server 7 can perform orientation reflection processing to reflect the virtual load shape in the virtual space so as to match the orientation of the virtual specific direction of the virtual load corresponding to the specific direction of the load SL based on the changing orientation of the specific direction.

[0109] Furthermore, when the load SL is connected to the lifting balance 61 with the wire rope WR2, the distance from the pair of GNSS 62A to the load SL is also determined. Therefore, for example, if the on-site terminal 3 transmits this distance to the cloud server 7, the cloud server 7 can determine the altitude of the load SL from the detection results received from the pair of GNSS 62A. It should be noted that if a pair of GNSS 62A as the position measuring unit 62 is installed directly on the suspended load SL, no altitude correction is required.

[0110] Furthermore, the cloud server 7 can also obtain the latitude and longitude of the suspended load SL from the received detection results of the pair of GNSS 62A.

[0111] Therefore, the cloud server 7 can perform a position reflection process based on the detection results received from the pair of GNSS 62A (position including the changing altitude (height direction) of the load SL) to reflect the virtual position of the virtual load in the virtual space corresponding to the load SL so as to align it with the position of the load SL.

[0112] In this way, the load state detection set 6 is used to reflect the state of the load SL during lifting work in the virtual space.

[0113] <Cloud Server 7> The cloud server 7 includes a database DB and a virtual computer that realizes the same functions as a physical computer using software.

[0114] In this embodiment, the cloud server 7 uses virtual computing. However, instead of the cloud server 7, a physical server configured with a physical computer capable of performing the same processing as the cloud server 7 may be used.

[0115] [Database DB] The database DB is a data storage area set up by cloud computing service providers, and as mentioned earlier, it stores data such as a 3D model of the construction site that reflects a 3D model of the completed construction object on 3D map data, and 3D shape data of materials to be used.

[0116] In addition, the latest 3D model of the construction site, which reflects the state of the construction site (construction progress) reproduced in virtual space, will also be saved. Therefore, when construction work resumes the next day, the latest virtual space data corresponding to the progress of construction can be read from the database DB.

[0117] Furthermore, the actual size dimension data of the main body 21, arm 22A, etc. of the crane 2 linked to the "model" information is stored. The "model" information is, for example, the model name of the crane 2, and in this embodiment, the model name is used to link with the dimension data of the actual size of the main body 21, arm 22A, etc. of the crane 2.

[0118] Specifically, the model name is used as the file name, and the actual size dimension data of the main body 21, arm 22A, etc. of the crane 2 of that model name is saved, so by reading out data with the same file name as the "model" information (model name), it is possible to extract the actual size dimension data of the main body 21, arm 22A, etc. of the crane 2 corresponding to the crane 2 of the "model" information.

[0119] [Virtual Computer] The virtual computer includes, as functional components realized by software, a cloud communication unit 71 and a space control unit 72 that controls the virtual space.

[0120] (Cloud Communications Department 71) The cloud communication unit 71 is a functional interface that provides a communication function for communicating with the outside world.

[0121] For example, the cloud communication unit 71 receives the detection results detected by the drive detection unit 23, which detects the overall drive status of the crane 2, the detection results detected by the construction status detection unit 24, which detects the status of the construction object according to the construction progress, and the name of the construction project, information on the "model", information on the "materials", etc. sent from the site terminal 3.

[0122] Furthermore, the cloud communication unit 71 receives the detection result transmitted from the load state detection set 6, which is detected to reflect the state of the load SL during the lifting operation in the virtual space.

[0123] On the other hand, the cloud communication unit 71 transmits an image in the virtual space that reflects the situation of the construction site (general operation of the crane 2, state of the suspended load SL, state of the construction object) in the virtual space based on the received detection results, etc., to the site terminal 3, remote terminal 4, etc.

[0124] (Space Control Unit 72) The spatial control unit 72 is a control unit that handles all the control for reproducing the situation of a construction site in a virtual space on the cloud, and mainly performs (A) recognized crane display processing, (B) crane information reflection processing, (C) construction status reflection processing, (D) crane driving status reflection processing, and (E) lifting status reflection processing.

[0125] (A) Recognition crane display processing: The recognized crane display process is a process that is performed when the control unit (not shown) of the crane 2 is started, the detection results of the GNSS 23A and the inclination sensor 23B are transmitted from the communication unit 23C to the cloud server 7, and the detection results are received.As explained above, this process reflects the position and orientation of the crane 2, etc., so as to display the virtual crane VR2 in the virtual space corresponding to the crane 2.

[0126] (B) Crane information reflection processing: The crane information reflection process is a process that is carried out when pixel coordinates and "model" information are sent from the on-site terminal 3 to the cloud server 7 and the pixel coordinates and "model" information are received.As explained above, this process obtains information (data) on the actual size of the main body 21, arms 22A, etc. linked to the "model" from the database DB, and reflects the actual sizes of the main body 21, arms 22A, etc. of the crane 2 on the main body, arms 22A, etc. of the virtual crane VR2 that are located at positions corresponding to the pixel coordinates of the received display unit 34.

[0127] (C) Construction status reflection process: The construction status reflection process is a process that is performed when the detection result of the construction status detection unit 24 (3D-LiDAR provided at the tip of the arm 22A) is transmitted from the communication unit 23C to the cloud server 7 and the detection result is received.

[0128] To explain in more detail, as explained earlier, the image in the virtual space of the construction site corresponding to the name of the construction project, etc., set on the site terminal 3 and displayed on the display unit 34 is an image based on the 3D model of the construction site stored in the database DB.

[0129] This 3D construction site model includes a 3D model of the completed construction object (e.g., BIM / CIM), but before construction begins, the virtual construction object VRB (see Figure 5) in the virtual space corresponding to the construction object is displayed transparently (or semi-transparently), so that the image in the virtual space appears as if the virtual construction object VRB does not exist.

[0130] Then, based on the detection results of the construction status detection unit 24 (3D-LiDAR installed at the tip of the arm 22A), the part of the virtual construction object VRB in the virtual space corresponding to the position where the point cloud data appeared is displayed in a non-transparent state that allows it to be seen, so that the structure appears in the image in the virtual space.

[0131] That is, the construction status reflection process is a process of reflecting the construction progress of the construction object in the virtual construction object VRB in the virtual space corresponding to the construction object, based on the detection result of the construction status detection unit 24.

[0132] In this embodiment, the construction status reflection process is a real-time process that receives the detection results of the construction status detection unit 24 at a frequency of at least once per second, and reflects the construction progress of the construction object in the virtual construction object VRB in the virtual space corresponding to the construction object at a frequency of at least once per second.

[0133] (D) Crane driving status reflection process: The crane driving state reflection process is a process that is performed when the detection results of the driving detection unit 23 (a pair of GNSS 23A and inclination sensor 23B) are transmitted from the communication unit 23C to the cloud server 7 and the detection results are received.As explained above, this process reflects the position and movement state of the crane 2 and the movement of the arm 22A in the position and movement state of the virtual crane VR2 in the virtual space corresponding to the crane 2 and the movement of the arm 22A.

[0134] In this embodiment, the crane drive status reflection process is a real-time process that receives the detection results of the drive detection unit 23 at a frequency of at least once per second and reflects the results in the position and movement status of the virtual crane VR2 in the virtual space corresponding to the crane 2, and the operation of the arm 22A at a frequency of at least once per second.

[0135] (E) Load status reflection processing: The load status reflection process is a process that is performed when the detection result of the position positioning unit 62 (a pair of GNSS 62A) is transmitted from the communication unit 23C to the cloud server 7 and the detection result is received, and is a process in which the orientation reflection process and position reflection process described above are performed.

[0136] Specifically, in the load state reflection process, based on the changing orientation in a specific direction (change in the orientation in a specific direction along the longitudinal direction of the balance main body 61A of the shape of the load SL (load shape) detected by the position measurement unit 62), an orientation reflection process is performed to reflect the virtual load shape in the virtual space so as to match the orientation of the virtual specific direction of the virtual load corresponding to the specific direction of the load SL.

[0137] In this embodiment, the specific direction is the direction along the longitudinal direction of the balance main body 61A, but if the specific direction is the horizontal direction perpendicular to the longitudinal direction of the balance main body 61A, it is only necessary to rotate the direction from one GNSS 62A to the other GNSS 62A by 90 degrees, and the specific direction does not need to be limited to the direction along the longitudinal direction.

[0138] As explained above, this virtual load shape (three-dimensional shape data for the load SL) can be obtained by reading data with the same file name as the "material" information (identification name such as product number) from the database DB.

[0139] The spatial control unit 72 then acquires the virtual load shape (three-dimensional shape data for the load SL) from the database DB based on the "material" information (identification name such as product number) set on the setting screen 341C, which sets what the load SL is to be displayed on the display unit 34 of the on-site terminal 3, and reflects this in the virtual load, so the spatial control unit 72 is the shape acquisition unit of this embodiment.

[0140] In addition, in the load status reflection process, a position reflection process is performed to reflect the virtual position of the virtual load VR2 in the virtual space to match the position of the load SL based on the changing position of the load SL (change in position including the vertical direction (altitude) of the load SL detected by the position positioning unit 62).

[0141] In this embodiment, the load status reflection process is a real-time process that receives the detection results of the position measurement unit 62 at a frequency of at least once per second, and reflects the status of the load SL during the lifting operation (position including height, and the direction in which the load SL is facing) on ​​the status of the virtual load in the virtual space at a frequency of at least once per second.

[0142] As described above, according to this embodiment, the load status reflection process can reflect and visualize the status of the load SL during lifting work (position including height, and the direction in which the load SL is facing) in a virtual space, and everyone can share the status of the load SL during lifting work to create an environment in which work can be carried out more safely.

[0143] Furthermore, in this embodiment, the virtual crane VR2 in the virtual space corresponding to the crane 2 also reflects the operation of the real crane 2, so it is possible to construct an image in the virtual space that does not give the impression of an incongruity, as if only the state of the virtual load is changing.

[0144] "Second embodiment" A visualization system 1 according to a second embodiment of the present invention will be described with reference to FIG. The second embodiment has the same basic configuration as the first embodiment, so a description of the same parts as the first embodiment will be omitted and differences will be mainly described.

[0145] In the first embodiment, it was necessary to operate the on-site terminal 3 to set "material" information (identification name such as product number), but in the second embodiment, this hassle is eliminated by further providing a shape detection device 63 that detects the shape of the suspended load in the suspended load state detection set 6 used to reflect the state of the suspended load SL during lifting work in virtual space.

[0146] FIG. 6 is a diagram for explaining a suspended load state detection set 6 according to a second embodiment of the present invention. As shown in Figure 6, the load status detection set 6 of this embodiment includes a hoisting balance 61, a position measurement unit 62 that is detachably attached to the hoisting balance 61 and detects the orientation of the load SL, and further includes a shape detection device 63 that is detachably attached to the position of the hoisting balance 61 and can detect the shape of the load SL, and detects the shape of the load SL.

[0147] The shape detection device 63 of this embodiment is a 3D-LiDAR (Light Detection and Ranging) provided on the load SL side of the balance main body 61A, and the 3D-LiDAR is provided, for example, at a position offset from a position directly above the load SL in a direction perpendicular to a specific direction of the load SL.

[0148] Specifically, the balance main body 61A has a pair of installation portions 61D that extend outward from both side surfaces of the balance main body 61A in the horizontal direction perpendicular to the central suspension axis CA, at the longitudinal center of the balance main body 61A. A 3D-LiDAR serving as the shape detection device 63 is provided on each of the surfaces of the pair of installation sections 61D facing the suspended load SL.

[0149] In other words, the shape detection device 63 of this embodiment is a pair of 3D-LiDARs offset horizontally (toward the back and front of the paper in Figure 6) from a position directly above the load SL across the central suspension axis CA, in a direction perpendicular to a specific direction of the load SL, and detects the shape of the load SL from a field of view looking down on it from diagonally to the left and right, making it possible to detect roughly the overall shape.

[0150] As described above, in the second embodiment, the shape acquisition unit is the shape detection device 63 (3D-LiDAR) provided at the position of the hoisting balance 61 that can detect the shape of the suspended load SL.

[0151] In addition, in order to detect the shape of the load SL more accurately, for example, a 3D-LiDAR may be further added to the rotating body 21B of the crane 2 as a shape detection device 63 that detects the shape of the load SL from a field of view looking up at the load SL from a diagonal side below.

[0152] The shape detection device 63 serves as the shape detection unit of the second embodiment, and the detection result (three-dimensional point cloud data representing the shape of the suspended load SL) detected by the shape detection device 63 is The information is transmitted from the communication unit 23C to the cloud server 7, and is reflected in the virtual load shape of the virtual load by the orientation reflection process.

[0153] The positional relationship between the pair of GNSS 62A and the pair of shape detection devices 63 (3D-LiDAR) is known at the time of installation, so the three-dimensional point cloud data can be converted into position (latitude, longitude, altitude) and handled in the same way as explained in the construction status detection unit 24.

[0154] In this way, in the second embodiment, by adding a shape detection device 63 that detects the shape of the load SL, the effort of setting information on the "materials" (identification name such as product number) is eliminated, and the effort of storing three-dimensional shape data of the virtual load shape, which is the shape of a virtual load corresponding to the load SL, in the database DB is also eliminated.

[0155] In the above embodiment, a case has been described in which a 3D-LiDAR is used as the shape detection device 63 for detecting the shape of the suspended load SL. However, for example, the shape detection device 63 may be a stereo camera or the like to detect the shape of the suspended load SL, including the size of the suspended load SL. Furthermore, the shape detection device 63 may be configured to include both a 3D-LiDAR and a stereo camera.

[0156] "Third embodiment" A visualization system 1 according to a third embodiment of the present invention will be described with reference to FIGS. The third embodiment has the same basic configuration as the second embodiment, so a description of the same parts as the second embodiment will be omitted and differences will be mainly described. FIG. 7 is a perspective view for explaining a suspended load state detection set 6 according to a third embodiment of the present invention. FIG. 8 is a plan view seen from the side for explaining a suspended load state detection set 6 according to a third embodiment of the present invention.

[0157] As shown in Figures 7 and 8, the difference from the second embodiment is that the balance body 61A of the hoisting balance 61 has a container structure, and the container structure contains a rotation mechanism (not shown) for rotating a suspended load SL (not shown) and a secondary battery (not shown) for driving the rotation mechanism.

[0158] As shown in FIG. 8, the shape detection device 63 is provided on the outer bottom surface of the container structure, and a plurality of secondary batteries (batteries) such as those used in automobiles are built in.

[0159] The rotation mechanism (not shown) has a gimbal frame that rotatably supports the flywheel, and a gimbal shaft that tiltably supports the flywheel is integrally formed with the gimbal frame, and utilizes the gyroscopic effect that occurs when the flywheel, which rotates around the central axis, tilts; for example, the entire lower part of the rotatable portion of the hook portion 22B of the crane 2, including the balance main body portion 61A, rotates.

[0160] In this way, in the third embodiment, the orientation of the suspended load SL can be actively controlled, and since a number of large batteries are provided inside the balance main body 61A, the position measurement unit 62 and the shape detection device 63 receive power from these batteries, eliminating the need to charge them individually.

[0161] Although the present invention has been described above based on specific embodiments, the present invention is not limited to the above embodiments. For example, the hoisting balance 61 shown in the first and second embodiments, which does not have a rotation mechanism for the load SL, may be equipped with a 12V secondary battery (battery) with a large charging capacity, such as that used in automobiles, etc., to enable the hoisting balance 61 to supply power to the position measurement unit 62 and the shape detection device 63.

[0162] As such, the present invention is not limited to the embodiments, and modifications and improvements to the embodiments are also included within the technical scope of the invention, which will be clear to those skilled in the art from the description of the claims. [Explanation of symbols]

[0163] 1...Visualization system, 2...Crane, 21...Main body, 21A...Traveling body, 21B...Swivel body, 22...Operating unit, 22A...Arm, 22B...Hook, 23...Drive detection unit, 23A...GNSS, 23B...Tilt sensor, 23C...Communication unit, 24...Construction status detection unit, 3...Field terminal, 31...CPU, 32...RAM, 33...ROM, 34...Display unit, 341...Input screen, 341A, 341B, 341C...Setting screen, 35...Communication unit, 36...Bus, 4...Remote terminal, 41...Display unit, 5...Design terminal, 6...Load status detection sensor 61...hoisting balance, 61A...balance main body, 61B...hook side lifting piece, 61C...load side lifting piece, 62...positioning unit, 62A, 62A'...GNSS, 62B...base, 63...shape detection device, 7...cloud server, 71...communication unit, 72...spatial control unit, CA...hoisting central axis, CS...construction site, DB...database, DO...design room, F...finger, IN...Internet, MC...monitoring center, SL...hoisting load, VRB...virtual construction object, VR2...virtual crane, WR1, WR2...wire rope

Claims

1. A visualization system that visualizes the state of a lifting load in a virtual space, The visualization system includes: a space control unit that controls the virtual space; a position measurement unit that detects the orientation of the suspended load; A shape acquisition unit that acquires the shape of the suspended load, the position measurement unit detects the orientation of the suspended load by detecting the orientation of a specific direction of the suspended load shape, the space control unit performs a load state reflection process that reflects the state of the load on a virtual load in the virtual space corresponding to the load, In the load state reflection process, an orientation reflection process is performed to reflect the virtual load shape in the virtual space based on the changing orientation of the specific direction, so that the virtual specific direction of the virtual load corresponding to the specific direction of the load is aligned with the orientation of the specific direction, in a visualization system.

2. The position measurement unit also detects the position of the suspended load including the height direction, The visualization system according to claim 1, wherein the load state reflection process includes a position reflection process that reflects the virtual position of the virtual load in the virtual space to match the position based on the changing position.

3. the visualization system includes a hanging balance; the position measurement unit is a position measurement device provided on the hanging balance, The visualization system according to claim 1 or 2, wherein the shape acquisition unit is a shape detection device provided at a position of the hanging balance that can detect the shape of the suspended load.

4. A load state detection set used to reflect the state of a load in a lifting operation in a virtual space, The load state detection set includes: a position measuring device provided on the hoist or the suspended load and configured to detect the position and orientation of the suspended load; a shape detection device provided at a position capable of detecting the shape of the suspended load; A suspended load state detection set comprising:

5. The suspended load state detection set according to claim 4 , further comprising the position measuring device and the lifting balance for providing the shape detecting device.

Images